WO2011154681A1 - An autonomous vehicle - Google Patents

An autonomous vehicle Download PDF

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Publication number
WO2011154681A1
WO2011154681A1 PCT/GB2011/000705 GB2011000705W WO2011154681A1 WO 2011154681 A1 WO2011154681 A1 WO 2011154681A1 GB 2011000705 W GB2011000705 W GB 2011000705W WO 2011154681 A1 WO2011154681 A1 WO 2011154681A1
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WO
WIPO (PCT)
Prior art keywords
autonomous vehicle
vehicle according
mechanical
autonomous
drive means
Prior art date
Application number
PCT/GB2011/000705
Other languages
French (fr)
Inventor
Alan Thomas Ponsford
Original Assignee
Capoco Design Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Capoco Design Limited filed Critical Capoco Design Limited
Publication of WO2011154681A1 publication Critical patent/WO2011154681A1/en

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H23/00—Tumbler or rocker switches, i.e. switches characterised by being operated by rocking an operating member in the form of a rocker button
    • H01H23/02—Details
    • H01H23/12—Movable parts; Contacts mounted thereon
    • H01H23/16—Driving mechanisms

Definitions

  • This invention relates an autonomous vehicle.
  • Autonomous vehicles are known. They are sometimes known as driverless vehicles.
  • the development of autonomous vehicles is in its early stages. There is a constant need for improvements in order to enable autonomous vehicles to be produced on a commercial basis, and to compete commercially with existing drive vehicles.
  • an autonomous vehicle comprising a passenger module, a first removable module at a first end of the autonomous vehicle, a second removable module at a second end of the autonomous vehicle, and mechanical and electrical assemblies required for the operation of the autonomous vehicle, the mechanical and electrical assemblies being provided on the first and second removable modules, and the autonomous vehicle being such that it is able to travel with either one of the first and second ends as the front part of the autonomous vehicle during travel.
  • the autonomous vehicle of the present invention is such that it can operate equally well in either of two directions. Such bi-directional operation ensures that travel routes for the autonomous vehicle can be configured to avoid the need for turning points in tight spaces. Travel routes can be operated into blind streets, with the autonomous vehicle changing direction at each terminus. Further, the operation in and out of end-on parking bays becomes greatly simplified due to the absence of the need to turn the autonomous vehicle around, or to reverse into an oncoming traffic flow.
  • the autonomous vehicle is symmetrical from front to rear, including a pattern of sub-frame mounting points for the first and second removable modules.
  • the mechanical and electrical assemblies may comprise drive means, steering means, braking means, energy storage means, and guidance and obstacle detection means.
  • the drive means may be battery operated, liquid fuel operated, or gas fuel operated.
  • the drive means may be a single type of drive means operating on one energy source only.
  • the drive means may be a hybrid drive means able to operate on more than one source of energy as required.
  • the drive means may be convertible from one drive type to another.
  • the drive means may thus be convertible from electric battery to electric hybrid.
  • the drive means may also be convertible from uni-directional to bidirectional operation.
  • the autonomous vehicle may be a two or four wheel drive autonomous vehicle.
  • the autonomous vehicle may also be a two or four wheel steer autonomous vehicle.
  • the autonomous vehicle may be one in which the passenger module comprises seating which faces towards a centre portion of the passenger module. All internal systems may be mirrored from front to rear.
  • the autonomous vehicle may be one which includes similar and continuous front and rear bulk heads. This is permitted because there is no need for a driver's cab in the autonomous vehicle.
  • the autonomous vehicle may be one which the mechanical and electrical assemblies are on interchangeable sub-frames that can be changed from front to rear, and also between different autonomous vehicles due to a common pattern of mounting points.
  • the first and second removable modules may each comprise one of the sub-frames, and an external skin.
  • Such a construction enables all specialist technology required for the autonomous vehicle to be packaged efficiently both for original manufacture and in service operation.
  • the autonomous vehicle is able to adopt a symmetrical arrangement from front to rear due to the fact that the autonomous vehicle is driverless and therefore does not need a driving cab, driving controls, headlights, wipers and defrosters.
  • Figure 1 shows an autonomous vehicle proceeding from left to right
  • Figure 2 shows the autonomous vehicle of Figure 1 but proceeding from right to left.
  • an autonomous vehicle 2 comprising a passenger module 4.
  • a first removable module 6 is provided at a first end 8 of the autonomous vehicle 2.
  • a second removable module 10 is provided at a second end 12 of the autonomous vehicle 2.
  • the autonomous vehicle 2 comprises mechanical and electrical assemblies (not shown) required for the operation of the autonomous vehicle 2.
  • the mechanical and electrical assemblies are provided on the first and second removable modules 6, 10.
  • the autonomous vehicle 2 is such that it is able to travel with either one of the first and second ends 8, 12 as the front part of the autonomous vehicle 2 during the travel. Mores specifically, as can be seen in Figure 1 , the autonomous vehicle 2 is travelling from left to right, and the first end 8 is at the front of the autonomous vehicle 2. In Figure 2, the autonomous vehicle 2 is travelling from right to left and then the second end 12 is at the front of the autonomous vehicle 2. As can be appreciated from Figures 1 and 2, the autonomous vehicle 2 is advantageous in that vehicle travel routes can be configured to avoid the provision for turning points in tight spaces. Vehicle travel routes can be operated in blind streets with the autonomous vehicle 2 changing direction at each terminus. The operation in and out of end-on parking bays is simple due to the absence of need to turn the autonomous vehicle 2 around, or to reverse the autonomous vehicle 2 into an oncoming traffic flow.
  • the autonomous vehicle 2 is such that its layout is symmetrical from front to rear, including a pattern of sub-frame mounting points.
  • Sub-frames form part of the first and second removable modules 6, 10.
  • the sub-frames enable the first and second removable modules 6, 10 readily to be swapped to cover a range of differing functions, both when the autonomous vehicle 2 is new, and after time when service is required, and on the same or different autonomous vehicles.
  • the provision of the first and second removable modules 6, 10 and their interchangability enables upgrades easily to be made to the autonomous vehicle 2, for example to the electric drive means, or to the vehicle guidance system.
  • the mechanical and electrical assemblies include drive means, steering means, braking means, energy storage means, and guidance and obstacle detection means.
  • the drive means may be convertible from one drive type to another, for example from electric battery to electric hybrid utilising a liquid or gaseous fuel.
  • the drive means may also be convertible from uni-directional to bi-directional operation.
  • the autonomous vehicle 2 has wheels 14. The wheels 14 may be such that they are two or four wheel drive, and/or two or four wheel steer.
  • the autonomous vehicle 2 has seats 16, 18.
  • the seats 16, 18 face inwardly towards a centre portion 20 of the passenger module 4 of the autonomous vehicle 2.
  • the seats 16, 18 are symmetrically positioned so that the front part of the autonomous vehicle 2 mirrors the rear part of the autonomous vehicle 2.
  • This mirroring of the structure of the autonomous vehicle 2 is such that the autonomous vehicle 2 has a first bulk head 22 which is the same as a second bulk head 24.
  • the similar first and second bulk heads 22, 24 is achievable because the autonomous vehicle 2 does not have a driver's cab.
  • the autonomous vehicle 2 is such that external skins cover the first and second removable modules 6, 10. There is no need for the autonomous vehicle 2 to have driver controls, headlights, wipers and defrosters.
  • the autonomous vehicle 2 is able readily to be adapted to a wide range of applications, and to different technical systems.
  • the autonomous vehicle 2 uses a common design to be applied to a range of operations.
  • the autonomous vehicle 2 allows upgrading during the service life of the autonomous vehicle 2.
  • the service life of the autonomous vehicle 2 may be longer than that of a typical known driven vehicle.
  • the autonomous vehicle 2 has one passenger module but small and large versions might not always have two sub-frames.
  • a very small autonomous vehicle might have one sub-frame, located at the front or the rear, and a single axle at the other end.
  • a large autonomous vehicle might have three sub-frames, located front and rear, and a separate energy storage module and/or a third axle module.
  • Various types of sub-frames and their mountings may be employed.
  • the autonomous vehicle 2 may just be a bi-directional operated trackless road vehicle.

Abstract

An autonomous vehicle (2) comprising, a passenger module (4), a first removable module (6) at a first end (8) of the autonomous vehicle, a second removable module (10) at a second end (12) of the autonomous vehicle (2), and mechanical and electrical assemblies required for the operation of the autonomous vehicle (2), the mechanical and electrical assemblies being provided on the first and second removable modules (6, 10), and the autonomous vehicle (2) being such that it is able to travel with either one of the first and second ends (8, 12) as the front part of the autonomous vehicle (2) during travel.

Description

AN AUTONOMOUS VEHICLE
This invention relates an autonomous vehicle.
Autonomous vehicles are known. They are sometimes known as driverless vehicles. The development of autonomous vehicles is in its early stages. There is a constant need for improvements in order to enable autonomous vehicles to be produced on a commercial basis, and to compete commercially with existing drive vehicles.
It is an aim of the present invention to provide an improved autonomous vehicle.
Accordingly, in one non-limiting embodiment of the present invention, there is provided an autonomous vehicle comprising a passenger module, a first removable module at a first end of the autonomous vehicle, a second removable module at a second end of the autonomous vehicle, and mechanical and electrical assemblies required for the operation of the autonomous vehicle, the mechanical and electrical assemblies being provided on the first and second removable modules, and the autonomous vehicle being such that it is able to travel with either one of the first and second ends as the front part of the autonomous vehicle during travel.
The autonomous vehicle of the present invention is such that it can operate equally well in either of two directions. Such bi-directional operation ensures that travel routes for the autonomous vehicle can be configured to avoid the need for turning points in tight spaces. Travel routes can be operated into blind streets, with the autonomous vehicle changing direction at each terminus. Further, the operation in and out of end-on parking bays becomes greatly simplified due to the absence of the need to turn the autonomous vehicle around, or to reverse into an oncoming traffic flow.
Preferably the autonomous vehicle is symmetrical from front to rear, including a pattern of sub-frame mounting points for the first and second removable modules.
The mechanical and electrical assemblies may comprise drive means, steering means, braking means, energy storage means, and guidance and obstacle detection means.
The drive means may be battery operated, liquid fuel operated, or gas fuel operated. The drive means may be a single type of drive means operating on one energy source only. Alternatively, the drive means may be a hybrid drive means able to operate on more than one source of energy as required. The drive means may be convertible from one drive type to another. The drive means may thus be convertible from electric battery to electric hybrid. The drive means may also be convertible from uni-directional to bidirectional operation.
The autonomous vehicle may be a two or four wheel drive autonomous vehicle. The autonomous vehicle may also be a two or four wheel steer autonomous vehicle. The autonomous vehicle may be one in which the passenger module comprises seating which faces towards a centre portion of the passenger module. All internal systems may be mirrored from front to rear.
The autonomous vehicle may be one which includes similar and continuous front and rear bulk heads. This is permitted because there is no need for a driver's cab in the autonomous vehicle.
The autonomous vehicle may be one which the mechanical and electrical assemblies are on interchangeable sub-frames that can be changed from front to rear, and also between different autonomous vehicles due to a common pattern of mounting points.
The first and second removable modules may each comprise one of the sub-frames, and an external skin. Such a construction enables all specialist technology required for the autonomous vehicle to be packaged efficiently both for original manufacture and in service operation. The autonomous vehicle is able to adopt a symmetrical arrangement from front to rear due to the fact that the autonomous vehicle is driverless and therefore does not need a driving cab, driving controls, headlights, wipers and defrosters.
An embodiment of the invention will now be described solely by way of example and with reference to the accompanying drawings in which:
Figure 1 shows an autonomous vehicle proceeding from left to right; and
Figure 2 shows the autonomous vehicle of Figure 1 but proceeding from right to left. Referring to the drawings, there is shown an autonomous vehicle 2 comprising a passenger module 4. A first removable module 6 is provided at a first end 8 of the autonomous vehicle 2. A second removable module 10 is provided at a second end 12 of the autonomous vehicle 2. The autonomous vehicle 2 comprises mechanical and electrical assemblies (not shown) required for the operation of the autonomous vehicle 2. The mechanical and electrical assemblies are provided on the first and second removable modules 6, 10.
The autonomous vehicle 2 is such that it is able to travel with either one of the first and second ends 8, 12 as the front part of the autonomous vehicle 2 during the travel. Mores specifically, as can be seen in Figure 1 , the autonomous vehicle 2 is travelling from left to right, and the first end 8 is at the front of the autonomous vehicle 2. In Figure 2, the autonomous vehicle 2 is travelling from right to left and then the second end 12 is at the front of the autonomous vehicle 2. As can be appreciated from Figures 1 and 2, the autonomous vehicle 2 is advantageous in that vehicle travel routes can be configured to avoid the provision for turning points in tight spaces. Vehicle travel routes can be operated in blind streets with the autonomous vehicle 2 changing direction at each terminus. The operation in and out of end-on parking bays is simple due to the absence of need to turn the autonomous vehicle 2 around, or to reverse the autonomous vehicle 2 into an oncoming traffic flow.
The autonomous vehicle 2 is such that its layout is symmetrical from front to rear, including a pattern of sub-frame mounting points. Sub-frames form part of the first and second removable modules 6, 10. The sub-frames enable the first and second removable modules 6, 10 readily to be swapped to cover a range of differing functions, both when the autonomous vehicle 2 is new, and after time when service is required, and on the same or different autonomous vehicles. Also, the provision of the first and second removable modules 6, 10 and their interchangability enables upgrades easily to be made to the autonomous vehicle 2, for example to the electric drive means, or to the vehicle guidance system.
The mechanical and electrical assemblies include drive means, steering means, braking means, energy storage means, and guidance and obstacle detection means. The drive means may be convertible from one drive type to another, for example from electric battery to electric hybrid utilising a liquid or gaseous fuel. The drive means may also be convertible from uni-directional to bi-directional operation. The autonomous vehicle 2 has wheels 14. The wheels 14 may be such that they are two or four wheel drive, and/or two or four wheel steer.
As can be seen from Figures 1 and 2, the autonomous vehicle 2 has seats 16, 18. The seats 16, 18 face inwardly towards a centre portion 20 of the passenger module 4 of the autonomous vehicle 2. The seats 16, 18 are symmetrically positioned so that the front part of the autonomous vehicle 2 mirrors the rear part of the autonomous vehicle 2. This mirroring of the structure of the autonomous vehicle 2 is such that the autonomous vehicle 2 has a first bulk head 22 which is the same as a second bulk head 24. The similar first and second bulk heads 22, 24 is achievable because the autonomous vehicle 2 does not have a driver's cab.
The autonomous vehicle 2 is such that external skins cover the first and second removable modules 6, 10. There is no need for the autonomous vehicle 2 to have driver controls, headlights, wipers and defrosters.
The autonomous vehicle 2 is able readily to be adapted to a wide range of applications, and to different technical systems. The autonomous vehicle 2 uses a common design to be applied to a range of operations. The autonomous vehicle 2 allows upgrading during the service life of the autonomous vehicle 2. The service life of the autonomous vehicle 2 may be longer than that of a typical known driven vehicle.
It is to be appreciated that the embodiment of the invention described above with reference to the accompanying drawings has been given by way of example only and that modifications may be effected. Thus, for example, the autonomous vehicle 2 has one passenger module but small and large versions might not always have two sub-frames. A very small autonomous vehicle might have one sub-frame, located at the front or the rear, and a single axle at the other end. A large autonomous vehicle might have three sub-frames, located front and rear, and a separate energy storage module and/or a third axle module. Various types of sub-frames and their mountings may be employed. The autonomous vehicle 2 may just be a bi-directional operated trackless road vehicle. The autonomous vehicle 2 could just have a symmetrical sub-frame layout. Individual components shown in the drawings are not limited to use in their drawings and they may be used in other drawings and in all aspects of the invention.

Claims

1. An autonomous vehicle comprising a passenger module, a first removable module at a first end of the autonomous vehicle, a second removable module at a second end of the autonomous vehicle, and mechanical and electrical assemblies required for the operation of the autonomous vehicle, the mechanical and electrical assemblies being provided on the first and second removable modules, and the autonomous vehicle being such that it is able to travel with either one of the first and second ends as the front part of the autonomous vehicle during travel.
2. An autonomous vehicle according to claim 1 and which is symmetrical from front to rear, including a pattern of sub-frame mounting points.
3. An autonomous vehicle according to claim 1 or claim 2 in which the mechanical and electrical assemblies comprise drive means, steering means, braking means, energy storage means, and guidance and obstacle detection means.
4. An autonomous vehicle according to claim 3 in which the drive means is convertible from one drive type to another.
5. An autonomous vehicle according to claim 4 in which the drive means is convertible from electric battery to electric hybrid.
6. An autonomous vehicle according to claim 4 or claim 5 in which the drive means is convertible from uni-directional to bi-directional operation.
7. An autonomous vehicle according to any one of the preceding claims in which the autonomous vehicle is two or four wheel drive autonomous vehicle and/or a two or four wheel steer autonomous vehicle.
8. An autonomous vehicle according to any one of the preceding claims in which the passenger module comprises seating which faces towards a centre portion of the passenger module.
9. An autonomous vehicle according to any one of the preceding claims and including similar and continuous front and rear bulk heads.
10. An autonomous vehicle according to any one of the preceding claims in which the mechanical and electrical assemblies are on interchangeable sub-frames that can be changed from front to rear, and also between different autonomous vehicles due to a common pattern of mounting points.
11. An autonomous vehicle according to claim 10 in which the first and second removable modules each includes one of the sub-frames, and an external skin.
PCT/GB2011/000705 2010-06-07 2011-05-06 An autonomous vehicle WO2011154681A1 (en)

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US9606539B1 (en) 2015-11-04 2017-03-28 Zoox, Inc. Autonomous vehicle fleet service and system
US9612123B1 (en) 2015-11-04 2017-04-04 Zoox, Inc. Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes
US9632502B1 (en) 2015-11-04 2017-04-25 Zoox, Inc. Machine-learning systems and techniques to optimize teleoperation and/or planner decisions
US9701239B2 (en) 2015-11-04 2017-07-11 Zoox, Inc. System of configuring active lighting to indicate directionality of an autonomous vehicle
US9734455B2 (en) 2015-11-04 2017-08-15 Zoox, Inc. Automated extraction of semantic information to enhance incremental mapping modifications for robotic vehicles
US9754490B2 (en) 2015-11-04 2017-09-05 Zoox, Inc. Software application to request and control an autonomous vehicle service
US9804599B2 (en) 2015-11-04 2017-10-31 Zoox, Inc. Active lighting control for communicating a state of an autonomous vehicle to entities in a surrounding environment
US9878664B2 (en) 2015-11-04 2018-01-30 Zoox, Inc. Method for robotic vehicle communication with an external environment via acoustic beam forming
US9958864B2 (en) 2015-11-04 2018-05-01 Zoox, Inc. Coordination of dispatching and maintaining fleet of autonomous vehicles
US10000124B2 (en) 2015-11-04 2018-06-19 Zoox, Inc. Independent steering, power, torque control and transfer in vehicles
US10248119B2 (en) 2015-11-04 2019-04-02 Zoox, Inc. Interactive autonomous vehicle command controller
US10259514B2 (en) 2015-11-04 2019-04-16 Zoox, Inc. Drive module for robotic vehicle
US10334050B2 (en) 2015-11-04 2019-06-25 Zoox, Inc. Software application and logic to modify configuration of an autonomous vehicle
US10338594B2 (en) 2017-03-13 2019-07-02 Nio Usa, Inc. Navigation of autonomous vehicles to enhance safety under one or more fault conditions
US10369974B2 (en) 2017-07-14 2019-08-06 Nio Usa, Inc. Control and coordination of driverless fuel replenishment for autonomous vehicles
US10401852B2 (en) 2015-11-04 2019-09-03 Zoox, Inc. Teleoperation system and method for trajectory modification of autonomous vehicles
US10423162B2 (en) 2017-05-08 2019-09-24 Nio Usa, Inc. Autonomous vehicle logic to identify permissioned parking relative to multiple classes of restricted parking
US10496766B2 (en) 2015-11-05 2019-12-03 Zoox, Inc. Simulation system and methods for autonomous vehicles
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US10745003B2 (en) 2015-11-04 2020-08-18 Zoox, Inc. Resilient safety system for a robotic vehicle
JPWO2019098383A1 (en) * 2017-11-20 2020-12-03 ヤマハ発動機株式会社 Face-to-face seat type self-driving vehicle
US10921811B2 (en) 2015-11-04 2021-02-16 Zoox, Inc. Adaptive autonomous vehicle planner logic
US11022974B2 (en) 2015-11-04 2021-06-01 Zoox, Inc. Sensor-based object-detection optimization for autonomous vehicles
US11022971B2 (en) 2018-01-16 2021-06-01 Nio Usa, Inc. Event data recordation to identify and resolve anomalies associated with control of driverless vehicles
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US11301767B2 (en) 2015-11-04 2022-04-12 Zoox, Inc. Automated extraction of semantic information to enhance incremental mapping modifications for robotic vehicles
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US11067983B2 (en) 2015-11-04 2021-07-20 Zoox, Inc. Coordination of dispatching and maintaining fleet of autonomous vehicles
US9632502B1 (en) 2015-11-04 2017-04-25 Zoox, Inc. Machine-learning systems and techniques to optimize teleoperation and/or planner decisions
US9701239B2 (en) 2015-11-04 2017-07-11 Zoox, Inc. System of configuring active lighting to indicate directionality of an autonomous vehicle
US9734455B2 (en) 2015-11-04 2017-08-15 Zoox, Inc. Automated extraction of semantic information to enhance incremental mapping modifications for robotic vehicles
US9754490B2 (en) 2015-11-04 2017-09-05 Zoox, Inc. Software application to request and control an autonomous vehicle service
US9804599B2 (en) 2015-11-04 2017-10-31 Zoox, Inc. Active lighting control for communicating a state of an autonomous vehicle to entities in a surrounding environment
US9878664B2 (en) 2015-11-04 2018-01-30 Zoox, Inc. Method for robotic vehicle communication with an external environment via acoustic beam forming
US9612123B1 (en) 2015-11-04 2017-04-04 Zoox, Inc. Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes
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US9958864B2 (en) 2015-11-04 2018-05-01 Zoox, Inc. Coordination of dispatching and maintaining fleet of autonomous vehicles
US10000124B2 (en) 2015-11-04 2018-06-19 Zoox, Inc. Independent steering, power, torque control and transfer in vehicles
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US10334050B2 (en) 2015-11-04 2019-06-25 Zoox, Inc. Software application and logic to modify configuration of an autonomous vehicle
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US9606539B1 (en) 2015-11-04 2017-03-28 Zoox, Inc. Autonomous vehicle fleet service and system
US11500378B2 (en) 2015-11-04 2022-11-15 Zoox, Inc. Active lighting control for communicating a state of an autonomous vehicle to entities in a surrounding environment
US11500388B2 (en) 2015-11-04 2022-11-15 Zoox, Inc. System of configuring active lighting to indicate directionality of an autonomous vehicle
US11314249B2 (en) 2015-11-04 2022-04-26 Zoox, Inc. Teleoperation system and method for trajectory modification of autonomous vehicles
US10712750B2 (en) 2015-11-04 2020-07-14 Zoox, Inc. Autonomous vehicle fleet service and system
US11301767B2 (en) 2015-11-04 2022-04-12 Zoox, Inc. Automated extraction of semantic information to enhance incremental mapping modifications for robotic vehicles
US11167812B2 (en) 2015-11-04 2021-11-09 Zoox, Inc. Drive module for robotic vehicles
US10591910B2 (en) 2015-11-04 2020-03-17 Zoox, Inc. Machine-learning systems and techniques to optimize teleoperation and/or planner decisions
US10745003B2 (en) 2015-11-04 2020-08-18 Zoox, Inc. Resilient safety system for a robotic vehicle
US11106218B2 (en) 2015-11-04 2021-08-31 Zoox, Inc. Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes
US10921811B2 (en) 2015-11-04 2021-02-16 Zoox, Inc. Adaptive autonomous vehicle planner logic
US11022974B2 (en) 2015-11-04 2021-06-01 Zoox, Inc. Sensor-based object-detection optimization for autonomous vehicles
US11099574B2 (en) 2015-11-04 2021-08-24 Zoox, Inc. Internal safety systems for robotic vehicles
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