Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
  • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
  • B62D65/10—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being engines, clutches or transmissions
• • 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
  • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
• • 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
  • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
  • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
  • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
  • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
  • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
  • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
  • B60W10/192—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric brakes
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
  • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
  • B62D65/12—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being suspensions, brakes or wheel units
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L2220/00—Electrical machine types; Structures or applications thereof
  • B60L2220/40—Electrical machine applications
  • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
  • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
  • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
  • Y02T90/10—Technologies relating to charging of electric vehicles
  • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

• the invention relates to automated driving systems for a motor vehicle, in particular for chassis, braking, steering and associated communications.
• Vehicle-to-X communications is currently in a phase of development and standardization. This term is understood to mean in particular communication between vehicles (vehicle-to-vehicle communication) and communication between vehicles and infrastructure (vehicle-to-infrastructure communication).
• An end module for assembly on a vehicle body comprising aT least two wheels, a frame having connection points for removably securing the end module to the vehicle body, a drive system connected to the wheels and capable of providing torque to drive the wheels, wherein the drive system includes at least a drive controller for controlling an electric motor and an inverter to drive the wheels, a brake system connected to the wheels having a brake controller, an actuator and at least one wheel brake located at each wheel, wherein the brake controller is capable of determining a desired braking action and actuating the actuator apply the wheel brakes to slow rotation of the wheels, a suspension system located between the frame and the at least two wheels, wherein the suspension system provides shock absorption and damping to the frame and vehicle body relative to the wheels, a steering system connected to each of the at least two wheels, wherein the steering system having a steering controller capable of providing a steering input for each of the at least two wheels, and a communication system having a communications module, wherein the communication system is capable of communicating from at least one of the
• a corner module for assembly on a vehicle body comprising a wheel, a frame having connection points for removably securing the corner module to the vehicle body a drive system connected to the wheel and capable of providing torque to drive the wheel, wherein the drive system includes at least a drive controller for controlling an electric motor and an inverter to drive the wheel, a brake system connected to the wheel having a brake controller, an actuator and a wheel brake located at the wheel, wherein the brake controller is capable of determining a desired braking action and actuating the actuator apply the wheel brake to slow rotation of the wheel, a suspension system located between the frame and the wheel, wherein the suspension system provides shock absorption and damping to the frame and vehicle body relative to the wheel, a steering system connected to the wheel, wherein the steering system having a steering controller capable of providing a steering input for the wheel, and a communication system having a communications module, wherein the communication system is capable of communicating from at least one of the drive controller, brake controller, and steering controller of the end module with one of: another corner
• FIG. 1 shows a schematic exemplary illustration of a first embodiment of a body module and end modules of the present invention
• FIG. 1 A shows a schematic exemplary illustration of a first embodiment of a drive system for a module of the present invention
• FIG. 1 B shows a schematic exemplary illustration of a second embodiment of a drive system for a module of the present invention
• FIG. 1 C shows a schematic exemplary illustration of a third embodiment of a drive system for a module of the present invention
• FIG. 1 D shows a schematic exemplary illustration of a fourth embodiment of a drive system for a module of the present invention
• FIG. 1 E shows a schematic exemplary illustration of a fifth embodiment of a drive system for a module of the present invention
• FIG. 1 F shows a schematic exemplary illustration of a sixth embodiment of a drive system for a module of the present invention
• FIG. 2A shows a schematic exemplary illustration of a first embodiment of a brake actuation system for a module of the present invention
• Fig. 2A shows a schematic exemplary illustration of a second embodiment of a brake actuation system for a module of the present invention
• Fig. 3A shows a schematic exemplary illustration of a first embodiment of a wheel brake system for a module of the present invention
• FIG. 3B shows a schematic exemplary illustration of a second embodiment of a wheel brake system for a module of the present invention
• FIG. 3C shows a schematic exemplary illustration of a third embodiment of a wheel brake system for a module of the present invention
• FIG. 3D shows a schematic exemplary illustration of a fourth embodiment of a wheel brake system for a module of the present invention
• Fig. 4A shows a schematic exemplary illustration of a first embodiment of a suspension system for a module of the present invention
• Fig. 4B shows a schematic exemplary illustration of a second embodiment of a suspension system for a module of the present invention
• Fig. 4C shows a schematic exemplary illustration of a third embodiment of a suspension system for a module of the present invention
• FIG. 5A shows a schematic exemplary illustration of a first embodiment of a steering system for a module of the present invention
• FIG. 5B shows a schematic exemplary illustration of a second embodiment of a steering system for a module of the present invention
• Fig. 5C shows a schematic exemplary illustration of a thid embodiment of a steering system for a module of the present invention
• FIG. 6A shows a schematic exemplary illustration of a first embodiment of a communication system for a module of the present invention.
• Fig. 6A shows a schematic exemplary illustration of a second embodiment of a communication system for a module of the present invention.
• FIG. 1 The Figures illustrate schematic views of exemplary end modules 10 or corner modules 1 1 0, which are able independently operable to brake and steer themselves.
• the end/corner module(s) 10, 1 10 each have drive systems 12, 1 12, brake systems 14, 1 14, suspensions systems 16, steering systems 18 and communication systems 20.
• the drive system 12, 1 12, brake systems 14, 1 14, suspensions systems 16, steering systems 18 and communications systems 20 may be combined with one another in various combinations to form an end module 10 or corner module 1 1 0 as described herein.
• Both types of modules 10, 1 10 can be quickly and easily removably secured to a vehicle body module 1 1 .
• the modules 10, 1 10 may have a support frame 24 secured to the wheels 22.
• Components for the drive systems 12, 1 1 2, such as a drive controller 26 can be secured and supported on the frame 24, e.g. mounted in the body module fastened by screws or rivets.
• the end/corner modules 1 0, 1 10 are able to provide drive, braking and steering to move a body module 1 1 which may be attached.
• the support frame is a space frame design. That is, the frame is tubular or extruded metal, and can be welded or bonded, including steel or aluminum or composite material.
• connection to the body module may be via traditional fasteners, e.g. bolts, nuts, etc.
• the means for and / or eccentric clamp devices may also be used.
• the hydraulic brakes are confined to an end module 10, 1 1 0 or even to a corner of a corner/end module 10, 1 1 0 and hydraulic connections to the body module 1 1 are not necessary.
• the body module 1 1 may define wheel wells and a compartment to provide space for the modules 10, 1 10 and may be placed over the modules 1 1 and secured into position, as in the embodiment shown.
• the end portions of the body 10, 1 10 may be secured to the modules 10, 1 10 and when assembled joined to the central portion of the body 1 1 such that the body module 1 1 does not have to be raised and lowered to assemble with the modules 10, 1 10.
• the body module 1 1 may define storage space that does not interfere with the packaging space for the modules 10, 1 10. Preferably such storage space could be accessed from the exterior of the vehicle for use by the passengers to store items.
• the body module 1 1 (or the portions of the module 1 1 secured to the end/corner modules 10, 1 10) have both headlights/tail lights and brake lights such that either end of the vehicle may act as the front or the rear of the vehicle, as discussed in detail below.
• the frame 24 or suspension components may have connection points for quickly securing the module 10, 1 10 to a body module 1 1 .
• Matching modules 1 0, 1 10 can be secured at each end of the body module 1 1 , or at each of the four corners of the body module 1 1 . In this manner, the assembled motor vehicle will have a lead module, located at the forward portion of the vehicle and a follow module located at the rear portion of the vehicle. As both modules 10, 1 1 0 are the same either end of the vehicle may be the forward/lead module 1 0, 1 10 and may switch back and forth during operation of the vehicle.
• the end/corner modules 10, 1 10 may operate with one another in a lead/follow manner such that the end/corner modules 10, 1 10 on the front act as the lead and the end/corner modules 10, 1 10 on the rear are connected and act in a follow mode.
• the lead/follow mode of operation the lead end/corner modules 10, 1 10 will be providing all of the necessary wheel torque for vehicle propulsion while the follow end/corner modules 1 0, 1 10 will be either disconnected so that no additional drag is provided or will be operated in a neutral (0 torque control) mode.
• a disconnect clutch (not shown) may be used to mechanically decouple the drive system 12, 1 12 from the wheels 22. In this way, drag losses from the drive system 12, 1 12 would be minimized for the end/corner 10, 1 1 0 module in the follow mode.
• the communication system 20 allows the lead end/corner module(s) 10, 1 10 to communicate instructions to the follow end/corner module(s) 10, 1 10 as needed for braking, power, etc.
• the drive controller determines the 'lead module' by the direction the vehicle moves .
• both the end/corner modules 10, 1 10 on the front and the rear are all providing vehicle propulsion, i.e. the total required wheel torque is distributed among two axles or four wheel, etc. This mode of operation would primarily be used in a high wheel torque demand scenario such as driving up a hill, i.e. steep road grades.
• both the front and rear end/corner modules 10, 1 10 may be providing propulsion but not necessarily in equal levels to achieve optimum efficiency.
• the distribution of propulsion between front and rear may be determined based on best operating efficiency and consideration of vehicle stability events.
• the end/corner module(s) 10, 1 10 will require sensor input to provide the autonomous instructions for driving, braking and steering themselves.
• Various cameras and sensors may be connected to a controller for determining the autonomous driving instructions.
• the sensors, cameras and controller may be mounted on and included in the end/corner module(s) 10, 1 10 or may be mounted on the body and communicate the various instructions to the necessary systems 12, 1 12, 14, 1 14, 16, 18 and 20 on the end/corner module(s) 10, 1 10. Redundant sensing and communication can be provided for safety between the autonomous controller and the drive 12, 1 12 brake 14, 1 14 and steering systems 16 of the end/corner module(s) 10, 1 10.
• Fig 1 A shows a first embodiment of a drive system 12A for an end module 10 where the drive system 12A includes an electric machine (EM) 28 with an integrated inverter 30 connected to drive a differential 35, which is connected to two wheel assemblies 22 through drive shafts 32.
• the inverter 30 may be connected to a high voltage DC link to provide power to the electric machine 28. Additional high voltage energy storage 34 may also be available.
• the electric machine 28, inverter 30, and additional energy storage 34 may all be supported by the frame 24. As indicated by the arrows 23 and 33 the wheels 22 and drive shafts 32 may be driven to rotate in either direction.
• the drive controller 26 (or vehicle controller 27) will decide either one drive module from front or rear while the other operates in a follow mode OR both front and rear end/corner modules 10, 1 10 operate to provide propulsion.
• the decision is made based on desired vehicle direction, total vehicle propulsion torque demand (i.e. higher the torque demand may require both front and rear to drive for example on a road grade/hill).
• the decision is also made based on operating efficiency of front vs. rear and in addition based on vehicle stability/ESP limits to prevent wheel slip for traction.
• the driving module decision may also be changed in the case of overheating or failure of one of the end/corner modules 1 0, 1 10.
• Fig 1 B shows a second embodiment of a drive system 12B for an end module 10
• the drive system 1 2B includes an electric machine 28 with an integrated inverter 30 connected through a reduction gear set 36 to drive a differential 35, which is connected to two wheel assemblies 22 through drive shafts 32.
• the inverter 30 may be connected to a high voltage DC link to provide power to the electric machine 28. Additional high voltage energy storage 34 may also be available (not shown).
• the electric machine 28, inverter 30, and additional energy storage 34 may all be supported by the frame 24. As indicated by the arrows 23 and 33 the wheels 22 and drive shafts 32 may be driven to rotate in either direction.
• Fig 1 C shows a third embodiment of a drive system 12C for an end module 10 where the drive system 12C includes two electric machines 28 with an inverter 30 to drive two wheel assemblies 22 through drive shafts 32.
• the electric machines 28 may be two rotors in one stator.
• the inverter 30 may be connected to a high voltage DC link to provide power to the electric machine 28. Additional high voltage energy storage 34 may also be available.
• the electric machine 28, inverter 30, and additional energy storage 34 may all be supported by the frame 24.
• the wheels 22 and drive shafts 32 may be driven to rotate in either direction.
• the drive shafts 32 are each directly driven by one of the electric motors 28.
• Fig 1 E shows a fifth embodiment of a drive system 12E for corner modules 1 10 where the drive system 1 12E for each corner includes an electric machine 28 with an inverter 30 to drive the wheel assembly 22 through drive shaft 32.
• the inverter 30 may be connected to a high voltage DC link to provide power to the EM 28. Additional high voltage energy storage 34 may also be available.
• EM 28, inverter 30, and additional energy storage 34 may all be supported by the frame 24.
• the wheel 22 and drive shaft 32 may be driven to rotate in either direction.
• Two corner modules 1 10 can be connected to one another through a clutch 38.
• the clutch 38 may be supported on the frame 24 for one of the corner modules 1 10, while the other corner module 1 10 may include the necessary linkage to connect the two drive systems 1 12E to one another.
• the brake system 14, 1 14 has an electro-hydraulic actuation system 40A with a controller 42 and a fluid reservoir 44.
• the brake system 14, 1 14 is connected to a power supply and a wheel speed sensor for each wheel 22.
• An Electric Integrated Parking Brake (EiPB) 46 is included in the brake system 14, 1 14.
• a second wheel brake 48 may also be included on the second wheel 22 of the end module 1 0.
• the second wheel brake 48 may be conventional or NWC style wheel brake(s).
• Fig. 2B shows a second schematic illustration of a brake system 14B, 1 14B for end/corner module(s) 10, 1 10.
• the brake system 14, 1 14 has an electro-mechanical actuation system 40B with a controller 42.
• the brake system 14, 1 14 is connected to a power supply and a wheel speed sensor for each wheel 22.
• a wheel brake 48 may be conventional or NWC style wheel brake(s).
• Fig. 3B shows a second schematic illustration of brakes 48A for a brake system 14, 1 14 for end/corner module(s) 10, 1 1 0.
• the brake system 14, 1 14 has an electro-hydraulic actuation system 40A with a controller 42 and a fluid reservoir 44.
• a wheel brake 48 may also be included on the each wheel 22.
• the wheel brake 48 may be a conventional rotor and caliper style wheel brake(s) 48B.
• Fig 5A shows a first embodiment of a steering system 18A for an end/corner module 10, 1 1 0 where the steering system 16A includes individual el. actuators 56 connected to wheel 22 on an outboard side of the frame connection, such as a drive shaft 32.
• the actuator 56A allows each wheel to be steered individually.
• the actuators may each have their own control 40, or may have one controller 40 that communicates to the actuators 56A of the other wheels 22.
• Fig 5B shows a second embodiment of a steering system 18B for an end module 10 where the steering system 16B includes a conventional el. actuator 56 mounted on an inboard side of the frame connection at the EM(s) 28. The actuator 56 is connected to the wheels 22 through linkages 58. The actuator 56 may also include a controller 40 (not shown).
• Fig 5C shows a third embodiment of a steering system 18C for an end module 10 where the steering system 16C includes an el. actuator 56C mounted on an inboard side of the frame connection at the EM(s) 28. The actuator 56C is independent of drive direction of the wheels 22. The actuator 56C is connected to the wheels 22 through linkages 58. The actuator 56 may also include a controller 40 (not shown).
• the corner module and end module will allow for repair and replacement of complete modules in a very fast so that they can quickly be returned to service. Due to flexibility the end and corner modules 10, 1 10 provide various levels of performance by swapping out components to achieve different results (swapping out a relatively weaker electric motor traction drive in favor of a relatively stronger one in order to achieve improved performance).

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• Engineering & Computer Science (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Manufacturing & Machinery (AREA)
• Regulating Braking Force (AREA)

Priority Applications (3)

Applications Claiming Priority (2)

Related Child Applications (1)

Publications (1)

Family

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Family Applications (1)

Country Status (3)

Cited By (2)

Citations (3)

Family Cites Families (5)

• 2017
  • 2017-12-07 CN CN201780075816.2A patent/CN110177704A/zh active Pending
  • 2017-12-07 WO PCT/US2017/065133 patent/WO2018106929A1/en unknown
  • 2017-12-07 EP EP17822868.0A patent/EP3589507A1/de not_active Withdrawn

Patent Citations (3)

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