VEHICLE WITH INTERCHANGEABLE DRIVE MODULE AND DRIVE MODULE

专利摘要:
Vehicles can be composed of a relatively small number of modules that are assembled together during a final assembly process. An exemplary vehicle may include a bodywork module, a first drive module coupled to a first end of the bodywork module, and a second drive module coupled to a second end of the bodywork module. One or both of the drive modules may include a pair of wheels, a battery, an electric drive motor, and/or a heating, ventilation and air conditioning (HVAC) system. One or both of the drive modules may also include a crash structure to absorb impacts. Should a component of a drive module fail or become damaged, the drive module can be quickly and easily replaced with a new drive module, minimizing vehicle downtime.
公开号:BR112019025342A2
申请号:R112019025342-4
申请日:2018-05-11
公开日:2020-06-23
发明作者:Birnschein Timo；Timo Birnschein；Di Pietro Adriano；Adriano Di Pietro；Matthew Foley Kyle；Kyle Matthew Foley；David Kentley-Klay Timothy；Timothy David Kentley-Klay；Piper Andrew；Andrew Piper
申请人:Zoox, Inc.；
IPC主号:

专利说明:

[001] [001] This international PCT application is a continuation of Application No. US 15/674,688, filed August 11, 2017, and Application No. US 15/674,736, filed August 11, 2017, both of which claim priority benefit of the Provisional Order No. US
[002] [002] Automobiles include a multitude of individual components and assemblies, which are manufactured by multiple different parts suppliers. The individual components and assemblies are then shipped to an assembly plant where they are assembled into a complete vehicle. Typical vehicle assembly plants can assemble thousands of individual parts and assemblies into the complete vehicle. Advances in robotics and automated assembly lines have greatly increased the speed and accuracy of the assembly process. However, in order to source and assemble so many disparate parts and assemblies, typical assembly plants are large, complex, and expensive operations.
[003] [003] Many automakers today design vehicle platforms that share some common parts. This strategy, known as platform standardization, allows automakers to benefit from the reduced total part cost of technology due to economies of scale. In some cases platform standardization may also allow a single assembly plant to be used to assemble multiple different vehicles that are part of the same platform. However, different vehicle models that are part of the same platform still typically include numerous parts and assemblies that are unique to the particular vehicle model.
[004] [004] Furthermore, when a component of a vehicle, produced by the above process, fails or the vehicle needs maintenance, the process of repairing or replacing the failed component or other form of vehicle maintenance is often a complex process that requires specialized knowledge or training. Thus, the vehicle is typically taken to a repair shop where the repair can take several hours, days or even weeks, depending on the nature of the service required.
[005] [005] The detailed description is described with reference to the attached Figures. In Figures, the leftmost digit (or digits) of a reference number identifies the Figure in which the reference number first appears. Use of the same reference numbers in different Figures indicates similar or identical components or features.
[006] [006] Figure 1 is a schematic view of an exemplary vehicle comprising a bodywork module and a pair of drive modules arranged at opposite ends of the bodywork module.
[007] [007] Figure 2 is a schematic view of another exemplary vehicle comprising a bodywork module and a pair of drive modules arranged at opposite ends of the bodywork module.
[008] [008] Figure 3 is a schematic view of yet another exemplary vehicle comprising a bodywork module and a pair of drive modules disposed at opposite ends of the bodywork module, showing an alternative mounting technique.
[009] [009] Figure 4 is a block diagram illustrating an exemplary computing architecture of a vehicle comprising a body module and a pair of drive modules.
[0010] [0010] Figure 5 is a schematic cross-section of a vehicle showing an exemplary connection interface that couples a bodywork module to a drive module.
[0011] [0011] Figure 6 is a perspective view of an exemplary drive module that can be coupled to a vehicle body module.
[0012] [0012] Figure 7 is an exploded view of the exemplary drive module of Figure 6.
[0013] [0013] Figure 8 is a flowchart illustrating an exemplary method that operates a vehicle in response to a failure in a vehicle component.
[0014] [0014] Figure 9 is a flowchart that illustrates illustrative details of detecting a failure in a vehicle component.
[0015] [0015] Figure 10 is a flowchart that illustrates an example of an exemplary method of installing and/or replacing a vehicle drive module.
[0016] [0016] Figure 11 is a flowchart illustrating an exemplary method of operating a vehicle following replacement/installation of a drive module.
[0017] [0017] As discussed above, modern vehicle assembly plants use robotics and automated assembly lines to assemble thousands of individual parts and assemblies into a complete vehicle. Even when manufacturers make use of platform standardization, vehicles that are part of the same platform still typically include numerous parts and assemblies that are unique to the particular vehicle model. To source and assemble so many disparate parts and assemblies, typical assembly plants are large, complex, and expensive operations. For example, assembly plants typically need to maintain parts inventories for numerous disparate vehicles. This inventory takes up space and inventory tracking systems are needed to keep track of all the different parts.
[0018] [0018] In addition, vehicles that make use of traditional manufacturing and assembly processes are difficult to repair. Each different make and model of vehicle has a different combination of components and assemblies. If a vehicle component fails or needs service, the vehicle is typically taken to a repair shop, and the repair shop determines the parts that are needed for service. In many cases, the shop may not stock the necessary parts in inventory and may need to order the parts. Once the necessary parts are obtained, a portion of the vehicle typically needs to be dismantled in order to remove and replace the defective part.
[0019] [0019] This order describes vehicles composed of a relatively small number of assemblies or “modules” that are assembled together during a final assembly process. For example, in some examples, vehicles can be assembled from two main types of modules, a bodywork module and a drive module (for example, a drive module at each end of the bodywork module). Thus, the vehicle assembly plant can be very simple, compact and inexpensive to build and maintain. Furthermore, because assembly involves only a few modules, inventory management in the vehicle assembly plant is simplified as the assembly plant only needs to keep inventory of the few modules used to assemble the vehicle.
[0020] [0020] If multiple different vehicle models are to be assembled, each vehicle model can have a different body module, but the vehicles can share a common driver module across different models. This allows the production of drive modules to benefit from economies of scale. In addition, using the same drive modules across multiple different models of body modules allows flexibility to meet changing demand. For example, if demand changes from one model to another, the same drive modules can be used for any model. Only the number of the various bodywork modules required changes.
[0021] [0021] In some examples, vehicles may be constructed so that substantially all of the vehicle's main systems are located in the drive modules. For example, each of the drive modules may include some or all of the following: a propulsion system, power supply system and related electronics, steering system, braking system, suspension system, heating system, ventilation and air conditioning (HVAC), and related controls and actuators for the above systems.
[0022] [0022] Individual modules can be manufactured separately at specialized module manufacturing facilities. These module manufacturing facilities can be optimized to manufacture the particular module which allows them to manufacture modules more efficiently and accurately. For example, due to the smaller size of the drive modules compared to the overall size of the vehicle, a more compact assembly process can be used to assemble the drive modules. Because the vehicle's main systems are included in the drive modules, many adjustments and configurations that are typically done during final assembly can be done during the assembly of the drive module prior to delivery to the final assembly plant. For example, wheel alignment and lighting, and functional testing of core systems can all be completed at the drive module manufacturing facility. This further simplifies and speeds up the final vehicle assembly process.
[0023] [0023] The modular construction of the vehicles described in this document greatly improves their reliability. For example, in instances where each drive module includes all of the vehicle's main systems, the vehicle will include at least two instances of each main system, thereby providing redundancy. This redundancy allows the device to remain operational despite the failure of a major vehicle system or component. That is, if one instance of a system in a child module fails or needs maintenance, the other instance of the system in the other drive module remains functional allowing the vehicle to continue to operate. In this sense, the vehicle is “operational at fault.” By way of example and not limitation, if a drive motor of a first drive module fails, the failed drive module can be disconnected and the vehicle can continue to operate under the power of a drive motor from a second drive module until such time as the first drive module can be conveniently repaired.
[0024] [0024] The modular construction of the vehicles described in this document also greatly improves their maintainability. For example, in the event of a failure or defect in a drive module component or system, the drive module can simply be removed and replaced with another drive module, putting the vehicle back into service quickly. In some examples, replacing a module of a vehicle can be done in the field (e.g. on the side of the road or in a parking lot) and then the removed module can be taken to a workshop for service in a more favorable environment. . Both drive modules and body modules can be replaced in this way.
[0025] [0025] In addition to improved serviceability, the modular design of the vehicles described in this document also allows for more efficient use of space which allows for much more compact vehicles. For example, because individual vehicle components are not serviceable while mounted in the vehicle, many vehicle components may be packaged so that they have minimal or no clearance or are inaccessible while the module is installed in the vehicle. That is, manual access and service clearance do not need to be considered while the module is installed in the vehicle, as maintenance will be performed with the module separate from the vehicle.
[0026] [0026] While the above examples describe replacing a vehicle's drive module in order to repair the drive module, in another example, drive modules can be removed to upgrade and/or restock components. In several examples, a drive module can be exchanged for a drive module that contains new brake systems, new power units, new HVAC systems, new sensor systems, or the like. In such examples, increased vehicle functionality can be tested without the need to build an entirely new vehicle. In a component replacement example, a drive module that has a low battery charge can be exchanged for a drive module that has a fully charged battery. In this way, vehicles do not need to be taken out of service in order to charge their batteries,
[0027] [0027] By way of example and not limitation, vehicles according to this application may include a bodywork module, a first drive module coupled to a first end of the bodywork module, and a second drive module coupled to a second end of the body module. The bodywork module may include a passenger compartment to accommodate one or more passengers. The bodywork module also includes a vehicle computing device to control vehicle operation. In some examples, the first drive module and the second drive module are substantially identical, while in other examples they may be different from each other. The first drive module and/or the second drive module in this example include a drive module frame on which first and second wheels are mounted, an electric drive motor, and a heating, ventilation and air conditioning (HVAC) system. The electric drive motor is coupled to the drive module frame and the first and second wheels to drive at least one of the first and second wheels. The HVAC system is arranged in or on the drive module frame to supply temperature controlled air to the body module passenger compartment via one or more ducts or air connections. A power supply is arranged in the drive module and electrically coupled to the electric drive motor and HVAC system to supply power to the electric drive motor and HVAC system. A drive module control system is communicatively coupled, by wired or wireless connection, to the body module's vehicle computing device. The drive module control system is configured to control the operation of the electric drive motor and the HVAC system based at least in part on signals received from the vehicle computing device.
[0028] [0028] In some examples, the first drive module and/or the second drive module may additionally or alternatively include a steering assembly coupled to the first and second wheels to steer the first and second wheels, a braking assembly coupled to to the first and second wheels to brake the first and second wheels, a suspension assembly to movably couple the first and second wheels to the drive module frame, one or more exterior body panels or vehicle fascia, and/or or one or more of the vehicle's exterior lights. The vehicle may also include one or more sensors to detect objects surrounding the vehicle or vehicle conditions. These sensors can be located in the body module, in the drive modules or some sensors can be located in the body module while other sensors are located in the drive modules. Examples of sensors that can be included in the bodywork module, drive modules or both include, without limitation, ultrasonic sensors, radar sensors, light detection and range (LIDAR) sensors, cameras, microphones, inertial sensors (e.g. example, inertial measurement units, accelerometers, gyroscopes, etc.), global positioning satellite (GPS) sensors, and the like.
[0029] [0029] In some examples, a vehicle crash structure can be built for the drive modules. Thus, if a vehicle is involved in a collision, the impacted drive module can absorb the impact minimizing damage to the body module and the other drive module. In this case, the impacted drive module can be removed and replaced with a new drive module, putting the vehicle back into service quickly. When included, the collision frame can be attached to the drive module frame. The crash structure is configured to crumple or retract in response to an impact force that exceeds an impact threshold to absorb the impact force. In some examples, the crash structure may comprise one or more extruded rails constructed of material and sized and shaped so as to substantially smooth and continuously crush in response to an impact. In some examples, the collision structure may comprise a pair of generally rectangular tubular or C-shaped collision rails. In some examples, the collision structure may be produced from a relatively ductile metal, such as aluminum.
[0030] [0030] One or more brackets can be used to attach the crash frame to the body module.
[0031] [0031] The drive modules can be coupled to the bodywork module via a connection interface.
[0032] [0032] These and other aspects are further described below with reference to the accompanying drawings.
[0033] [0033] Figure 1 is a schematic view of an exemplary vehicle 100 comprising a bodywork module 102 and a pair of drive modules, namely, first drive module 104A and a second drive module 104B. Figure 1 illustrates vehicle 100 in an unmounted state (at the top of the page) and an assembled state (at the bottom of the page). In the disassembled state shown at the top of the page, the bodywork module 102 is supported by supports 106. The supports 106 may comprise jacks (e.g. hydraulic jacks, screw jacks, scissor jacks, pneumatic cylinders, etc.) which are built into a lower part of the bodywork module 102. In that case, the supports 106 can be operated (i.e., extended and retracted) manually by an operator or automated services robot, or automatically when vehicle power is available (e.g., when a battery is provided in the bodywork module, when one or more drive modules are installed and/or when auxiliary power is available from an automated services robot, for example). The bottom surfaces of the pads 106 are shown in this example as flat surfaces. However, in other examples, one or more of the supports 106 may comprise casters or other wheels to allow the body module 102 to be moved or repositioned during installation or removal of the drive modules. In some examples, such supports 106 need not be built into the vehicle and may instead be built into a service center, or the like.
[0034] [0034] During installation, in this example, the drive modules 104A and 104B are installed by moving them towards the body module 102 in a longitudinal or "X" direction of the vehicle 100, as shown by the horizontal arrows in Figure 1. As discussed in further detail below with reference to Figure 10, in some examples, drive modules 104A and 104B can be moved into position by driving them under their own power.
[0035] [0035] In some examples, coupling drive modules 104A and 104B with bodywork module 102 in the X direction can have benefits such as ease of installation and/or removal, as bodywork module 102 does not need to be raised to in order to remove and/or install drive modules 104A and 104B. Additionally or alternatively, in some examples, coupling in the X direction means that connection points between the drive modules 104A and 104B with the bodywork module 102 are, in general, aligned with the direction of travel of the vehicle and, consequently, the direction of travel. potential impact in the event of a collision. Thus, any impact forces applied to the longitudinal ends of drive modules 104A and 104B will generally result in compressive forces substantially in line with the connection points, thereby minimizing stresses at the connection points during a collision.
[0036] [0036] Since the drive modules 104A or 104B are in position adjacent the first or second ends, respectively, of the bodywork module 102, they are coupled to the bodywork module 102 by one or more mechanical connectors. This coupling can be performed simultaneously, successively or individually.
[0037] [0037] In this example, the vehicle 100 is a two-way vehicle and the first drive module 104A and the second drive module 104B are substantially identical to each other. As used herein, a bidirectional vehicle is one that is configured to switch between traveling in a first vehicle direction and an opposite, second vehicle direction. In other words, there is no fixed “front” or “rear” of vehicle 100. Instead, whatever longitudinal end of vehicle 100 that is currently in front becomes the “front” and the longitudinal end that comes behind becomes the “ rear." In other examples, the techniques described herein may be applied to vehicles other than two-way vehicles. Furthermore, regardless of whether the vehicle is two-way, the first and second drive modules may be different from each other.
[0038] [0038] As shown in this example, the bodywork module 102 includes a passenger compartment with an opening for entry and exit of passengers. The opening is covered by a pair of ports 110. The ports 110 can be opened manually or automatically by actuators on the bodywork module 102. One or more speakers, lights, and/or interfaces (e.g., physical buttons, switches, controls , microphones and/or displays that include one or more graphical interfaces) may be arranged within the passenger compartment of the bodywork module 102 to receive input from, and provide output to, one or more passengers of the vehicle 100. The bodywork module 102 also includes several windows and a moonroof or moonroof, which are not numbered in this figure. Windows and/or moon/moon roof may open manually, automatically, or may not open at all. The bodywork module 102 also includes a vehicle computing device (not shown in this Figure) for controlling the operation of the vehicle 100. Details of an exemplary vehicle computing device usable with the vehicle 100 are described below with reference to the computing architecture. example of Figure 4.
[0039] [0039] Drive modules 104A and 104B include wheels 112 and one or more vehicle systems (e.g., propulsion systems, power systems, steering systems, braking systems, suspension systems, and/or other systems) that are not shown in this Figure. Details of an example drive module that is suitable for use as the 104A and 104B drive modules are described with reference to Figures 6 and 7. However, other drive module configurations may alternatively be used for the drive modules. 104A and 104B.
[0040] [0040] Vehicle 100 may also include one or more sensors to detect objects surrounding the vehicle or vehicle conditions and/or one or more emitters to emit light or sound in an environment around the vehicle.
[0041] [0041] In a non-limiting example, reference numeral 114 can be arranged on drive modules 104A and 104B and represents lights for illuminating a region generally in front of or behind the vehicle (e.g. head/tail lights) , reference numeral 116 may be arranged on the bodywork module and may represent a group of sensors, such as LIDAR sensors and cameras, and reference numeral 118 may be arranged on bodywork module 102 and may represent arrays of audio emitters and visuals. However, as discussed throughout the text, this is an example only and additional or alternative sensors and/or emitters may be included in bodywork module 102, drive modules 104A and 104B, or both.
[0042] [0042] Figure 2 is a schematic view of another exemplary vehicle 200 comprising a bodywork module 202 and a pair of drive modules, namely, a first drive module 204A and a second drive module 204B disposed at ends. opposite sides of the bodywork module 202. This example is similar to that of Figure 1 except for the division between the bodywork module 202 and the drive modules 204A and 204B. In this example, a lower portion of a windshield and/or body panel 206 is included as part of the drive modules rather than as part of the bodywork module 202 as was the case in Figure 1. As a consequence, in this example , sensors represented by reference numeral 116 are included as part of drive modules 204A and 204B rather than as part of bodywork module 202.
[0043] [0043] Figure 3 is a schematic view of yet another exemplary vehicle 300 comprising a bodywork module 302 and a pair of drive modules, namely, a first drive module 304A and a second drive module 304B arranged in a row. opposite ends of the body module 302. This example is similar to that of Figure 1 except that the drive modules 304A and 304B are mounted to the body module 302 in a vertical or "Z" direction. In this example, the supports 306 can lift or raise the bodywork module 302, and the drive modules 304A and 304B can be moved into position (by hand or under their own power) below the first and second ends of the bodywork module.
[0044] [0044] Figure 4 is a block diagram illustrating an exemplary computing architecture of a vehicle 400 comprising a bodywork module 402, a first drive module 404A, and a second drive module 404B. The first and second drive modules 404A and 404B are coupled to the bodywork module 402 by connection interfaces 406. Connection interfaces 406 include one or more mechanical connections, as well as connections for any vehicle systems found on the 404A and 404B. In this case, each of the connection interfaces 406 includes, in addition to the mechanical connection (or connections), one or more electrical connections, fluid connections, and air connections.
[0045] [0045] The 406 connection interfaces can provide electrical, fluid and/or air connections from the 404A and 404B drive modules to the 402 body module systems. For example, at any time, one or both of the 404A drive modules and 404B can supply low voltage electricity through the electrical connection to bodywork module power computing systems 402. In addition, data and communications can be transmitted bidirectionally over the electrical connection. Temperature controlled air from HVAC systems from one or both of the 404A and 404B drive modules can be transported to the bodywork module via the air connections.
[0046] [0046] In addition, the 406 connection interfaces can provide electrical, fluid, and/or air connections between the 404A and 404B drive modules. This can be accomplished through a bypass or direct connection 408 on the 402 bodywork module that directly connects the 404A and 404B drive modules. For example, a hydraulic brake system of the first drive module 404A can be in direct fluidic communication with a hydraulic brake system of the second drive module 404B via the direct connection 408 in order to balance pressure in the brake systems of both 404A and 404B drive modules. As another example, compressed air from a compressed air system of the first drive module 404A can be directly connected to a compressed air system of the second drive module 404B to balance the air pressure of an air suspension system of a or both 404A and 404B drive modules. As yet another example, direct connection 408 can provide a high voltage link between the batteries of the two drive modules 404A and 404B in order to operate the vehicle without the batteries of the two drive modules 404A and 404B to maintain the power balance. voltage between the batteries.
[0047] [0047] Bodywork module 402 includes one or more sensor systems 410. In this example, sensor system (or systems) 410 includes one or more location sensors (e.g. GPS, compass, etc.), inertial sensors (e.g. inertial measurement units, accelerometers, gyroscopes, etc.), LIDAR sensors, radar sensors, cameras (RGB, IR, intensity, depth, etc.), microphones, and/or environmental sensors (e.g., temperature sensors) , pressure sensors, humidity sensors, etc.). Sensor system (or systems) 410 may include multiple instances of each of these or other types of sensors. For example, LIDAR sensors may include individual LIDAR sensors located at the corners, front, rear, sides and/or top of the vehicle 400. As another example, camera sensors may include multiple cameras arranged in various locations around the exterior and /or vehicle interior 400. Furthermore, in other examples, the bodywork module may include additional or alternate sensors. Sensor system (or systems) 410 provides input to a vehicle computing device 412 of bodywork module 402.
[0048] [0048] Vehicle computing device 412 includes one or more processors 414 and memory 416 communicatively coupled to one or more processors 414. In the illustrated example, vehicle 400 is an autonomous vehicle.
[0049] [0049] Vehicle 400 also includes one or more emitters 424 to emit light and/or sound. The 424 emitters in this example include audio and visual emitters for interiors to communicate with vehicle passengers
[0050] [0050] Vehicle computing device 412 also includes a variety of other vehicle system controllers 426 configured to control steering, propulsion, braking, security, emitters, communication, and other vehicle systems 400. These system controllers 426 may be communicate with and/or control the corresponding systems of drive modules 404A and 404B and/or bodywork module 402.
[0051] [0051] The bodywork module 402 also includes one or more communication connections 428 that allow communication by the vehicle 400 with one or more other local or remote computing devices. For example, the 428 communication link (or connections) can facilitate communication with other local computing devices on the 402 bodywork module and/or drive modules.
[0052] [0052] Communications connection (or connections) 428 includes physical and/or logical interfaces for connecting vehicle computing device 412 to another computing device or to a network. For example, the 428 communications link (or connections) may allow WiFi-based communication, such as over frequencies defined by the IEEE 802.11 standards, short-range wireless frequencies, such as Bluetooth®, or any communication protocol with or suitable wireless that allows the respective computing device to interact with the other computing devices.
[0053] [0053] Drive modules 404A and 404B are shown in this example to be identical. Thus, the components of drive modules 404A and 404B are discussed together. However, in other examples, the first drive module 404A may be different from the second drive module 404B. For example, as discussed above, one drive module may have a subset of the capabilities of the other drive module, or the drive modules may have one or more distinct or mutually exclusive vehicle systems. In instances where the 404A and 404B drive modules are identical, they provide the vehicle with system and component redundancy (e.g. sensors, battery, inverter, motor, steering, braking, suspension, HVAC, lighting, vehicle module controller). drive, communication connections, etc.). Thus, if a drive module system or component thereof fails or requires service, in many cases the vehicle will be able to continue operating with the corresponding system or component of the other drive module.
[0054] [0054] In the illustrated example, the drive modules 404A and 404B include one or more sensor systems 430 to detect conditions of the drive modules and/or the vehicle's surroundings.
[0055] [0055] The 404A and 404B drive modules in this example include many of the vehicle systems, which include a high voltage battery 432, an inverter 434 to convert direct current from the battery to alternating current for use by other vehicle systems, an engine drive 436 to propel the vehicle, a steering system 438 that includes an electric steering motor and a steering rack, a brake system 440 that includes hydraulic or electric actuators, a suspension system 442 that includes hydraulic components and/or or pneumatics, an HVAC system 444, lighting 446 (e.g. lighting such as head/tail lights to illuminate an external environment of the vehicle) and one or more other systems 448 (e.g. cooling system, traction control, systems onboard charging system, other electrical components such as a DC/DC converter, a high voltage junction, a high voltage cable, charging system ment, loading port, etc.).
[0056] [0056] The 404A and 404B drive modules also include a 450 drive module controller to receive and preprocess data from the 430 sensor system (or systems) and control the operation of the various vehicle systems 432 to 448. The controller of drive module 450 includes one or more processors 452 and memory 454 communicatively coupled to the one or more processors
[0057] [0057] A 458 diagnostics module can be run on the 450 drive module controller to check respective drive module systems to ensure they are operating within normal operating parameters. The diagnostic module 458 may employ data collected by the sensor system (or systems) of the drive module 430 and/or data from the sensor system (or systems) of the 410 sensor or vehicle computing device 412 of the body module 402. Any faults or anomalies can be recorded in a fault log
[0058] [0058] The 404A and 404B drive modules also include one or more 462 communication connection (or connections) that allow communication by the respective drive module with one or more other local or remote computing devices. For example, the communication link (or connections) 462 may facilitate communication with other local computing devices on the respective drive module and/or bodywork module 402.
[0059] [0059] The 462 communications connection (or connections) includes physical and/or logical interfaces for connecting the 450 drive module controller to another computing device or to a network. For example, the 462 communications link (or connections) may allow WiFi-based communication, such as over frequencies defined by the IEEE 802.11 standards, short-range wireless frequencies, such as Bluetooth®, or any communication protocol with or suitable wireless that allows the respective computing device to interact with the other computing devices.
[0060] [0060] The processor (or processors) 414 of the bodywork module 402 and the processor (or processors) 452 of the drive modules 404A and 404B may be any suitable processor capable of executing instructions for processing sensor system (or systems) data 410 and 430 and control the operation of vehicle systems. By way of example and not limitation, the processor (or processors) 414 and 452 may comprise one or more Central Processing Units (CPUs), Graphics Processing Units (GPUs), or any other device or portion of a device that processes data. electronic data to transform that electronic data into other electronic data that can be stored in registers and/or memory. In some examples, integrated circuits (eg ASICs, etc.), gate arrays (eg, FPGAs, etc.), and other hardware devices may also be considered processors as long as they are configured to implement coded instructions.
[0061] [0061] Memory 416 and memory 454 are examples of non-transient computer readable media. Memory 416 and memory 454 can store an operating system and one or more application software, instructions, programs and/or data to implement the methods described herein and the functions assigned to the various systems. In many deployments, memory can be deployed using any suitable memory technology, such as static random access memory (SRAM), synchronous dynamic RAM (SDRAM), non-volatile/Flash-like memory, or any other type of memory. able to store information. The architectures, systems, and individual elements described in this document may include many other logical, programmatic, and physical components, of which those shown in the accompanying figures are merely examples related to the discussion in this document.
[0062] [0062] Figure 5 is a schematic cross-section of a vehicle showing an exemplary connection interface 500 that couples a bodywork module 502 to a drive module 504. Connection interface 500 is an example of a connection interface that can be used with vehicles 100, 200, 300 and 400. Connection interface 500 includes components in both body module 502 and drive module 504.
[0063] [0063] Since Figure 5 is a cross-section, it illustrates a mechanical connector 506 or "coupler", an electrical connector 508, a fluid connector (e.g. hydraulic, brake, transmission,
[0064] [0064] The illustrated mechanical connector 506 comprises a tapered shaft 514 that projects from the bodywork module 502 and is received by a complementary tapered collet 516 on the drive module 504. The tapered shaft 514 and collet 516 act as guides to align the drive module 504 with the bodywork module 502 during fastening. Collet 516 includes multiple pins 518 or bearings that slide over one end of axle 514 and lock in a groove around axle 514, securing collet 516 (and hence drive module 504) to axle 514 (and body module). 502). The pins 518 may be spring loaded so that they fit into the groove. Pins 518 can be disengaged from the slot by, for example, a manual release lever, or automatically by a solenoid or other actuator of the body module 502 or drive module 504.
[0065] [0065] Mechanical connector (or connectors) 506 connects a crash structure 520 of the drive module 504 to the bodywork module 502. In the event that the vehicle is in a crash, an impact load is applied to a bumper 522 of the vehicle. The impact load is an applied force, generally parallel to a longitudinal axis of the vehicle and is generally aligned with the collision structure 520. If the collision is of sufficient force, the collision structure 520 will crumple, retract or will otherwise deform to absorb the forces of impact. In this way, the drive module 504 can minimize the impact forces and damage imparted to the bodywork module 502. Because the mechanical connector (or connectors) in this example are aligned with the crash structure 520, the mechanical connector (or connectors) 506 are subjected to minimal shear forces (e.g., forces perpendicular to the longitudinal direction) due to the collision, thereby minimizing the chances that the drive module 504 will become disconnected from the bodywork module 502 during a collision.
[0066] [0066] In the illustrated example, all connectors extend parallel to each other from common surfaces of the bodywork module and the drive module, respectively. However, in other examples, the connectors may extend in different directions or be arranged on different surfaces of the body module or the drive module, respectively. The illustrated connection interface 500 is shown coupled to a drive module with a body module horizontally (ie in the X direction). However, the same or similar connection interface can also be used to match a drive module with a body module vertically (ie in the Z direction).
[0067] [0067] Figure 6 is a perspective view of an exemplary drive module 600. The drive module 600 is an example of the drive modules, or may be used in place of the drive modules, shown with the vehicles in Figures 1 to 5, for example.
[0068] [0068] The drive module 600 in this example includes wheels 602, body panels (e.g. fenders 604 and front panel 606), a high voltage battery 608, a suspension system (which includes damper towers 610 and shock absorbers 612), and a HVAC system 614. A propulsion system, steering system, braking system, cooling system, and other components are also included in drive module 600, but not visible in this Figure. Also shown in this Figure are brackets 616 that connect the crash structure 618 of the drive module 600 to a body module. As shown, a first end of brackets 616 is coupled to crash structure 618 and a second end of brackets 616 (distal from the drive module) is configured to mate to the bodywork module. The second end of the supports has a greater surface area than a surface area of the first end of the supports.
[0069] [0069] In some examples, the 600 drive module may arrive at the final assembly factory fully assembled, generally as shown in Figure 6, and ready to be fitted to a bodywork module. In that case, the wheels 602 can be aligned at the factory, the battery 608 can be charged, the fluid reservoirs can be filled, the gaskets can be lubricated, etc.
[0070] [0070] Figure 7 is an exploded view of the drive module 600 showing internal components of the drive module 600. In addition to the components described with reference to Figure 6, the drive module 600 also includes a propulsion system (which includes a 700 drive motor, 702 gearbox, and 704 axles), a steering system (which includes a 706 steering rack), a braking system (which includes 708 discs and 710 calipers), and a cooling system (which includes a radiator 712, radiator ducts 714, one or more coolant reservoirs 716, and one or more coolant pumps 718). The 608 battery, propulsion system, steering system, suspension system, body panels, and other components are coupled to a drive module frame (which includes a lower subframe 720 and an upper subframe 722).
[0071] [0071] The suspension system additionally includes control arms 724 coupled to the lower subframe 720.
[0072] [0072] A bumper 730 is attached to the crash frame 618 and upper subframe 722. A stabilizer bar 732 is attached to the suspension/steering systems to reduce body roll.
[0073] [0073] Figures 8 to 10 are flowcharts that show exemplary methods involving vehicles that have drive modules that are detachable from a bodywork module. The methods illustrated in Figures 8 to 10 are described with reference to one or more of the vehicles, bodywork modules and/or drive modules shown in Figures 1 to 7 for convenience and ease of understanding. However, the methods illustrated in Figures 8 to 10 are not limited to being performed using the vehicles, bodywork modules and/or drive modules shown in Figures 1 to 7, and may be implemented using any of the other vehicles, bodywork modules, and/or drive modules described in that application, as well as vehicles, bodywork modules, and/or drive modules other than those described herein. Furthermore, the vehicles, bodywork modules and/or drive modules described herein are not limited to performing the methods illustrated in Figures 8 to 10.
[0074] [0074] Figure 8 illustrates an exemplary method 800 of operating a vehicle, such as vehicle 100, 200, 300, or 400, in response to a failure in a vehicle component.
[0075] [0075] Method 800 includes operation 802, during which the vehicle operates at least partially using the first drive module. In some examples, during operation 802 the vehicle may be using both the first and second drive modules. In other examples, during operation 802 the vehicle may be using only the first drive module and the second drive module may be at least partially disabled.
[0076] [0076] During operation, the vehicle can monitor the vehicle's systems to ensure they are working properly. This monitoring can be performed by one or both of the drive modules (e.g. by the diagnostics module 458), by a program running on a body module computing device (e.g. by a 426 controller system of the vehicle computation 412), or both. In operation 804, the vehicle determines whether a fault has occurred in the first drive module. A fault may correspond to a failure of a drive module component, an anomalous component output, or a condition detected by one or more vehicle sensor systems (e.g., body module 410 sensor systems and/or sensor 430 of one of the drive modules).
[0077] [0077] In operation 810, the vehicle can disable the first drive module. Depending on the nature of the detected fault, the decommissioning of the first drive module can be complete or partial (eg individual components or systems impacted by the fault may be deactivated). For example, disabling the first drive module in operation 810 may include any or all of electrically disconnecting a battery from the first drive module from the bodywork module and from the second drive module, mechanically disengaging the drive motor from the first drive module driving the wheels of the first drive module so that the wheels can turn freely, lock the steering of the first drive module in a neutral position so that the first drive module does not turn the vehicle and/or place the suspension of the first drive module in passive state. In additional examples, a system or component of a drive module that has a short circuit or blown fuse can simply be turned off, and/or a HVAC system of a drive module can be electrically and/or fluidly disconnected, while the systems remaining drive module operating functions can remain active. In some examples, the battery or other energy storage system of one drive module may be sufficient to power the electrical systems of the bodywork module (which include the vehicle computing device), the other drive module, or both the body module and the other drive module. Thus, if the energy storage system of one drive module fails or becomes discharged, the energy storage system of the other drive module can power the vehicle to allow it to continue operating.
[0078] [0078] In operation 812, the vehicle determines whether or not the vehicle can safely continue to operate with the first drive module deactivated. For example, the vehicle can determine whether or not it is able to safely complete a current trip with the first drive module deactivated. Whether or not the vehicle can safely operate with the first drive module deactivated may depend, for example, on the nature of the fault, the condition of the other drive module, the actual trip duration, the distance to a maintenance location and/or or other factors. For example, if the fault is related to faulty equipment (e.g. a flat tire, bad wheel bearing, broken sensor, etc.) or an unsafe condition (e.g. battery substantially over temperature), the vehicle may determine in operation 812 that it cannot continue to operate safely.
[0079] [0079] If, in operation 812, the vehicle determines that it is safe to continue operating with the first drive module deactivated, method 800 continues operation
[0080] [0080] In operation 820, after deactivating the first drive module (and optionally changing a direction of travel in the case of a bidirectional vehicle), the vehicle starts to operate using the second drive module, while the first drive module remains disabled. Operation 820 may continue indefinitely, until the vehicle completes its current route (i.e. to its next destination), until a regularly scheduled next maintenance schedule, or until an automated service robot is available (or within a predetermined distance). vehicle), for example.
[0081] [0081] Figure 9 illustrates a method 900 that includes additional details for detecting an operation failure
[0082] [0082] In some examples, in operation 902, a fault may be detected in response to detecting that an output (e.g. voltage or current) of a battery of the first drive module is outside a normal operating range, a state load of a battery of the first drive module is outside a predetermined normal operating range, a temperature of a battery of the first drive module is outside of a normal predetermined operating range, an output of an inverter of the first drive module is outside a predetermined normal operating range, and/or a condition of a load circuit is outside a predetermined normal operating range.
[0083] [0083] Alternatively, a fault can be detected by detecting sensor outputs in response to control signals.
[0084] [0084] Although not illustrated in Figure 9, the determination of a “failure” can, in a more general way, be associated with a known condition of one or more components, systems or subsystems of the vehicle. As a non-limiting example, collets installed on a drive module may be subject to a recall as being defective. In this example, the batch number information for the buffer listed on the manifest, and sent in a heartbeat signal, could be associated with an inappropriate batch and indicative of a "failure".
[0085] [0085] Figure 10 is a flowchart illustrating an exemplary method 1000 of installing and/or replacing a drive module of a vehicle, such as vehicle 100, 200, 300, or 400. In some examples, method 1000 may be performed in response to initiating replacement of the first drive module in operation
[0086] [0086] Method 1000 includes, in operation 1002, supporting a vehicle body module above a drive surface (eg road, parking, floor etc.) by one or more supports. As discussed above, in some examples, the supports may comprise jacks that are built into a underside of the bodywork module and have substantially flat bottom surfaces, casters, or other wheels to allow the bodywork module to be moved or repositioned during deployment. installation or removal of drive modules. In other examples, supports may comprise jacks or elevators built into a floor of an assembly plant. In still other examples, the supports may comprise jacks or elevators of an automated service robot or operated by a service technician. Supporting the bodywork module in operation 1002 may comprise supporting the bodywork module substantially at its normal height (i.e. not raised), while in other instances the bodywork module may be supported at an elevated level (i.e. above its height). normal ride height).
[0087] [0087] In operation 1004, a first drive module can be disconnected from a first end of the bodywork module. In some examples, disconnecting the first drive module may include, in operation 1006, releasing a mechanical connection between the first drive module and the bodywork module and, in operation 1008, separating the first drive module from the bodywork module. Operation 1008 may include causing the first drive module to drive, under its own power, away from the first end of the bodywork module, and/or causing the second drive module to drive the bodywork module away from the first. drive module. Operations 1004 to 1008 may be performed under the control of, for example, a drive module controller that is removed (e.g., drive module 450), a vehicle body module controller (e.g., vehicle 412), or under the control of an external device (e.g. external device 108).
[0088] [0088] In operation 1010, a new (third) drive module can be installed at the first end of the bodywork module. The operation 1010 of installing a new drive module may, in some instances, be performed by causing the drive modules to drive into engagement with the bodywork module. This can be controlled by the drive modules themselves. For example, when activated or instructed to do so, the drive module being installed can autonomously control itself to mate with the bodywork module. The drive module may employ sensor data (e.g. inertial sensor data, ultrasonic sensor data, wheel encoder data or other sensor systems such as the 430 sensor systems) in order to locate, align and dock to a body module connection interface. In some examples, operation 1010 may include, at 1012, receiving a signal from an inertial sensor from the third drive module and, at operation 1014, causing the third drive module to drive, under its own power, to the adjacent position. to the first end of the bodywork module. In operation 1016, the third drive module may be driven, under its own power, to align a coupler of the third drive module with a corresponding coupler at the first end of the bodywork module based at least in part on the sensor signal. inertia of the third drive module. This alignment may include using input from the inertial sensors to balance the third drive module with its connection interface aligned with the body module's corresponding connection interface. In other examples, positioning and/or alignment may be performed under the control of, or in response to a command or control of the bodywork module or an external device, such as one of the external devices 108 (e.g., a technician, robot automated services, teleoperation computing device, etc.). In some examples, alignment may include the use of visual signals (eg barcodes or QR codes), wireless signals, emitter/detector pairs or the like, as a coordinate between the bodywork module and the drive module.
[0089] [0089] Once aligned, in operation 1018, the third drive module can be coupled to the first end of the bodywork module.
[0090] [0090] Once the new drive module is coupled to the bodywork module, in operation 1020 the supports can be retracted (automatically or manually), and in operation 1022 the vehicle can be operated (e.g. to drive to a destiny).
[0091] [0091] Figure 10 illustrates an example where the first and second drive modules were previously installed in the bodywork module, and the first drive module is removed and replaced by a third drive module. However, the same or similar method may additionally or alternatively be used during an initial assembly process of installing drive modules in the bodywork module (eg in an assembly plant). In this case, operation 1004 (disconnect an existing drive module) can be omitted and operation 1010 (install a new drive module) can be performed twice, once to install a new drive module at each end of the drive module. bodywork.
[0092] [0092] Figure 11 is a flowchart illustrating an exemplary method 1100 of operating a vehicle following the installation or replacement of a drive module. Method 1100 may, in some examples, be implemented following the installation or replacement of a drive module in accordance with method 1000 of Fig.
[0093] [0093] In operation 1102, the vehicle (e.g., by vehicle computing device 412) can determine if a voltage from one drive module is different (e.g., exceeds a threshold voltage difference) from another drive module. If, in operation 1102, the vehicle detects that a voltage of the second drive module is sufficiently lower (more than the threshold voltage difference) than the voltage of the third drive module, then, in operation 1104, the vehicle may electrically disconnect the battery of the second drive module from the bodywork module and/or the third drive module. This can be accomplished, for example, by disconnecting a direct electrical connection between the drive modules (eg direct connection 410). The vehicle may then, in operation 1106, operate the vehicle using the third drive module until the battery voltage of the third drive module is within the predetermined threshold of the battery voltage of the second drive module. Disconnecting the battery from the second drive module until this voltage balance is achieved prevents current spikes when the new drive module is connected and simplifies the system's battery management electronics. Once the voltage of the third drive module is within the predetermined threshold of the battery voltage of the second drive module, in operation 1108, the vehicle can electrically connect/reconnect the battery of the second drive module to the body module and the third drive module. The vehicle can then operate using the batteries of both drive modules, so that both batteries are charged and discharged in substantially equal amounts.
[0094] [0094] If, in operation 1102, the vehicle determines that the batteries of the drive modules are substantially the same (that is, a voltage difference between the batteries is less than the threshold), then the vehicle can proceed to the operation 1108 to electrically connect the battery of the second drive module to the body module and the third drive module.
[0095] [0095] In some examples, after connecting a new drive module (e.g. the third drive module) to the vehicle body module, the new drive module can, in operation 1110, transmit (e.g. by communication connections 462), a new drive module identifier and/or a drive module fault log for a body module vehicle controller, an external diagnostic computing device, an automated services robot, and/or a teleoperation computing device. In this way, the vehicle maintains a record of the drive modules that are attached to it and/or an inventory tracking system for a fleet of vehicles can be updated to reflect which drive modules are installed on which vehicles.
[0096] [0096] Methods 800, 900, 1000 and 1100 are illustrated as collections of blocks in logical flow charts, which represent sequences of operations that can be implemented in hardware, software or a combination thereof. In the software context, blocks represent computer-executable instructions stored on one or more computer-readable storage media that, when executed by one or more processors, perform the enumerated operations. Generally speaking, computer-executable instructions include routines, programs, objects, components, data structures, and the like that perform particular functions or implement particular abstract data types. The order in which the operations are described should not be construed as limiting and any number of the blocks described can be combined in any order and/or in parallel to deploy the processes. In some embodiments, one or more process blocks may be omitted entirely. Furthermore, methods 800, 900, 1000 and 1100 can be combined in whole or in part with each other or with other methods.
[0097] [0097] The various techniques described in this document may be implemented in the context of computer-executable instructions or software, such as program modules, which are stored in computer-readable storage and executed by the processor (or processors) of one or more computers. or other devices such as those illustrated in the Figures. Generally speaking, program modules include routines, programs, objects, components, data structures, etc., and define operating logic to perform particular tasks or implement particular abstract data types.
[0098] [0098] Other architectures may be used to implement the described functionality, and are intended to be within the scope of this disclosure. Also, while specific distributions of responsibilities are defined above for purposes of discussion, the various roles and responsibilities may be distributed and divided in different ways depending on the circumstances.
[0099] [0099] Similarly, software can be stored and distributed in a variety of ways and using different media, and the particular software storage and execution configurations described above can be varied in many different ways. Thus, software that implements the techniques described above can be distributed on various types of computer-readable media, not limited to the forms of memory that are specifically described.
[00100] [00100] While the above discussion presents exemplary implementations of the techniques described, other architectures may be used to implement the functionality described, and are intended to be within the scope of this disclosure. In addition, while the matter has been described in language specific to structural features and/or methodological acts, it should be understood that the matter defined in the appended claims is not necessarily limited to the specific features or acts described. Instead, specific resources and acts are revealed as exemplary ways of implementing the claims.
[00101] [00101] A. A vehicle comprising: a bodywork module having a first end and a second end, the bodywork module comprising: a passenger compartment for housing one or more passengers; and a vehicle computing device for controlling vehicle operation; a drive module detachably coupled to the bodywork module at the first end of the bodywork module, wherein the drive module comprises: a drive module frame; first and second wheels; a propulsion system coupled to the drive module frame and the first and second wheels to drive at least one of the first and second wheels; and a heating, ventilation and air conditioning (HVAC) system disposed in or on the drive module frame to provide temperature-controlled air to the passenger compartment.
[00102] [00102] B. The vehicle as paragraph A presents,
[00103] [00103] C. The vehicle as paragraph A or B presents, wherein the drive module additionally comprises: a crash structure coupled to the drive module frame, the crash structure configured to absorb an impact force transmitted to the first end of the vehicle.
[00104] [00104] D. The vehicle as any one of paragraphs A to C sets out, wherein the drive module further comprises at least one of: a steering assembly coupled to the first and second wheels to drive the first and second wheels; a braking assembly coupled to the first and second wheels for braking the first and second wheels; a suspension assembly for movably coupling the first and second wheels to the drive module frame; one or more exterior vehicle body panels or fascia; or one or more of the vehicle's exterior lights.
[00105] [00105] E. The vehicle as any one of paragraphs A to D sets forth, wherein the drive module is a first drive module, the vehicle further comprising a second drive module detachably coupled to the second end of the vehicle , wherein the first drive module and the second drive module are substantially identical.
[00106] [00106] F. The vehicle as any one of paragraphs A to E shows, wherein: the first drive module additionally comprises one or more sensors for detecting objects in an environment surrounding the first end of the vehicle; and the second drive module further comprises one or more sensors for detecting objects in an environment surrounding the second end of the vehicle, wherein the one or more sensors of the first drive module and the one or more sensors of the second drive module are communicatively coupled to the body module vehicle computing device.
[00107] [00107] G. The vehicle as any one of paragraphs A to F sets forth, wherein the bodywork module comprises: a first connection interface for coupling the first drive module to the first end of the bodywork module; and a second connection interface for coupling the second drive module to the second end of the bodywork module, wherein at least one of the first connection interface or the second connection interface comprises: a mechanical connector for mechanically connecting the bodywork module to a respective module within the first drive module or the second drive module; and at least one of: an electrical connector for electrically connecting the bodywork module to a respective first drive module or second drive module; a fluid connector for fluidly connecting the bodywork module to one of the respective first drive modules or second drive modules; or an air connector through which to receive temperature controlled air from the HVAC system from one of the respective first drive modules or second drive modules.
[00108] [00108] H. The vehicle as any one of paragraphs A to G sets forth, wherein: the mechanical connector comprises an alignment guide for aligning the bodywork module with respect to one of the respective first drive modules or second drive modules; and the at least one of the electrical connector, the fluid connector, or the air connector are blind mating connectors.
[00109] [00109] I. The vehicle as any one of paragraphs A to H sets forth, wherein the vehicle comprises an autonomous vehicle and the vehicle computing device of the bodywork module is configured to autonomously control the operation of the vehicle.
[00110] [00110] J. The vehicle as any one of paragraphs A to I sets forth, wherein the bodywork module further comprises one or more sensors disposed on an exterior of the passenger compartment and in communication with the vehicle's computing device of the module's bodywork, the one or more sensors to detect objects in an environment surrounding the vehicle.
[00111] [00111] K. The vehicle as any one of paragraphs A to J sets forth, wherein: the drive module comprises a light source for emitting light on a path of the vehicle; and the bodywork module further comprises an external light source for emitting light to the surroundings of the vehicle.
[00112] [00112] L. A drive module for a vehicle, the drive module comprising: a drive module frame; first and second wheels; a propulsion system coupled to the drive module frame and the first and second wheels to drive at least one of the first and second wheels; and a heating, ventilation and air conditioning (HVAC) system disposed in or on the drive module frame to, when coupled to the vehicle, provide temperature controlled air to a passenger compartment of the vehicle.
[00113] [00113] M. The drive module as paragraph L presents, which further comprises: an energy storage system coupled to the propulsion system and the HVAC system to supply power to the electric drive motor and the HVAC system; and a drive module control system configured to control the operation of the propulsion system and the HVAC system.
[00114] [00114] N. The drive module as any one of paragraphs L or M sets forth, which additionally comprises: a crash structure attached to the drive module frame, the crash structure configured to absorb an impact force transmitted to the module of drive.
[00115] [00115] O. The drive module as any one of paragraphs L to N sets forth, further comprising at least one of: a steering assembly coupled to the first and second wheels for steering the first and second wheels; a braking assembly coupled to the first and second wheels for braking the first and second wheels; a suspension assembly for movably coupling the first and second wheels to the drive module frame; one or more exterior vehicle body panels or fascia; one or more external vehicle lights; or one or more sensors coupled to the drive module to detect objects in an environment surrounding the drive module, the sensors comprising one or more of a LIDAR, a radar or a camera.
[00116] [00116] P. The drive module as any one of paragraphs L to the present, wherein the drive module comprises a connection interface for coupling the drive module to a vehicle body module, the connection interface comprises: at least one of a guide boss or a receptacle for receiving a guide boss; a mechanical connector for mechanically connecting the drive module to the vehicle's body module; and at least one of: an electrical connector for electrically connecting the drive module to the vehicle's body module; a fluid connector for fluidly connecting the drive module to the vehicle's body module; or an air connector through which it supplies temperature-controlled air from the drive module's HVAC system to the vehicle's body module.
[00117] [00117] Q. A drive module for a vehicle, the drive module comprising: a drive module frame; first and second wheels; a propulsion system coupled to the drive module frame and the first and second wheels to drive at least one of the first and second wheels; and a crash structure coupled to the drive module frame, the crash structure configured to crumple in response to an impact force that exceeds an impact threshold to absorb the impact force.
[00118] [00118] R. The drive module as paragraph Q presents, which additionally comprises: one or more brackets for attaching the crash structure to a bodywork module of a vehicle, a first end of the one or more brackets being attached to the crash structure and a second end of the one or more struts is configured to mate with the bodywork module, wherein the second end of the one or more struts has a surface area greater than a surface area of the first end of the one or more struts. more struts to distribute impact forces transferred by the crash structure to the larger surface area of the body module.
[00119] [00119] S. The drive module as any one of paragraphs Q or R sets forth, which additionally comprises: a heating, ventilation and air conditioning (HVAC) system disposed in or on the drive module frame for, when coupled to the vehicle, supplying temperature-controlled air to a passenger compartment of the vehicle; a power supply electrically coupled to the propulsion system and the HVAC system to provide power to the propulsion system and the HVAC system; and a drive module control system configured to control the operation of the propulsion system and the HVAC system.
[00120] [00120] T. The drive module as any one of paragraphs Q to S sets forth, further comprising at least one of: a steering assembly coupled to the first and second wheels for steering the first and second wheels; a braking assembly coupled to the first and second wheels for braking the first and second wheels; a suspension assembly for movably coupling the first and second wheels to the drive module frame; one or more exterior vehicle body panels or fascia; one or more external vehicle lights; or one or more sensors attached to the drive module to detect objects in an environment surrounding the drive module.
[00121] [00121] U. The drive module as any one of paragraphs Q to T shows, wherein the drive module comprises a connection interface for attaching the drive module to a vehicle body module, the connection comprises: at least one of a guide boss or a receptacle for receiving a guide boss; a mechanical connector for mechanically connecting the drive module to the vehicle's body module; and at least one of: an electrical connector for electrically connecting the drive module to the vehicle's body module; a fluid connector for fluidly connecting the drive module to the vehicle's body module; or an air connector through which it supplies temperature-controlled air from the drive module's HVAC system to the vehicle's body module.
[00122] [00122] V. A method of operating a vehicle that includes a bodywork module that has a vehicle passenger compartment, a first drive module that is removably coupled to a first end of the bodywork module, and a second module drive which is removably coupled to a second end of the bodywork module, the method comprising: operating the vehicle at least partially using the first drive module; detecting a failure of a component of the first drive module; in response to detecting the component failure of the first drive module, disable the first drive module; and operating the vehicle using the second drive module while the first drive module is disabled.
[00123] [00123] W. The method as paragraph V sets forth, wherein the component failure of the first drive module comprises a failure of: a drive motor of the first drive module; a battery of the first drive module; an inverter of the first drive module; a steering system of the first drive module; a suspension system of the first drive module; a braking system of the first drive module; one or more lights of the first drive module; a heating, ventilation and air conditioning (HVAC) system of the first drive module; a DC/DC converter; a high voltage junction; a high voltage cable; a sensor; an external light; or a loading component.
[00124] [00124] X. The method as any of paragraphs V or W presents, where detecting the component failure of the first drive module comprises: detecting that a battery output of the first drive module is outside an operating range predetermined normal; detecting that a state of charge of a battery of the first drive module is outside a predetermined normal operating range; detecting that a temperature of a battery of the first drive module is outside a predetermined normal operating range; or detect that an inverter output from the first drive module is outside a predetermined normal operating range.
[00125] [00125] Y. The method as any one of paragraphs V to X presents, wherein detecting the component failure of the first drive module comprises: sending a control signal to the first drive module to perform an operation; measure a vehicle condition after sending the control signal; and determining that the vehicle's condition after sending the control signal is out of an expected range to perform the operation.
[00126] [00126] Z. The method as any one of paragraphs V to Y sets out, wherein: the control signal comprises a signal for controlling a drive motor of the first drive module, and the vehicle condition measurement comprises measuring at least one of a speed, acceleration, or rotational speed of a wheel of the vehicle; the control signal comprises a signal for controlling a steering system of the first drive module, and measuring the condition of the vehicle comprises measuring a trajectory of the vehicle; the control signal comprises a signal for controlling a suspension system of the first drive module, and measuring the condition of the vehicle comprises measuring a position or displacement of a structural element of the vehicle suspension system;
[00127] [00127] AA. The method as any one of paragraphs V to Z sets out, wherein disabling the first drive module comprises at least one of: electrically disconnecting a battery from the first drive module from the bodywork module and from the second drive module; or mechanically disengaging a drive motor from the first wheel drive module from the first drive module.
[00128] [00128] BB. The method as any one of paragraphs V to AA sets out, wherein: the vehicle comprises a two-way vehicle; and the method further comprises, in response to deactivating the first drive module, changing a direction of travel of the vehicle from a first direction of travel to a second direction of travel substantially opposite the first direction of travel.
[00129] [00129] CC. The method as any one of paragraphs V to BB sets out, further comprising at least one of: recording the fault in memory of the first drive module; transmit the fault to a body module computing device; or transmit the fault to a remote computing device.
[00130] [00130] DD. The method as any one of paragraphs V to CC presents, which additionally comprises: bringing the vehicle to a stop; supporting the body module above a drive surface by one or more supports; disconnect the first drive module from the bodywork module; causing a third drive module to drive, under its own power, into position adjacent to the first end of the bodywork module; and coupling the third drive module to the first end of the bodywork module.
[00131] [00131] EE. The method as any one of paragraphs V to DD sets out, further comprising: detecting that a battery voltage of the second drive module is lower than a battery voltage of the third drive module; electrically disconnecting the battery of the second drive module from the bodywork module and the third drive module; operating the vehicle using the third drive module until the battery voltage of the third drive module is within a predetermined threshold of the battery voltage of the second drive module; and electrically reconnecting the battery of the second drive module to the bodywork module and the third drive module in response to the voltage of the third drive module being within the predetermined threshold of the battery voltage of the second drive module.
[00132] [00132] FF. A method of servicing a vehicle that includes a bodywork module having a vehicle passenger compartment, wherein a first drive module is detachably coupled to the bodywork module at a first end of the bodywork module, and a second drive module is removably coupled to the bodywork module at a second end of the bodywork module, wherein the method comprises: supporting the vehicle body module above a drive surface by one or more supports; disconnect the first drive module from the bodywork module; causing a third drive module to drive, under its own power, into position adjacent the first end of the bodywork module; and coupling the third drive module to the first end of the bodywork module.
[00133] [00133] GG. The method as the FF paragraph presents,
[00134] [00134] HH. The method as either of paragraphs FF or GG sets out, whereby causing the third drive module to drive, under its own power, to the position adjacent to the first end of the bodywork module is carried out under the control of at least one of: a body module vehicle controller; a remote control device; a teleoperations computing device; a computing device of an automated service robot or a controller of the third drive module.
[00135] [00135] II. The method as any one of paragraphs FF to HH sets out, further comprising: receiving a signal from an inertial sensor of the third drive module; and causing the third drive module to drive, under its own power, to align a coupler of the third drive module with a corresponding coupler at the first end of the body module based at least in part on the signal from the inertial sensor of the third module of drive.
[00136] [00136] JJ. The method as any one of paragraphs FF to II sets forth, wherein coupling the third drive module to the first end of the bodywork module comprises: aligning a coupler of the third drive module with a corresponding coupler at the first end of the bodywork module; mechanically connecting the third drive module's coupler with the corresponding coupler at the first end of the bodywork module, wherein mechanically connecting the third drive module's coupler with the corresponding coupler at the first end of the bodywork module automatically establishes at least one of: a blind electrical connection between the third drive module and the bodywork module; a blind fluid connection between the third drive module and the bodywork module; or a blind air connection between the third drive module and the body module.
[00137] [00137] KK. The method as any one of paragraphs FF to JJ sets out, wherein coupling of the third drive module to the first end of the bodywork module is performed automatically when the third drive module is brought into predetermined proximity to the bodywork module.
[00138] [00138] LL. The method as any one of paragraphs FF to KK sets out, further comprising: detecting that a voltage of a battery of the second drive module is less than a voltage of a battery of the third drive module; electrically disconnecting the battery of the second drive module from the bodywork module and the third drive module; operate the vehicle using the third drive module until the battery voltage of the third drive module is within a predetermined threshold of the battery voltage of the second drive module.
[00139] [00139] MM. A drive module configured to be coupled to a bodywork module of a vehicle, the drive module comprising: multiple components for operating the vehicle; one or more processors; one or more communication connections; and memory communicatively coupled to the one or more processors, the memory storing: a diagnostic module, executable by the one or more processors, for identifying faults with one or more of the multiple components; and instructions which, when executed, configure the drive module to perform operations comprising: detecting connection of the drive module to the vehicle's body module; and transmitting, over the one or more communication connections: a drive module identifier; and a fault log that includes an indication of one or more faults identified by the diagnostic module.
[00140] [00140] NN. The drive module as paragraph MM sets forth, wherein the instructions configure the drive module to transmit the drive module identifier and fault log to at least one of: a body module vehicle controller; a diagnostic computing device or a teleoperation computing device.
[00141] [00141] OO. The drive module as any one of paragraphs MM or NN sets forth, wherein the multiple components comprise: a propulsion system for propelling the vehicle; a heating, ventilation and air conditioning (HVAC) system to control the temperature inside a vehicle's passenger compartment; and an energy storage system to power the propulsion system and the HVAC system.

权利要求:
Claims (15)
[1]
1. Vehicle characterized in that it comprises: a bodywork module having a first end and a second end, the bodywork module comprising: a passenger compartment for housing one or more passengers; and a vehicle computing device for controlling the vehicle's operation; a drive module detachably coupled to the bodywork module at the first end of the bodywork module, wherein the drive module comprises: a drive module frame; first and second wheels; a propulsion system coupled to the drive module frame and the first and second wheels to drive at least one of the first and second wheels; and a heating, ventilation and air conditioning (HVAC) system disposed in or on the drive module frame to provide temperature controlled air to the passenger compartment.
[2]
2. Vehicle, according to claim 1, characterized in that the drive module additionally comprises: an energy storage system coupled to the propulsion system and the HVAC system to supply power to the propulsion system and the system from HVAC; and a drive module control system communicatively coupled to the vehicle computing device, wherein the drive module control system is configured to control the operation of the propulsion system and the HVAC system based at least in part on signals received from the vehicle computing device.
[3]
3. Vehicle according to claim 1, characterized in that the drive module additionally comprises: a crash structure coupled to the drive module frame, the crash structure configured to absorb an impact force transmitted to the first end of the vehicle.
[4]
4. Vehicle according to claim 1, characterized in that the drive module additionally comprises at least one of: a steering assembly coupled to the first and second wheels to drive the first and second wheels; a braking assembly coupled to the first and second wheels for braking the first and second wheels; a suspension assembly for movably coupling the first and second wheels to the drive module frame; one or more exterior vehicle body panels or fascia; or one or more of the vehicle's exterior lights.
[5]
5. Vehicle according to claim 1, characterized in that the drive module is a first drive module, the vehicle additionally comprising a second drive module detachably coupled to the second end of the vehicle, wherein the first drive module and the second drive module are substantially identical.
[6]
6. Vehicle, according to claim 5, characterized in that: the first drive module additionally comprises one or more sensors to detect objects in an environment surrounding the first end of the vehicle; and the second drive module further comprises one or more sensors for detecting objects in an environment surrounding the second end of the vehicle, wherein the one or more sensors of the first drive module and the one or more sensors of the second drive module are communicatively coupled to the body module vehicle computing device.
[7]
7. Vehicle according to claim 5, characterized in that the bodywork module comprises: a first connection interface for coupling the first drive module to the first end of the bodywork module; and a second connection interface for coupling the second drive module to the second end of the bodywork module, wherein at least one of the first connection interface or the second connection interface comprises: a mechanical connector for mechanically connecting the bodywork module to one of respective first drive module or second drive module; and at least one of: an electrical connector for electrically connecting the bodywork module to a respective first drive module or second drive module; a fluid connector for fluidly connecting the bodywork module to a respective first drive module or second drive module; or an air connector through which it receives temperature controlled air from the HVAC system from one of the respective first drive modules or second drive modules.
[8]
8. Vehicle according to claim 7, characterized in that: the mechanical connector comprises an alignment guide for aligning the bodywork module with respect to one of the respective first drive module or second drive module; and at least one of the electrical connector, fluid connector, or air connector are blind mating connectors.
[9]
9. Vehicle according to claim 1, characterized in that the vehicle comprises an autonomous vehicle and the vehicle computing device of the bodywork module is configured to autonomously control the operation of the vehicle.
[10]
10. Vehicle, according to claim 1, characterized in that: the drive module comprises a light source to emit light for a vehicle path; and the bodywork module further comprises an external light source for emitting light to the surroundings of the vehicle.
[11]
11. Drive module for a vehicle, the drive module being characterized in that it comprises:
a drive module frame; first and second wheels; a propulsion system coupled to the drive module frame and the first and second wheels to drive at least one of the first and second wheels; and a heating, ventilation and air conditioning (HVAC) system disposed in or on the drive module frame to, when coupled to the vehicle, provide temperature controlled air to a passenger compartment of the vehicle.
[12]
12. Drive module, according to claim 11, characterized in that it additionally comprises: an energy storage system coupled to the propulsion system and to the HVAC system to supply power to the electric drive motor and the HVAC; and a drive module control system configured to control the operation of the propulsion system and the HVAC system.
[13]
13. Drive module, according to claim 11, characterized in that it additionally comprises: a crash structure coupled to the drive module frame, the crash structure configured to absorb an impact force transmitted to the drive module .
[14]
14. Drive module, according to claim 11, characterized in that it additionally comprises: a steering assembly coupled to the first and second wheels to drive the first and second wheels; a braking assembly coupled to the first and second wheels for braking the first and second wheels; a suspension assembly for movably coupling the first and second wheels to the drive module frame; one or more exterior vehicle body panels or fascia; one or more external vehicle lights; one or more sensors coupled to the drive module to detect objects in an environment surrounding the drive module, the sensors comprising one or more of a LIDAR, a radar or a camera.
[15]
15. Drive module, according to claim 11, characterized in that the drive module comprises a connection interface to couple the drive module to a vehicle body module, wherein the connection interface comprises: at least one of a guide boss or a receptacle for receiving a guide boss;
a mechanical connector for mechanically connecting the drive module to the vehicle's body module; and at least one of:
an electrical connector for electrically connecting the drive module to the vehicle's body module;
a fluid connector for fluidly connecting the drive module to the vehicle's body module;
or an air connector through which it supplies temperature-controlled air from the drive module's HVAC system to the vehicle's body module.

类似技术:

---

公开号 | 公开日 | 专利标题

---

BR112019025342A2|2020-06-23|VEHICLE WITH INTERCHANGEABLE DRIVE MODULE AND DRIVE MODULE

---

WO2018222375A1|2018-12-06|Vehicle with interchangeable drive module and drive module

---

US11167812B2|2021-11-09|Drive module for robotic vehicles

---

CA2940910A1|2017-03-03|Modular configurable automated guided vehicle

---

BR102015016349A2|2016-01-12|method for coupling a number of utilities between a first system and a second system, and, appliance

---

DE102015216272A1|2017-03-02|Modular robot kit, swarm of modularized robots, and task accomplishment by a swarm of modularized robots

---

WO2017079289A1|2017-05-11|Quadrant configuration of robotic vehicles

---

BR112020017031A2|2021-02-23|systems for operating an autonomous vehicle terminal tractor, to control the loading of an electric truck in a facility, to maneuver a trailer with respect to a truck, to control access by a user to an autonomous truck, to allow movement of a trailer, to identify and orient with respect to container wells on railway cars, to transport a long distance trailer, to robotically open swinging rear doors of a trailer, to operate a truck, to retain swinging open doors on a trailer, to assist in reverse operations on a trailer hitched to an autonomous truck, to automatically apply a stationary lift bracket to a trailer, for automatic support of a trailer, method for operating an autonomous vehicle terminal tractor, and, bridge system rolling.

---

US9171407B2|2015-10-27|System and method of detecting fuse disconnection of DC-DC converter

---

CN109844488A|2019-06-04|For preparing the modular testing platform of the vehicle of traveling

---

US10189476B1|2019-01-29|Brake force distribution

---

US20180364711A1|2018-12-20|Autonomous Vehicle Research System

---

CN106143530B|2018-09-21|Routing inspection trolley for suspension type monorail traffic system box track girder

---

CN111043448A|2020-04-21|Pipeline robot

---

CN202453725U|2012-09-26|Automotive CAN | bus system

---

CN211694003U|2020-10-16|Detection control system of pipeline robot

---

US20200231168A1|2020-07-23|Interface for harmonizing performance of different autonomous vehicles in a fleet

---

BR112020010888A2|2020-11-10|steering module for a vehicle and a vehicle assembled from a set of modules

---

US20220017167A1|2022-01-20|Unmanned vehicle chassis and unmanned vehicle

---

CN111043449A|2020-04-21|Wheel type driving structure and pipeline robot with same

---

EP3725608A1|2020-10-21|Battery replacement fault diagnostic method and system

---

CN105181347A|2015-12-23|ABS brake detection platform of novel passenger vehicle

---

CN211694005U|2020-10-16|Wheel type tensioning assembly and pipeline robot with same

---

CN211875101U|2020-11-06|Waterproof sealing structure and pipeline robot with same

---

CN113246671B|2021-10-08|Reconfigurable autonomous docking control system for unmanned vehicle

同族专利:

---

公开号 | 公开日

---

CN110709267A|2020-01-17|

---

US20180345777A1|2018-12-06|

---

US20200398915A1|2020-12-24|

---

US20180345971A1|2018-12-06|

---

KR20200012858A|2020-02-05|

---

US11104394B2|2021-08-31|

---

US10737737B2|2020-08-11|

---

US10668926B2|2020-06-02|

---

JP2020527924A|2020-09-10|

---

EP3630534A1|2020-04-08|

---

US20200385074A1|2020-12-10|

引用文献:

---

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

---

US3561813A|1968-06-19|1971-02-09|Daimler Benz Ag|Detachable end section for passenger cars|

---

US4842326A|1987-05-08|1989-06-27|John A. DiVito|Motor vehicles with interchangeable functional body modules|

---

DE3730468A1|1987-09-08|1989-03-16|Bergmann Kabelwerke Ag|ON-BOARD NETWORK FOR MOTOR VEHICLES AND METHOD FOR OPERATING THE ON-BOARD NETWORK|

---

WO2000023315A2|1998-10-21|2000-04-27|Deka Products Limited Partnership|Fault tolerant architecture for a personal vehicle|

---

US6276477B1|1999-01-27|2001-08-21|Ida Automotive|Component car system|

---

DE10154353B4|2000-11-06|2012-10-18|General Motors Corp.|Modular vehicle construction|

---

US6817655B2|2002-06-18|2004-11-16|Dana Corporation|Modular body and frame assembly for a vehicle|

---

DE10236080A1|2002-08-07|2004-02-19|Robert Bosch Gmbh|Process flow control method, especially for use with a motor vehicle CAN bus automation system, wherein if a function unit is faulty it is prevented from communicating with the bus by disabling its bus driver|

---

US7096925B2|2003-06-19|2006-08-29|General Motors Corporation|Modular electric HVAC systems for vehicles|

---

US7349794B2|2003-09-03|2008-03-25|Malone Specialty, Inc.|Engine protection system|

---

US7184878B2|2003-09-03|2007-02-27|Malone Specialty, Inc.|Engine protection system|

---

CA2463044A1|2004-04-02|2005-10-02|H. William B. Wilt|Method of making a modular vehicle and a modular vehicle|

---

US8099179B2|2004-09-10|2012-01-17|GM Global Technology Operations LLC|Fault tolerant control system|

---

US20070055908A1|2005-09-06|2007-03-08|Honda Elesys Co., Ltd.|Redundant power supply circuit and motor driving circuit|

---

US7849945B2|2006-02-24|2010-12-14|Honda Motor Co., Ltd|Modular electric powertrain for a vehicle|

---

WO2010071539A1|2008-12-15|2010-06-24|Electroengine In Sweden Ab|Electric motor driven vehicle, production kit for producing an electric motor driven vehicle, and a method of producing an electric motor driven vehicle|

---

DE102012022049A1|2012-11-09|2014-05-15|Man Truck & Bus Ag|Hanger for a commercial vehicle|

---

CA2818409A1|2013-06-07|2014-12-07|101070291 Saskatchewan Ltd.|Modular electric vehicle system|

---

US9102331B2|2013-09-20|2015-08-11|GM Global Technology Operations LLC|Multi-functional electric module for a vehicle|

---

US9387776B2|2014-05-13|2016-07-12|Lear Corporation|System and method for controlling adjustment of vehicle seats|

---

US9586636B1|2014-10-28|2017-03-07|The United States Of America As Represented By The Secretary Of The Navy|Multi-segmented magnetic robot|

---

CA3102847A1|2015-01-21|2016-07-28|Polaris Industries Inc.|Electric vehicle|

---

US9494940B1|2015-11-04|2016-11-15|Zoox, Inc.|Quadrant configuration of robotic vehicles|

---

US10207757B2|2016-01-12|2019-02-19|Rivian Ip Holdings, Llc|Systems and methods for reconfigurable electric vehicles|

---

US10737737B2|2017-05-31|2020-08-11|Zoox, Inc.|Vehicle with interchangeable drive modules|US8029021B2|2007-03-16|2011-10-04|Polaris Industries Inc.|Vehicle|

---

US10967721B2|2016-03-31|2021-04-06|Bombardier Recreational Products Inc.|Vehicle having separable driver and propulsion modules|

---

JP6448583B2|2016-06-29|2019-01-09|矢崎総業株式会社|Wire harness|

---

US10737737B2|2017-05-31|2020-08-11|Zoox, Inc.|Vehicle with interchangeable drive modules|

---

DE102017119421A1|2017-08-24|2019-02-28|Linde Material Handling Gmbh|Autonomous industrial truck, in particular order picking truck|

---

US10486512B2|2017-08-29|2019-11-26|Nio Usa, Inc.|Compact side-by-side motor gearbox unit|

---

US10703201B2|2017-12-13|2020-07-07|Nio Usa, Inc.|Modular motor gearbox unit and drive system|

---

US10436306B2|2017-12-14|2019-10-08|Nio Usa, Inc.|Methods and systems for noise mitigation in multiple motor gearbox drive units|

---

US10533860B2|2017-12-19|2020-01-14|Intel Corporation|Light pattern based vehicle location determination method and apparatus|

---

JP6477856B1|2017-12-26|2019-03-06|トヨタ自動車株式会社|Automobile|

---

EP3539801B1|2018-03-13|2020-11-25|FCA Italy S.p.A.|Electric vehicle|

---

US11210609B2|2018-06-11|2021-12-28|Traxen Inc.|User vehicle operation interface systems and methods|

---

JP2020044950A|2018-09-18|2020-03-26|トヨタ自動車株式会社|Electric vehicle|

---

SE542827C2|2018-09-28|2020-07-14|Scania Cv Ab|Method and control device for controlling energy levels of energy storage devices in a vehicle|

---

JP2020075630A|2018-11-08|2020-05-21|スズキ株式会社|Vehicle body front part structure|

---

DE102018132458A1|2018-12-17|2020-06-18|Man Truck & Bus Se|Method for equipping a motor vehicle|

---

JPWO2020153501A1|2019-01-24|2021-12-02|パナソニックＩｐマネジメント株式会社|Mobile|

---

AU2019100368B4|2019-01-25|2019-11-28|Norman BOYLE|A driverless impact attenuating traffic management vehicle|

---

JP2020171128A|2019-04-03|2020-10-15|トヨタ自動車株式会社|Electric vehicle|

---

US10850711B2|2019-05-03|2020-12-01|Ford Global Technologies, Llc|System and methods for exterior vehicle display and panel exciters|

---

CN110262475A|2019-05-07|2019-09-20|盐城品迅智能科技服务有限公司|A kind of balance regulator and balance adjusting method of las er-guidance trolley|

---

US11167798B1|2019-12-27|2021-11-09|Zoox, Inc.|Vehicle energy absorbing structure and techniques|

---

US11254274B1|2019-12-31|2022-02-22|Zoox, Inc.|Vehicle impact energy management structures and techniques|

---

WO2021137194A1|2020-01-02|2021-07-08|Ree Automotive Ltd.|Vehicle corner modules and vehicles comprising them|

---

WO2021142005A1|2020-01-06|2021-07-15|Workhorse Group, Inc.|Land vehicles incorporating removable powertrain units, powertrain units, and methods therefor|

---

WO2021179038A1|2020-03-10|2021-09-16|Commonwealth Scientific And Industrial Research Organisation|Modular wheel arrangement|

---

DE102020110910B4|2020-04-22|2022-03-17|my-walden-modern.de GmbH|Guided vehicle|

---

DE102020120690A1|2020-08-05|2022-02-10|Benteler Automobiltechnik Gmbh|Electric vehicle with axle modules|

法律状态:
2021-11-03| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

---

申请号 | 申请日 | 专利标题

---

US201762513197P| true| 2017-05-31|2017-05-31|

---

US62/513,197|2017-05-31|

---

US15/674,736|2017-08-11|

---

US15/674,688|2017-08-11|

---

US15/674,736|US10668926B2|2017-05-31|2017-08-11|Vehicle operation with interchangeable drive modules|

---

US15/674,688|US10737737B2|2017-05-31|2017-08-11|Vehicle with interchangeable drive modules|

---

PCT/US2018/032433|WO2018222375A1|2017-05-31|2018-05-11|Vehicle with interchangeable drive module and drive module|

---