Apparatuses, methods and systems with a vehicle architecture for unmanned autonomous vehicles

Patent metadata

Field	Value
Publication number	US-11370346-B2
Application number	US-201916550741-A
Country	US
Kind code	B2
Filing date	Aug 26, 2019
Priority date	Aug 26, 2019
Publication date	Jun 28, 2022
Grant date	Jun 28, 2022

Abstract

Apparatuses, methods and systems are provided for forming an autonomous vehicle of an upper body unit configured to consume space in an upward direction to minimize a horizontal footprint and enable a stacking of vehicle components on top of each other in the upward direction; a lower chassis unit configured to oppose the upper body unit and include a structure for supporting the modular unit with prismatic cross members to configure to a range of module unit widths, the lower chassis unit including: a set of structural rails on either side of the lower chassis unit configured in a rigid frame unit with longitudinal members wherein the structural rails can be attached to another corresponding set of structural rails; a plurality of compartment units including: front-compartment, rear-compartment, and mid-compartment units configured to be attached on either side of the lower chassis unit for the forming of the autonomous vehicle.

First claim

What is claimed is:

1. An apparatus configured with an architecture of an autonomous modular drive unit for forming an autonomous vehicle, the apparatus comprising:
the autonomous modular drive unit which comprises:
an upper body unit configured to consume space in an upward direction to minimize a horizontal footprint of the upper body unit and enable a stacking of a set of vehicle components on top of each other in the upward direction comprising a battery pack residing at a bottom of the upper body unit, on top of which are components of a charger and high-voltage (HV) electronics, and space allotted on either side of the upper body unit for sensor packages;
a lower chassis unit configured to oppose the upper body unit and comprise a structure for supporting the modular drive unit with prismatic cross members to configure to a range of module unit widths, the lower chassis unit comprises:
a drive unit within the lower chassis unit coupled to an axle with a set of wheels on either side; and
a set of structural rails on either side of the lower chassis unit configured in a rigid frame unit with longitudinal members wherein the structural rails can be attached to another corresponding set of structural rails;
a plurality of compartment units which comprise: front-compartment, rear-compartment, and mid-compartment units configured to be attached on either side of the lower chassis unit for the forming of the autonomous vehicle;

at least one sensor placed at an upper peripheral edge of the upper body unit to enable a greater field-of-view resulting from the upward direction of the upper body unit; and
a set of ducts positioned on either side of the upper body unit and ducted upward through a horizontally oriented heat exchanger at a top surface to the upper body unit un-pinged airflow in air flow-path resulting from a lower air pressure at the top surface of the heat exchanger while the autonomous vehicle is in motion.

2. The apparatus of claim 1 , further comprising:
a control system located in the upper body unit which is designed in a parametric configuration of geometric values comprising items of a wheelbase, overhangs, vehicle width, and control parameters that enable a tailored configuration to a specific application for the autonomous modular drive unit without need for a gross revision of the control system.

3. The apparatus of claim 1 , wherein the autonomous modular drive unit is configured to the specific application using a generic control system, or re-configured if the configuration is changed during a life of the drive unit.

4. The apparatus of claim 3 , further comprising:
one or more control parameters selected by an user to configure an autonomous system of the autonomous modular drive unit for processing one or more inputs to generate one or more outputs taking into account attributes of a vehicle operating surface, guidance mapping and vehicle variations in configurations.

5. The apparatus of claim 1 , wherein each of the prismatic cross members are arranged in parallel to each other and symmetric about a centerline of the autonomous modular drive unit such that a cutting of an extrusion or a prismatic shape to a different length of each prismatic cross member enables a change of width of the autonomous modular drive unit.

6. The apparatus of claim 5 , further comprising:
a set of autonomous modular drive units configured with a data link between control units of each autonomous modular drive unit to communicate information between each autonomous modular drive unit at least comprising sensor data, wheel speeds, torques and steering angles to enable coordination between each module unit of torque, braking and steering functions.

7. The apparatus of claim 6 , wherein communications between control units provide redundancy to enhance safety as a failure of a particular control unit of an autonomous modular drive unit can be detected by another autonomous modular drive control unit.

8. The apparatus of claim 7 , wherein the data link configured between each set of autonomous modular drive units enables combinations of steering and torque application outputs that result in producing motions such as counter-steering, parallel steering, and skid steering of sets of autonomous modular drive units.

9. The apparatus of claim 1 further comprising:
a non-driven wheel module integrated with the upper body unit and is configured with a similar chassis unit of the autonomous modular drive unit without the inclusion of the drive unit.

10. The apparatus of claim 9 wherein the non-driven wheel module is a standalone modular component detachable from the upper body unit.

11. The apparatus of claim 10 , the vehicle further comprising:
an open bed-style mid-compartment affixed to the non-driven wheel module coupled to an autonomous modular drive unit.

12. The apparatus of claim 10 , the vehicle further comprising:
a set of multiple non-driven wheel modules or a set of multiple autonomous connected in series and affixed to one or more rear compartment modules.

13. A method using an architecture of modular units of an autonomous modular drive unit for forming an autonomous vehicle, the method comprising:
configuring an upper body unit to consume space in an upward direction to thereby minimizing a horizontal footprint of the upper body unit by enabling a stacking of a set of vehicle components on top of each other in the upward direction comprising: a battery pack residing at a bottom of the upper body unit, on top of which are components of a charger and high-voltage (HV) electronics, and allotting space on either side of the upper body unit for sensor packages;
configuring a lower chassis unit for opposing the upper body unit and comprising a structure for supporting the modular drive unit with prismatic cross members for configuring a range of module unit widths by:
coupling a drive unit within the lower chassis unit to an axle with a set of wheels on either side; and
configuring a set of structural rails on either side of the lower chassis unit in a rigid frame unit with longitudinal members wherein the structural rails can be attached to another corresponding set of structural rails;
attaching a plurality of compartment units comprising: front-compartment, rear-compartment, and mid-compartment units configured on either side of the lower chassis unit for the forming of the autonomous vehicle;

placing at least one sensor placed at an upper peripheral edge of the upper body unit to enable a greater field-of-view resulting from the upward direction of the upper body unit; and
positioning a set of ducts on either side of the upper body unit and ducted upward through a horizontally oriented heat exchanger at a top surface to the upper body unit thereby un-pinging airflow in air flow-path resulting from a lower air pressure at the top surface of the heat exchanger while the autonomous vehicle is in motion.

14. The method of claim 13 , further comprising:
configuring a control system located in the upper body unit with a parametric design of geometric values comprising items of a wheelbase, overhangs, vehicle width, and control parameters that enable a tailoring to a specific application for the autonomous modular drive unit without needing a gross revision of the control system.

15. The method of claim 14 , further comprising:
configuring a set of autonomous modular drive units with a data link between control units of each autonomous modular drive unit for communicating information between each autonomous modular drive unit at least comprising sensor data, wheel speeds, torques and steering an

Assignees

• Gm Global Tech Operations Llc

Inventors

• Castillo Brian V
• Bryant Wade W

Classifications

• B62D65/02

  Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components · CPC title

• B60P1/6409

  details, accessories, auxiliary devices · CPC title

• G05D1/021

  specially adapted to land vehicles · CPC title

• B62D63/025 Primary

  Modular vehicles (superstructures for busses having modular sections B62D31/025) · CPC title

• B62D24/00

  Connections between vehicle body and vehicle frame (B62D23/00, B62D33/077 take precedence) · CPC title