DE202012002846U1 - Electric motor vehicle, in particular electric passenger motor vehicle, or hybrid electric motor vehicle, in particular Hybrideletro-Personen-Kraftfahrzeug, unddStraßenzug from the same - Google Patents

Abstract

Electric motor vehicle (10), in particular electric passenger vehicle, or hybrid electric vehicle, in particular hybrid electric passenger vehicle, with at least three wheels (26), which can be driven and operated individually, as well as with at least one expansion module and / or at least one identical motor vehicle or a motor vehicle of the same type can be coupled and decoupled electromechanically while stationary and while driving.

Description

The present invention relates to an electric motor vehicle, in particular electric passenger vehicle and a hybrid electric motor vehicle, in particular hybrid electric passenger vehicle, and a road train therefrom.

It is known to equip passenger cars with electric motors and rechargeable batteries in order to drive locally emission-free and thus reduce the environmental impact and noise level and to relieve the city traffic (see above).

It is also known in concept cars to use folding mechanisms in passenger cars (Hiriko of the Massachusetts Institute of Technology (MIT)) to reduce vehicle length, or to use four-wheel steering to turn on the spot. Renault's concept car Twizi is designed to reduce its cost, weight and CW value. In addition, there are different concepts, for example in the form of the built by Nissan Pivo 2 of sideways moving and shape-changeable vehicles that can be partially networked with their environment.

Already in the 1990s, there was a desire to better road utilization by shorter distances between the individual vehicles and continuous flow of traffic, which also less congestion are connected, and a lower fuel or energy consumption by exploiting the wind shadow and thus a lower environmental impact and a Relieve the driver.

In the EU's SARTRE (Safe Road Trains for the Environment) project, Volvo Car Corporation has developed a system to enable a driver to engage in a convoy and the command vehicle controlled by a specially trained driver. to give control over your own vehicle. A corresponding control system is in the European patent application EP 2 390 744 A1 described.

At that time, Daimler Chrysler started a project using a so-called "electronic tiller", which is able to electronically couple two vehicles into one unit. More specifically, an electronic tiller is a non-tactile coupling of vehicles using electronics and computer technology. The rear vehicles follow the lead vehicle automatically, as if they were coupled with a real drawbar to the leading vehicle. This requires comprehensive sensor technology (for example for distance measurement and image / pattern recognition) as well as special computer software. The coupled with the electronic drawbar, the second vehicle is oriented in the composite exactly on the vehicle in front, which carries a certain pattern at the rear. Video camera and computer in the second vehicle determine the direction, distance and relative speed of the vehicle ahead. The electronic drawbar primarily connects trucks to a compact unit for a convoy.

The US 2011/0108334 A1 discloses a motorized road vehicle for transporting passengers that can travel alone and is articulated to other vehicles to form a road train. More specifically, it is about personal transport buses with internal combustion engines, which are connected to each other by a mechanical or physical coupling to form a street of several buses. The individual buses have connecting doors, so that the mechanically coupled buses together form a kind of multi-articulated bus that can be traversed from front to back, without in between an exit and entry is required.

The present invention has for its object to provide an electric motor vehicle and a hybrid electric vehicle with extended functionality.

This object is achieved by an electric motor vehicle, in particular electric passenger motor vehicle, or hybrid electric motor vehicle, in particular hybrid electric passenger vehicle, with at least three wheels that can both drive and operate individually, as well as with at least one expansion module and / or at least one identical motor vehicle or a motor vehicle of the same type in the state and while driving electromechanically coupled and also decoupled again.

Furthermore, the present invention provides a road train, also called "road train" comprising at least two motor vehicles according to one of claims 1 to 15, wherein the two motor vehicles with master-slave vehicle control with simultaneous availability of local intelligence in the vehicles are releasably coupled electromechanically , wherein the common master-slave vehicle control is preferably automated.

In particular, the master-slave vehicle control device of a motor vehicle can assume two different states when the coupling has taken place, such that it controls both the individual vehicles and the leading vehicle of a road in the state of the master vehicle control, while in the state of the slave vehicle. Vehicle control the vehicle is addressed as a non-leading part of a road. Both states differ in the way in which control pulses are received, and how they are interpreted and executed.

Conveniently, the expansion module is a range extender module, such as a diesel generator and / or an electric power unit and / or a battery, a passenger car extension module or a bed module. The passenger vehicle expansion module may in principle be a module with additional passenger or passenger seats.

Advantageously, the motor vehicle can be electromechanically coupled with energy and / or data exchange to form a road.

Furthermore, the invention provides an electric motor vehicle according to claim 4. The electric motor vehicle is then mobile together with the expansion module and / or the motor vehicle with master-slave vehicle control.

Expediently, the motor vehicle and / or the expansion module have / have a highly movable and / or modular chassis.

Preferably, the motor vehicle and / or the expansion module has / have distributed drives, in particular by wheel hub motors.

According to a further particular embodiment of the invention, it can be provided that the length of the motor vehicle can be varied within a range between a minimum length and a maximum length, both while stationary and during travel, by means of a folding mechanism.

In particular, it may be provided that it has a front axle and a rear axle and that the front axle and the rear axle are moved relative to one another by the folding mechanism.

According to a further particular embodiment of the invention, it has a vehicle cabin, and the folding mechanism is designed so that the vehicle cabin upright while adjusting the seat and steering position when the length of the motor vehicle is reduced.

Conveniently, the folding mechanism on a parallel kinematic for erecting the vehicle cab.

Conveniently, each individual wheel with preferably five degrees of freedom, preferably in the form of linear actuators, freely move and / or rotate by 90 °.

Preferably, the suspension height and / or the steering angle and / or the lane and / or the lintel and / or the longitudinal position can be controlled or regulated.

Furthermore, the present invention provides an electric motor vehicle according to claim 12.

In particular, it can be provided that the motor vehicle is designed to automatically find electromechanical interfaces on the expansion module and / or the motor vehicle and / or the charging station and preferably automatically start and dock by means of visual servoing.

According to a further particular embodiment of the invention, electrical energy and / or data can be transmitted between two electromechanically coupled motor vehicles or a motor vehicle and an expansion module via a direct electrical contact and / or by radio, in particular ultra short-distance radio transmission.

Advantageously, in the street the two motor vehicles are actively coupled and decoupled.

Furthermore, a shared energy use of the coupled vehicles may be provided.

According to a particular embodiment, it may comprise at least one expansion module, which is releasably electromechanically coupled to at least one of the motor vehicles.

Finally, the at least one expansion module may be under the control of the master-slave vehicle controller.

The invention is based on the surprising finding that electric motor vehicles and hybrid electric vehicles can be extended by expansion modules via an electromechanical coupling in their functionality. About the electromechanical coupling and several identical motor vehicles or motor vehicles of the same type to a street - at least temporarily - be joined together. In addition, the electromechanical coupling has considerable advantages for the fundamentally individual car-based mobility. So is a common control using the master-slave vehicle control as well as a shared energy use of the connected Motor vehicles and an active coupling and uncoupling possible.

If at least according to a particular embodiment a - preferably automated - docking and undocking while driving is possible, the streets can be dynamically formed and modified.

Further features and advantages of the invention will become apparent from the appended claims and the following description, in which several embodiments are described in detail with reference to the schematic drawings, in which:

1 shows an electric motor vehicle according to a particular embodiment of the invention in an unfolded state from the side;

2 the electric motor vehicle of 1 in the folded state shows diagonally from the front;

3 the electric motor vehicle of 2 with employed wheels for turning on the spot points;

4 the vehicle of 2 in transverse direction from the front;

5 the vehicle of 2 in a street of several mutually electromechanically coupled identical electric motor vehicles from the side;

6 the electric motor vehicle of 2 from the side shows how it is electromechanically coupled to a passenger vehicle extension module; and

7 the electric motor vehicle of 1 with adjustable in height and in inclination vehicle chassis shows.

That in the 1 to 4 and in the 7 individually shown electric motor vehicle 10 has a vehicle chassis 12 , also called chassis, on which a vehicle cabin 14 for one or more persons, and a master-slave vehicle control device (not shown). In the in 1 illustrated unfolded state, with the front of the electric motor vehicle 10 in 1 right, points the electric motor vehicle 10 its maximum length up. In said state is the electric motor vehicle 10 apart aerodynamically favorable and can sit a user (driver) in a particularly suitable for longer trips position. The electric motor vehicle can be front and rear with other electric vehicles (see 6 ) are coupled electromechanically.

2 shows the same electric motor vehicle 10 in a folded state by means of a folding mechanism (not shown) in which the electric motor vehicle 10 has its minimum length. By means of the folding mechanism becomes the rear axle 16 to the front axle 18 moved up. At the same time the vehicle cabin 14 with simultaneous adjustment of the seat and steering position of the seat or seats (not shown) erected, ie pivoted forward. In this state, the electric motor vehicle 10 be parked extremely space-saving and also drive sideways in addition to the usual driving modes (see 4 ) and turn on the spot (see 3 ).

At the in 5 shown street 20 consisting of several mutually mechanically linked to a chain electric power tools 10 according to 1 Both data and energy, in particular electrical energy, as well as mechanical power are transmitted. The street train 20 can in addition to the electric vehicles 10 Also, passenger car expansion modules include, as in the 6 With 22 is shown. In the 6 is the electric motor vehicle 10 with the passenger car extension module 22 electromechanically coupled. As a result, it has additional passenger seats 24 and a switchable power supply (not shown), such as a battery, but also hydrogen, diesel electric, etc., for increasing the range of the electric motor vehicle 10 on.

In accordance with the present invention, a scalable master-slave vehicle controller is for the dockable electric vehicles 10 intended. In master mode, the master-slave vehicle controller of an electric vehicle can only control the associated electric vehicle, with both low levels of control such as actuator and sensor control, as well as very high levels, such as the control of the entire electric vehicle are integrated, but also the control of the expansion modules of the electric vehicle or the electric vehicles coupled to the electric vehicle in the context of the road train are an integral part of the master-slave vehicle control.

Upon successful pairing of the lead vehicle with any expansion module and / or electric vehicle, the overall control is taken over by the master-slave vehicle control of the lead vehicle, which is in master mode. The necessary control commands are calculated by the leading vehicle and forwarded to the individual expansion modules or electric vehicles. To transfer the control commands is the electromechanical Interface provided data transfer used. Control commands at low control levels are calculated by the master-slave vehicle control devices of the expansion modules or electric vehicles that are in slave mode. Thus, the dynamic characteristics of the individual electric vehicle with respect to docking, lane change, steering, acceleration and braking maneuvers also remain in one street.

The described master-slave vehicle control system is advantageous insofar as it is able to take over all control functions of the leading vehicle, but that this functionality is also transferred to all expansion modules and electric vehicles coupled to the leading vehicle. In this way, a block of coupled individual vehicles forms a unit which, guided by driver assistance systems, ideally moves on the road. Within a street, the overall control is taken over by the leading vehicle, which receives information about the electromechanical interface via all coupled expansion modules and electric vehicles. In this way, multiple linked electric vehicles can navigate safely on a route, since all movements that produce a changed driving condition, ie brake, accelerate, steer, etc. affect the entire road and thus allow a quiet and safe driving of the road.

In addition to the control of individual vehicles, expansion modules and streets, the automation of various functions is a central component of the master-slave vehicle control system. This includes, among other things, the automated parking of the vehicle, the docking of the vehicle with a charging station, the exact positioning of the vehicle on induction charging surfaces and the execution of complex movement sequences as well as the approach of a predetermined position in a parking lot.

In order to carry out the maneuver, an automatic route calculation by the on-board computer integrated in the vehicle and the detection of static and moving obstacles (for example, other vehicles, pedestrians) by the sensors integrated in the vehicle is necessary. The automatic coupling of the vehicle while driving with another vehicle or a road train and the energy transfer between different vehicles is controlled by the master-slave vehicle control.

As reflected by the 7 results is the chassis height of the electric motor vehicle 10 via the height-adjustable vehicle chassis 12 adjustable, the adjustment range 155 mm. Due to the height-adjustable vehicle chassis 12 can the electric motor vehicle 10 Drive on rough terrain and / or avoid obstacles on the ground. In addition, it can be tilted for cornering by - / + 10 °.

The electric motor vehicle can, at least in a particular embodiment, change its shape and mode of operation to the extent that the length of the electric motor vehicle can be reduced via a folding mechanism while driving or standing, so that the vehicle cabin or driver's cabin with simultaneous adjustment of the seat and steering position erected over, for example, a parallel kinematic and reduces the length of the electric motor vehicle to a fraction by the rear axle is moved up to the front axle, and regardless of each wheel 26 with five degrees of freedom in the form of linear actuators and a respective wheel hub motor (not shown) so freely that the chassis height, the steering angle, the lane, the camber and the longitudinal position can be regulated so that in addition to the known driving possibilities of a conventional electric Passenger motor vehicle different driving modes are possible insofar as that the electric motor vehicle turn on the spot, steering front and rear simultaneously, sideways and can drive diagonally and all with apart or folded body, so that extensive driving maneuvers individually or as a chain of many Electric vehicles (road train) can be executed, but also chains coupled electric motor vehicles can be moved and steered by means of automated master-slave vehicle control. The coupled electric vehicles behave like a single vehicle, but are separable again at any time. The electric motor vehicles 10 provide an integrated master-slave vehicle control of the road train 20 by, for example, a leading vehicle utilizing the local intelligence in the individual electric vehicles 10 , The electric motor vehicles 10 are coupled via an electromechanical coupling, via which the individual electric motor vehicles 10 communicate with each other and via an electric motor vehicle control of the other electric motor vehicles 10 gets. That is, the electric motor of one of the electric vehicles 10 is active in the network, but is controlled by the leading vehicle.

According to a particular embodiment, the wheels 26 - comparable to one foot - individually liftable. Thus, the electric motor vehicle is actually technically able to "go". This can be significant, for example, when climbing over curbs.

• – Elektromechanische Fahrzeugkoppelschnittstellen vorne und hinten zur Bildung von Straßenzügen,
• – Datenübertragungsschnittstelle über direkten elektrischen Kontakt und/oder Funk, insbesondere Ultrakurzstreckenfunk, mechanisch stabile, aber über beweglichen Klauenverbindungsmechanismus flexible Verbindung zwischen Kraftfahrzeugen oder Erweiterungsmodulen und identischen Kraftfahrzeugen bzw. Kraftfahrzeugen vom selben Typ,
• – diverse Marker zur optischen Identifikation und Positionsbestimmung einer Dockingschnittstelle zur Unterstützung eines automatisierten Koppelns und
• – ein Kamerasystem zur visuellen Positionsbestimmung der zu koppelnden elektromechanischen Schnittstellen.

At least in particular embodiments, the following features or devices may be provided individually or in any combination:

• Electromechanical vehicle coupling interfaces front and rear for the formation of streets,
• Data transmission interface via direct electrical contact and / or radio, in particular ultra-short distance radio, mechanically stable, but via movable jaw connection mechanism flexible connection between motor vehicles or expansion modules and identical motor vehicles or motor vehicles of the same type,
• Various markers for optical identification and positioning of a docking interface to support automated coupling and
• A camera system for the visual positioning of the electromechanical interfaces to be coupled.

• – Elektromechanischer Schwenk der Radlage für Querfahrt,
• – elektromechanische Neigung der Radlage,
• – elektromechanische Lenkung des Rades,
• – elektromechanische Höhenverstellung des Fahrwerks,
• – elektromechanischer Radnabenantrieb und
• – Federdämpfung.

Alternatively or additionally, an adaptive electromechanical wheel suspension with wheel hub drive can be provided which has the following features or devices individually or in any combination:

• - Electromechanical pivoting of the wheel position for transverse travel,
• - electromechanical inclination of the wheel position,
• - electromechanical steering of the wheel,
• - electromechanical height adjustment of the chassis,
• - electromechanical wheel hub drive and
• - spring damping.

• – Änderung der Morphologie im Stand und während der Fahrt,
• – dreiteilige Grundstruktur mit verteiltem Energiespeicher in separaten Fahrwerksträgern,
• – vordere und hintere Fahrwerksträger mit identischer Grundfunktionalität,
• – gabelförmige Lagerung der Drehachsen von Fahrwerksmodulen und Zentralrahmen,
• – platzsparende Unterbringung der elektromechanischen Hubzylinder hinter den Sitzen,
• – Batterieboxen integriert als Schnellwechselsystem,
• – elektromechanischer Hubmechanismus zur variablen Verstellung des Radstandes,
• – elektromechanische Neigung der Fahrwerksachsen und
• – Konsolen- und Sitzmodul als Schwingung gelagert.

Alternatively or additionally, the electric motor vehicle may have the following design features individually or in any combination:

• - Modification of the morphology in the state and while driving,
• - three-part basic structure with distributed energy storage in separate chassis carriers,
• - front and rear chassis beams with identical basic functionality,
• - bifurcated mounting of the axes of rotation of chassis modules and central frames,
• - Space-saving storage of electromechanical lifting cylinders behind the seats,
• - Battery boxes integrated as quick-change system,
• - electromechanical lifting mechanism for variable adjustment of the wheelbase,
• - Electromechanical inclination of the suspension axles and
• - Console and seat module stored as vibration.

At least in one particular embodiment, a motor vehicle with extended functionalities can be realized, to suit the particular situation. For example, the electric motor vehicles may be in chains of electric vehicles with a common route. This can reduce emissions, traffic, production costs and the burden on travelers.

More specifically, by the particular automatic coupling of motor vehicles with each other and the coupling of motor vehicles with one or more extension module (s) the range, energy consumption and functionality of a motor vehicle and the burden of environment and driver can be significantly reduced and the usability of an electric motor vehicle or Hybrid electric vehicle can be extended variably. In addition, the adjustable automotive features provide the user with complete freedom about the dynamic and energetic characteristics of the motor vehicle insofar as it can adapt to the motor vehicle according to the needs of different situations or select driving modes that allow it the highest possible mobility. In this way, the driver can, for example, overcome obstacles by changing the height of the chassis by the highly movable axles or, in an inevitably appearing situation, turning the motor vehicle on the spot and driving around the vehicle. The sideways driving mode also allows him to park and park his car in parked surroundings, for example, folding the bodywork together for extremely space-saving and fast parking and maneuvering in tight urban traffic.

Alternatively to the motor vehicle according to claim 1 or in addition, it may be designed to be automatically docked to an extension module or an identical motor vehicle or a motor vehicle of the same type or a charging station both while stationary and while driving. This allows the motor vehicle driver to automatically drive to a charging station (not shown) for purposes of motor vehicle loading without always having to be forced to plug a sometimes dirty cable in wind and weather. For this purpose, the electric motor vehicle is given a corresponding command, which then calculates the drive to a recognized or known charging station (not shown) in the immediate vicinity of the electric motor vehicle and automatically docks by execution of this maneuver to the optically position-determined charging station. During docking, obstacles, such as other vehicles or pedestrians, are detected and included in the path planning or are reacted to dynamically. In addition, and in particular, but this is also the enables electromechanical coupling of a plurality of identical electric motor vehicles or motor vehicles of the same type, wherein the master-slave vehicle control device of the master vehicle (master mode) takes over the vehicle control of the following vehicles in the slave state to both straight driving, but also cornering or lane change to allow with the additional functionality of the decoupling of individual electric motor vehicles from the chain or the road train while driving in the case of different destination routes per driver.

In addition, not only similar motor vehicles, but also the motor vehicle expanding expansion module, such as the passenger car extension module 22 or a module with cargo space, each with a switchable power supply (not only battery, but also hydrogen, diesel-electric, etc.) To increase the range of the electric motor vehicle 10 each additional extension module has its own additional power supply or is equipped with optional additional drives.

Since due to road bumps or changing conditions an always constant height and orientation of an electromechanical interface (docking interface) can not be guaranteed, are highly mobile axes, which are the electric motor vehicle 10 even move in all axes, for an automatic docking very beneficial.

While particular embodiments of the invention have been described with respect to an electric vehicle, it should be apparent to those skilled in the art that it could equally well be a hybrid electric vehicle.

The features of the invention disclosed in the present description, in the drawings and in the claims may be essential both individually and in any desired combinations for the realization of the invention in its various embodiments.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 2390744 A1 [0005]
• US 2011/0108334 A1 [0007]

Claims (20)

Electric motor vehicle ( 10 ), in particular electric passenger motor vehicle, or hybrid electric motor vehicle, in particular hybrid electric passenger motor vehicle, having at least three wheels ( 26 ), which can both drive and operate individually, as well as with at least one expansion module and / or at least one identical motor vehicle or a motor vehicle of the same type in the state and while driving electromechanically coupled and also decoupled again. Motor vehicle according to claim 1, characterized in that the expansion module, a range extender module, such as a diesel engine and / or an electric power unit and / or a battery, a passenger car extension module ( 22 ) or a loading platform module. Motor vehicle according to claim 1 or 2, characterized in that it with energy and / or data exchange to form a road ( 20 ) is electromechanically coupled. Electric motor vehicle ( 10 ), in particular electric passenger motor vehicle, or hybrid electric motor vehicle, in particular hybrid electric passenger motor vehicle, in particular according to one of the preceding claims, characterized in that a master-slave vehicle control device and having master-slave vehicle control for controlling at least one or at least one expansion module with the at least one expansion module and / or for forming a road ( 20 ) with at least one or the at least one identical motor vehicle or one or the motor vehicle of the same type in the state and while driving electromechanically coupled and also decoupled again. Motor vehicle according to one of the preceding claims, characterized in that it and / or the expansion module has / have a highly mobile and / or modular chassis. Motor vehicle according to one of the preceding claims, characterized in that it and / or the expansion module distributed drives, in particular by wheel hub motors, has / have. Motor vehicle according to one of the preceding claims, characterized in that its length can be varied both in the state and during the journey via a folding mechanism within a range between a minimum length and a maximum length. Motor vehicle according to claim 7, characterized in that it has a front axle ( 18 ) and a rear axle ( 16 ) and by the folding mechanism, the front axle ( 18 ) and the rear axle ( 16 ) are moved relative to each other. Motor vehicle according to claim 7 or 8, characterized in that it has a vehicle cabin ( 14 ) and the folding mechanism is designed so that the vehicle cabin ( 14 ) straightens with simultaneous adjustment of the seat and steering position when the length of the motor vehicle is reduced. Motor vehicle according to claim 9, characterized in that the folding mechanism a Parallelekineatik for erecting the vehicle cabin ( 14 ) having. Motor vehicle according to one of the preceding claims, characterized in that each individual wheel ( 26 ) with preferably five degrees of freedom, preferably in the form of linear actuators, can move freely and / or is rotatable by 90 °. Motor vehicle according to one of the preceding claims, characterized in that the chassis height and / or the steering angle and / or the track and / or the camber and / or the longitudinal position can be controlled or regulated. Electric motor vehicle ( 10 ), in particular electric passenger motor vehicle, or hybrid electric motor vehicle, in particular hybrid electric passenger motor vehicle, in particular according to one of the preceding claims, characterized in that it is designed to an extension module or an identical motor vehicle or a motor vehicle of the same type or a Charging station both in the state and while driving automatically docked. Motor vehicle according to claim 13, characterized in that it is designed to automatically find electromechanical interfaces on the expansion module and / or the motor vehicle and / or the charging station and preferably automatically start and dock by means of visual servoing. Motor vehicle according to one of the preceding claims, characterized in that electrical energy and / or data between two electromechanically coupled motor vehicles or a motor vehicle and an expansion module via a direct electrical contact and / or wireless, in particular ultra short-distance radio, transferable is / are. Street train ( 20 ), comprising at least two motor vehicles according to one of the preceding Claims, wherein the two motor vehicles with master-slave vehicle control with simultaneous availability of local intelligence in the vehicles are releasably coupled electromechanically to each other, wherein the common master-slave vehicle control is preferably automated. Street train ( 20 ) according to claim 16, characterized in that the two motor vehicles are actively coupled and decoupled. Street train ( 20 ) according to claim 16 or 17, characterized in that a common energy use of the coupled motor vehicles is provided. Street train ( 20 ) according to one of claims 16 to 18, characterized in that it comprises at least one expansion module which is releasably electromechanically coupled to at least one of the motor vehicles. Street train ( 20 ) according to claim 19, characterized in that the at least one expansion module is under the control of the master-slave vehicle control.

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