CN109017994A - A kind of unmanned vehicle generalization drive-by-wire chassis - Google Patents
A kind of unmanned vehicle generalization drive-by-wire chassis Download PDFInfo
- Publication number
- CN109017994A CN109017994A CN201810693795.7A CN201810693795A CN109017994A CN 109017994 A CN109017994 A CN 109017994A CN 201810693795 A CN201810693795 A CN 201810693795A CN 109017994 A CN109017994 A CN 109017994A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/04—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially transverse to the longitudinal axis of the vehicle
- B60G3/06—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially transverse to the longitudinal axis of the vehicle the arm being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Power Steering Mechanism (AREA)
Abstract
The present invention provides a kind of unmanned vehicle generalization drive-by-wire chassis, and driving, braking turn to all using line traffic control, the automatically controlled integrative packaging of chassis machine, plug and play, with generalization, the characteristics of hardware and software platform.It include: vehicle frame, drive system, steering system and the circuit system being mounted on vehicle frame, vehicle body of the outsourcing on vehicle frame, and the wheel being connected by suspension system with vehicle body；Driving moment and braking moment are provided from servo motor to the wheel as driving wheel, and parking braking is realized by its internal band-type brake；Steering system provides steering moment by motor for the wheel as deflecting roller；Circuit system includes power supply and entire car controller；Power supply is the motor power supply in entire car controller and drive system and steering system；Entire car controller is used to receive driving instruction, braking instruction and the steering order of host computer.
Description
Technical field
The present invention relates to a kind of automobile chassises, and in particular to a kind of automatic driving vehicle universal chassis belongs to vehicle chassis
Design field.
Background technique
Currently, cost of labor constantly rises, the demand of all kinds of miniature self-service vehicles is increasingly enhanced in the market, plant area,
The landing project of commercial vehicle under a variety of fixed scenes such as residential quarter, campus is more and more.However, at present it is such nobody
Vehicle enterprise but can only select Conventional drum robot as its carriage chassis.This kind of chassis for above-mentioned scene often without carrying out
Cross-species transferability, ride comfort, mobility are all difficult to reach the standard of vehicle, also do not have enough continual mileages, it is difficult to meet
The needs of miniature self-service vehicle.
And common security vehicle currently on the market, spininess is designed manned situation to the products such as road sweeper again,
In addition to drive system, the systems such as steering, suspension are entirely to be mechanically connected, it is difficult to carry out line traffic control transformation, can not be directly nobody
The sensory perceptual system of vehicle is powered, and the instruction of decision system sending can not be also collected.
Therefore, the line traffic control chassis used for the small commercial vehicle used under special scenes is for current nothing
There is comparable meaning for people car market.
Summary of the invention
In view of this, the present invention provides a kind of unmanned vehicle generalization drive-by-wire chassis, driving, braking turn to all uses
Line traffic control, the automatically controlled integrative packaging of chassis machine, plug and play have the characteristics of generalization, hardware and software platform.
The unmanned vehicle generalization drive-by-wire chassis includes: vehicle frame, is mounted on drive system on the vehicle frame, steering system
System and circuit system, vehicle body of the outsourcing on the vehicle frame, and the wheel being connected by suspension system with the vehicle body；
The drive system is servo motor driving system, provides driving force from servo motor to the wheel as driving wheel
Square and braking moment, and parking braking is realized by its internal band-type brake；
The steering system is motor steering system, and the wheel of deflecting roller is mutually used as to provide steering moment by motor；
The circuit system includes power supply and entire car controller；The power supply is the entire car controller and drive system
With the motor power supply in steering system；The entire car controller is used to receive the instruction of host computer, and described instruction includes that driving refers to
It enables, braking instruction and steering order control the servo electricity in the drive system after receiving driving instruction or braking instruction
Machine output driving torque or braking moment；After receiving steering order, the servo motor output in the steering system is controlled
Steering moment.
It further include upper attaching port system, the upper attaching port system includes being arranged on the vehicle body for being external equipment
The communication interface of signal stream interface and the power supply interface for supplying power for outside are provided, the power supply in the circuit system is directly connected to
To the power supply interface or the power supply interface is connected to by commutator transformer.
It further include the power source charges being arranged on the vehicle body be in the circuit system in the upper attaching port system
Charging interface.
The driving wheel is two rear wheels, and each rear wheel corresponds to a set of drive system, forms rear wheel drive system, institute
It states after entire car controller receives driving instruction or braking instruction, separately or concurrently controls the driving motor in two sets of drive systems
Output driving torque or braking moment.
Four wheels are used as driving wheel, and each wheel corresponds to a set of drive system, form four-wheel drive system.
The drive system includes driving motor and drive transmission device, and driving motor is servo motor；
Drive transmission device includes: idle pulley transmission case, retarder and Universal drive assembly；The Universal drive assembly includes
Universal joint and semiaxis；Setting pitch wheel A and gear B, the output shaft of the driving motor in the idle pulley transmission case
Coaxially it is connected with gear A, the input shaft of the retarder is coaxially connected with gear B, and the driving motor and retarder are affixed
On the idle pulley transmission case；The output shaft of the retarder is connected by Coupling Shaft with universal joint, and the universal joint passes through half
Axis is connected with the wheel as driving wheel to transmit torque.
Beneficial effect
(1) chassis drive system of the invention and steering system are driven by motor, and then are controlled by controlling route
System can directly collect the instruction of decision system sending, be directly controlled convenient for host computer.
(2) chassis has the characteristics of generalization, hardware and software platform, can install all kinds of mechanical devices additional on it for cleaning, transport
All kinds of purposes such as defeated.Entire chassis is fully enclosed, the complete blank of upper part, and mountable various kinds of sensors and mechanical device can be used
In the use of all kinds of commerial vehicles, including express delivery, clean, check etc..
(3) circuit system with power supply is integrated on the chassis, it can be directly (thunderous for the sensory perceptual system of vehicle
Reach, all kinds of identification equipment and the industrial personal computer such as camera) power supply.
(4) torque of each motor and direction of rotation are individually controllable in the present invention, under normally travel state, each motor
It keeps torque direction consistent, can move forward or back.During the turn, by the coordination to steering motor torque, vehicle is carried out
The control of yaw moment promotes the control stability of vehicle.
It (5) is the movement ride comfort and control stability that guarantee platform, the present invention uses wishbone suspension system, vehicle
Wheel is connected by suspension system with vehicle body, and guarantees the parameter stability during wheel movement.
(6) motor in drive system uses servo motor, it is made to be provided simultaneously with driving and braking function.
(7) reversing arrangement is housed in suspension system, shock absorber is enable entirely to be put into interior of body, so that outside entire vehicle body
Shape is more succinct.
Detailed description of the invention
Fig. 1 and Fig. 2 is the arrangement figure of the universal chassis；
Fig. 3 is vehicle circuitry schematic diagram；
Fig. 4 is driving system structure schematic diagram；
Fig. 5 is steering system structural schematic diagram；
Fig. 6 is suspension system arrangement schematic diagram in embodiment 2；
Fig. 7 is upper attaching port system structural schematic diagram.
Wherein: the upper attaching port system of 1- drive system, 2- suspension system, 3- steering system, 4- circuit system, 5-, 6- vehicle
Body frame system and frame, 7- wheel, 9- wheel hub, 10- turn to column, 11- driving motor, 12- idle pulley transmission case, 14- retarder, 15-
Universal joint, 16- semiaxis, 21- transverse arm, 22- shock absorber, 23- commutation block, 24- push rod, 25- push rod auricle, 31- steering motor,
32- speed reducer, 33- Coupling Shaft, 34- turning machine, 35- steering linkage, 36- rod end bearing, 37- turn to attachment lug, 51- emergency stop
Switch, 52- power supply interface, 53- signaling interface, 54- charging interface, 55- switch.
Specific embodiment
It elaborates with reference to the accompanying drawing to the preferred embodiment of the present invention.
Embodiment 1:
The present embodiment provides a kind of unmanned vehicle generalization drive-by-wire chassis, have complete suspension, braking, steering system, and
All using line traffic control, have the characteristics that generalization, hardware and software platform.
As depicted in figs. 1 and 2, which includes: vehicle body frames system 6, circuit system 4, steering system 3, four
Wheel, 6, four suspension systems 2 of upper attaching port system and two drive systems 1.Wherein vehicle body frames system 6 includes closing vehicle body
With vehicle frame made of square tubes soldering, vehicle body uses separate frame construction, and the vehicle frame being welded into using square tube is supported as a whole.Vehicle
Surface is substantially flat with it, and maximum slot milling is used for the transformation of other purposes, installation, goods including different sensors
The installation of fortune or other equipments.Drive system, steering system and circuit system are fixedly mounted on vehicle frame, and wheel passes through outstanding
Frame system is connect with vehicle body, and vehicle body outsourcing closes vehicle frame on vehicle frame, guarantees internal circuit systematic waterproofing.
The arrangement form that the universal chassis drives after using, i.e. two drive systems 1 are arranged in vehicle rear portion, pass through half respectively
Axis is connected with two rear wheels；Steering system 3 is arranged in Chinese herbaceous peony portion, is connected by steering linkage with two front vehicle wheels；Upper attaching
Port system is placed in vehicle front end, provides communication interface and power supply interface；Suspension system 2 is located at vehicle body two sides, for connecting vehicle
Body and wheel.Circuit system is mainly arranged in the middle part of vehicle, and battery case is located at whole vehicle center, entire car controller and electric machine controller cloth
It sets in battery case two sides.
As shown in figure 3, drive system is wheel motor independent driving system, which drives after using, i.e., two drivings
System respectively drives two rear-wheels, specifically, each drive system includes: driving motor 11, idle pulley transmission case 12, retarder 14
With Universal drive assembly.Universal drive assembly includes universal joint 15 and semiaxis 16.Wherein driving motor 11 is servo motor, idle pulley
Setting pitch wheel A and gear B, the output shaft of driving motor 11 are coaxially connected with gear A in transmission case 12, retarder
14 input shaft is coaxially connected with gear B, and driving motor 11 and retarder 14 are bolted on idle pulley transmission case 12；
Guarantee the meshing relation of gear A and gear B by the rigging position of driving motor 11 and retarder 14 on idle pulley transmission case 12.
Driving motor 11 and 14 assembly one direction length of retarder are reduced from there through idle pulley transmission case 12, can be adapted to narrow
Installation in space.The output shaft of retarder 14 is connected by Coupling Shaft 17 with universal joint 15.Universal joint 15 is provided with three stylus pins,
Three stylus pins are connected by circlip with semiaxis 16, and the rzeppa joint on semiaxis 16 and corresponding rear wheel hub 9 passes through
Spline transmits torque.Thus driving motor 11 passes through, idle pulley transmission case 12, retarder 14 and Universal drive assembly drive its correspondence
Rear wheel rotation；Due to driving motor 11 use servo motor, can simultaneously output driving moment and braking moment, meanwhile,
Inside is equipped with band-type brake, can be used for parking braking.
As shown in figure 4, steering system 3 is Ackermann steering system, comprising: steering motor 31, speed reducer 32, turning machine 34
With steering linkage 35.Wherein steering motor 31 is servo motor, the output shaft of steering motor 31 by bolt hole on itself with
The input shaft of speed reducer 32 is threadedly coupled, and the output shaft of speed reducer 32 is connect with one end of Coupling Shaft 33 by flat key, Coupling Shaft
33 other end is connect with turning machine 34 by spline.It is gear and rack teeth mechanism, Coupling Shaft 33 and gear teeth inside turning machine 34
The gear connection of mechanism, the both ends of the rack gear of gear and rack teeth mechanism respectively connect a steering linkage 35, and thus Coupling Shaft 33 exists
Rack-and-pinion movement is driven when rotation, and steering linkage 35 is pushed to move along a straight line.The wherein axial direction and rear car of steering linkage 35
The axial direction of wheel is parallel, and the other end of two steering linkages 35 is separately connected two front vehicle wheels, specifically: steering linkage 35 passes through bar
End bearing 36 is connected with attachment lug 37 is turned to, and turns to attachment lug 37 and is connected by bolt with the steering column 10 of front vehicle wheel,
Thus steering system 3 is diverted through steering motor 31 to control, and steering motor 31 driven in turning machine 34 by speed reducer 32
Gear rotation, gear band carry-over bar moves horizontally, and rack gear pushes steering linkage, so that front vehicle wheel be driven to turn to.
For the movement ride comfort and control stability for guaranteeing chassis, suspension system 2 uses wishbone suspension system, often
The corresponding suspension system 2 of a wheel, i.e., each wheel pass through corresponding wishbone suspension system and Non-carrying type vehicle
Body is connected, and guarantees the parameter stability during wheel movement.
Circuit system includes: entire car controller, high-tension battery group, commutator transformer (DCDC) and three electric machine controllers.
Three electric machine controllers are corresponded with steering motor 31 and two driving motors 11 respectively.Entire car controller is (distant from host computer
Control device, industrial personal computer etc.) instruct after, separately or concurrently torque instructions are issued to two driving motors 11, to drive or make
Motor car wheel；To 31 releasing position signal of steering motor, steering motor is controlled, to drive chassis to turn to.The setting of high-tension battery group exists
In battery case, high-tension battery group is powered to two driving motors simultaneously, and passes through DCDC to steering motor 31 in circuit communication
Power supply.The on-off of high-tension battery group is realized by the relay of A-battery power supply control.
As shown in fig. 7, upper attaching port system includes: power supply interface 52, communication interface 53 and charging interface 54.Vehicle bottom
After disk overall package, there are emergency stop switch 51, power supply interface 52, communication interface 53, charging interface 54 and opened immediately ahead of chassis
Close 55.Power supply interface 52 can provide 5-24V, the direct current supply output of 10-25A.Communication interface 53 can provide three tunnel CAN communications and
Two-way RS232 communication, charging interface 54 are that the charging of high-tension battery group is made an excuse.Each interface waterproof and plug and play, for the sense of upper dress
The radar, camera and the industrial personal computer of planning system etc. for knowing system retain power supply interface with electrical component and signal stream connects
Mouthful, and vehicle quick-charge function can be carried out.All on the steel plate, steel plate is welded on vehicle frame the above interface for installation.
Embodiment 2:
On the basis of above-described embodiment 1, side space is taken turns to save, convenience is provided for car body design and moulding, using such as
Suspension system 2 shown in fig. 6 increases commutation block 23 in traditional wishbone suspension system, specifically: it is outstanding in the present embodiment
Frame system includes: two transverse arms 21, shock absorber 22, push rod 24 and commutation block 23.Commutation block 23 is triangular structure, three of them top
Each one tie point of setting at point (enable respectively is tie point A, tie point B and tie point C)；The both ends of transverse arm 21 are respectively arranged with rod end
Bearing, one end of two transverse arms 21 pass through respectively bolt with turn to column 10 be connected, wherein the other end of a transverse arm 21 with change
Tie point C pin joint on block 23, commutation block 23 can be rotated around the pin shaft at the tie point；It is welded on another transverse arm 21
Push rod auricle 25, one end and the push rod auricle 25 of push rod 24 are bolted, and the tie point B on the other end and commutation block 23 is logical
It crosses bolt to be connected, the tie point A pin joint on one end and commutation block 23 of shock absorber 22, the other end is affixed with vehicle frame.On wheel
When lower bounce, the swing of transverse arm 21 pushes push rod 24, and push rod 24 pushes pin shaft of the commutation block 23 at tie point C to rotate and push
Shock absorber 22 is axially moved, and shock absorber 22 is supplied to suspension system rigidity and damping.
Embodiment 3:
On the basis of above-described embodiment 1 or 2, increase by two drive systems, respectively drive two front vehicle wheels, forms four-wheel
Thus drive system increases by two electric machine controllers in circuit system, be respectively used in increased two drive systems of control institute
Servo motor.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (10)
1. a kind of unmanned vehicle generalization drive-by-wire chassis characterized by comprising vehicle frame, the driving system being mounted on the vehicle frame
System (1), steering system (3) and circuit system (4), vehicle body of the outsourcing on the vehicle frame, and pass through suspension system (2) and institute
State the connected wheel of vehicle body；
The drive system (1) is servo motor driving system, provides driving force from servo motor to the wheel as driving wheel
Square and braking moment, and parking braking is realized by its internal band-type brake；
The steering system (3) is motor steering system, provides steering moment from motor to the wheel as deflecting roller；
The circuit system (4) includes power supply and entire car controller；The power supply is the entire car controller and drive system
(1) the motor power supply and in steering system (3)；The entire car controller is used to receive the instruction of host computer, and described instruction includes
Driving instruction, braking instruction and steering order control the drive system (1) after receiving driving instruction or braking instruction
In servo motor output driving torque or braking moment；After receiving steering order, control in the steering system (3)
Servo motor exports steering moment.
2. unmanned vehicle generalization drive-by-wire chassis as described in claim 1, which is characterized in that it further include upper attaching port system (6),
The upper attaching port system (6) includes being arranged on the vehicle body for providing the communication interface of signal stream interface for external equipment
(53) and for supplying power for outside power supply interface (52), the power supply in the circuit system is connected directly to the power supply interface
(52) or by commutator transformer the power supply interface (52) are connected to.
3. unmanned vehicle generalization drive-by-wire chassis as claimed in claim 2, which is characterized in that in the upper attaching port system (6)
It further include the charging interface (54) for the power source charges that setting is on the vehicle body in the circuit system (4).
4. unmanned vehicle generalization drive-by-wire chassis as described in claim 1, which is characterized in that the driving wheel is two rear cars
Wheel, each rear wheel correspond to a set of drive system (1), form rear wheel drive system, and the entire car controller receives driving and refers to
After order or braking instruction, the driving motor output driving torque or braking moment in two sets of drive systems are separately or concurrently controlled.
5. unmanned vehicle generalization drive-by-wire chassis as described in claim 1, which is characterized in that four wheels are used as driving wheel,
Each wheel corresponds to a set of drive system (1), forms four-wheel drive system.
6. unmanned vehicle generalization drive-by-wire chassis as described in claim 4 or 5, which is characterized in that the drive system (1) includes
Driving motor (11) and drive transmission device, driving motor (11) are servo motor；
Drive transmission device includes: idle pulley transmission case (12), retarder (14) and Universal drive assembly；The Universal drive assembly
Including universal joint (15) and semiaxis (16)；Setting pitch wheel A and gear B, described in the idle pulley transmission case (12)
The output shaft of driving motor (11) is coaxially connected with gear A, and the input shaft of the retarder (14) is coaxially connected with gear B, institute
It states driving motor (11) and retarder (14) is fixed on the idle pulley transmission case (12)；The output shaft of the retarder (14)
It is connected by Coupling Shaft (17) with universal joint (15), the universal joint (15) passes through semiaxis (16) and the wheel phase as driving wheel
Even to transmit torque.
7. unmanned vehicle generalization drive-by-wire chassis as described in claim 1, which is characterized in that the deflecting roller is two front trucks
Wheel, two front vehicle wheels provide steering moment by a set of steering system.
8. unmanned vehicle generalization drive-by-wire chassis as described in claim 1, which is characterized in that four wheels are used as deflecting roller,
Two of them front vehicle wheel provides steering moment by a set of steering system, and two rear wheels provide steering force by a set of steering system
Square.
9. unmanned vehicle generalization drive-by-wire chassis as claimed in claim 7 or 8, which is characterized in that the steering system (3) includes
Steering motor (31) and steering gear；
The steering gear includes: speed reducer (32), turning machine (34) and steering linkage (35)；The turning machine (34) is
Rack and pinion drive mechanism；The steering motor (31) is connected by the speed reducer (32) and Coupling Shaft (33), Coupling Shaft
(33) the other end and the gear in turning machine (34) are coaxially affixed, and the both ends of turning machine (34) middle rack respectively connect a steering
Pull rod (35), the other end of two steering linkages (35) steering column (10) phase with two coaxial deflecting rollers respectively
Even, the axial direction of the steering linkage (35) is axial parallel with deflecting roller.
10. unmanned vehicle generalization drive-by-wire chassis as claimed in claim 1,2 or 3, which is characterized in that the suspension system (2)
It include: two transverse arms, shock absorber (22), push rod (24) and commutation block (23)；There are three be in three for setting on the commutation block (23)
The tie point of angular distribution, enabling respectively is tie point A, tie point B and tie point C；One end of two transverse arms respectively and with
Corresponding wheel steering column (10) be connected, wherein the other end of a transverse arm and commutation block (23) on tie point C sell
It connects, commutation block (23) can be rotated around the pin shaft at the tie point；It is connected on another transverse arm push rod auricle (25), it is described to push away
One end of bar (24) and push rod auricle (25) are affixed, and the other end and the tie point B in commutation block (23) are affixed；The shock absorber
(22) the tie point A pin joint on one end and commutation block (23), the other end are affixed with vehicle frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810693795.7A CN109017994A (en) | 2018-06-29 | 2018-06-29 | A kind of unmanned vehicle generalization drive-by-wire chassis |
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| CN201810693795.7A CN109017994A (en) | 2018-06-29 | 2018-06-29 | A kind of unmanned vehicle generalization drive-by-wire chassis |
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| CN109814550A (en) * | 2018-12-29 | 2019-05-28 | 北京中云智车科技有限公司 | It is a kind of for closing the unmanned transport vehicle of garden |
| CN110641394A (en) * | 2019-09-12 | 2020-01-03 | 北京中云智车科技有限公司 | Full-wire control chassis special for unmanned vehicle and without human driving mechanism |
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| CN113899562A (en) * | 2021-08-26 | 2022-01-07 | 中汽研（天津）汽车工程研究院有限公司 | Intelligent network-connected automobile field test flat car |
| WO2023092588A1 (en) * | 2021-11-29 | 2023-06-01 | 舍弗勒技术股份两合公司 | Wheel module, vehicle chassis, and control method for wheel module |
| WO2024104298A1 (en) * | 2022-11-14 | 2024-05-23 | 浙江极氪智能科技有限公司 | In-vehicle internet-of-things system and vehicle |
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| CN113830175A (en) * | 2021-07-30 | 2021-12-24 | 浙江智莱科技有限公司 | Four-wheel cross-country unmanned line control vehicle |
| CN113899562A (en) * | 2021-08-26 | 2022-01-07 | 中汽研（天津）汽车工程研究院有限公司 | Intelligent network-connected automobile field test flat car |
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| WO2024104298A1 (en) * | 2022-11-14 | 2024-05-23 | 浙江极氪智能科技有限公司 | In-vehicle internet-of-things system and vehicle |
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Application publication date: 20181218 |