Vehicle operation with interchangeable drive modules

Patent metadata

Field	Value
Publication number	US-10668926-B2
Application number	US-201715674736-A
Country	US
Kind code	B2
Filing date	Aug 11, 2017
Priority date	May 31, 2017
Publication date	Jun 2, 2020
Grant date	Jun 2, 2020

Abstract

Vehicles may be composed of a relatively few number of “modules” that are assembled together during a final assembly process. An example vehicle may include a body module, a first drive module coupled to a first end of the body module, and a second drive module coupled to a second end of the body 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. If a component of a drive module fails or is damaged, the drive module can be quickly and easily replaced with a new drive module, minimizing vehicle down time.

First claim

What is claimed is:

1. A method comprising:
operating a vehicle at least partially using a first drive module that is removably coupled to a first end of a body module of the vehicle;
detecting a fault of a component of the first drive module;
responsive to detecting the fault of the component of the first drive module, deactivating the first drive module; and
operating the vehicle using second drive module that is removably coupled to a second end of the body module while the first drive module is deactivated, the second end being opposite the first end.

2. The method of claim 1 , wherein detecting the fault in the component comprises detecting the fault of at least one 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 exterior light; or
a charging component.

3. The method of claim 1 , wherein detecting the fault of the component of the first drive module comprises:
detecting that an output of a battery of the first drive module is outside a predetermined normal operating range;
detecting that a charge state 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
detecting that an output of an inverter of the first drive module is outside a predetermined normal operating range.

4. The method of claim 1 , wherein detecting the fault of the component of the first drive module comprises:
sending a control signal to the first drive module to perform an operation;
measuring a condition of the vehicle after sending the control signal; and
determining that the condition of the vehicle after sending the control signal is outside an expected range for performing the operation.

5. The method of claim 4 , wherein:
the control signal comprises a signal to control a drive motor of the first drive module, and the measuring the condition of the vehicle comprises measuring at least one of a velocity, acceleration, or rotational speed of a wheel of the vehicle;
the control signal comprises a signal to control a steering system of the first drive module, and the measuring the condition of the vehicle comprises measuring a trajectory of the vehicle;
the control signal comprises a signal to control a suspension system of the first drive module, and the measuring the condition of the vehicle comprises measuring a position or displacement of a structural element of the suspension system of the vehicle;
the control signal comprises a signal to control a braking system of the first drive module, and the measuring the condition of the vehicle comprises measuring at least one of a velocity, acceleration, or rotational speed of a wheel of the vehicle; or
the control signal comprises a signal to control a heating ventilation and air conditioning (HVAC) system of the first drive module, and the measuring the condition of the vehicle comprises measuring a temperature in the passenger compartment of the vehicle.

6. The method of claim 1 , wherein deactivating the first drive module comprises at least one of:
electrically disconnecting a battery of the first drive module from the body module and the second drive module; or
mechanically disengaging a drive motor of the first drive module from wheels of the first drive module.

7. The method of claim 1 , wherein:
the vehicle comprises a bidirectional vehicle; and
the method further comprises, responsive 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.

8. The method of claim 1 , further comprising:
bringing the vehicle to a stop;
supporting the body module above a driving surface by one or more supports;
disconnecting the first drive module from the body module;
causing a third drive module to drive, under its own power, into position adjacent to the first end of the body module; and
coupling the third drive module to the first end of the body module.

9. The method of claim 8 , further comprising:
detecting that a voltage of a battery of the second drive module is lower than a voltage of a battery of the third drive module;
electrically disconnecting the battery of the second drive module from the body module and the third drive module;
operating the vehicle using the third drive module until the voltage of the battery of the third drive module is within a predetermined threshold of the voltage of the battery of the second drive module; and
electrically reconnecting the battery of the second drive module to the body module and the third drive module responsive to the voltage of the third drive module being within the predetermined threshold of the voltage of the battery of the second drive module.

10. A vehicle comprising:
a body module having a passenger compartment of the vehicle;
a first drive module that is removably coupled to a first end of the body module;
a second drive module that is removably coupled to a second end of the body module,
one or more processors; and
memory storing instructions that, when executed by the one or more processors, cause the vehicle to perform operations comprising:
operating the vehicle at least partially using the first drive module;
detecting a fault of a component of the first drive module;
responsive to detecting the fault of the component of the first drive module, deactivating the first drive module; and
operating the vehicle using the second drive module while the first drive module is deactivated.

11. The vehicle of claim 10 , wherein detecting the fault in the component comprises detecting the fault of at least one 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 exterior light; or
a charging component.

12. The vehicle of claim 10 , wherein detecting the fault of the component of the first drive module comprises:
sending a control signal to the first drive module to perform an operation;
measuring a condition of the vehicle after sending the control signal; and

determining that the condition of the vehicle after sending the control signal is outside an expected range for performing the operation.

13. The vehicle of claim 10 , the operations further comprising:
supporting the body module above a driving surface by one or more supports;
disconnecting the first drive module from the body module;
causing a third drive module to drive, under its own power, into position adjacent to the first end of the body module; and
couple the third drive module to the first end of the body module.

14. The vehicle of claim 10 , the operations further comprising:
detecting that a voltage of a battery of the first drive module is lower than

Assignees

• Zoox Inc

Inventors

• Birnschein Timo
• Di Pietro Adriano
• Foley Kyle Matthew
• Kentley-Klay Timothy David
• Piper Andrew

Classifications

• B60W2710/30

  Auxiliary equipments · CPC title

• B60L58/10

  for monitoring or controlling batteries · CPC title

• G05D1/0291

  Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127) · CPC title

• B60W2710/08

  Electric propulsion units · CPC title

• B60H1/00564

  of air ducts · CPC title