Vehicle operation with interchangeable drive modules

Patent metadata

Field	Value
Publication number	US-11407462-B2
Application number	US-202016889334-A
Country	US
Kind code	B2
Filing date	Jun 1, 2020
Priority date	May 31, 2017
Publication date	Aug 9, 2022
Grant date	Aug 9, 2022

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 of servicing a vehicle that includes a body module having a passenger compartment of the vehicle, a first drive module that is removably coupled to the body module at a first end of the body module, and a second drive module that is removably coupled to the body module at a second end of the body module, the method comprising:
supporting the body module of the vehicle 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.

2. A method of claim 1 , wherein disconnecting the first drive module from the body module comprises:
releasing a mechanical connection between the first drive module and the body module; and
at least one of:
causing the first drive module to drive, under its own power, away from the first end of the body module; or
causing the second drive module to drive, under its own power, the body module away from the first drive module.

3. A method of claim 1 , wherein causing the third drive module to drive, under its own power, into position adjacent to the first end of the body module is performed under control of at least one of:
a vehicle controller of the body module;
a remote control device;
a teleoperations computing device;
a computing device of an automated service robot; or
a controller of the third drive module.

4. A method of claim 1 , 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 drive module.

5. A method of claim 1 , wherein coupling the third drive module to the first end of the body module comprises:
aligning a coupler of the third drive module with a corresponding coupler at the first end of the body module;
mechanically connecting the coupler of the third drive module with the corresponding coupler at the first end of the body module,
wherein mechanically connecting the coupler of the third drive module with the corresponding coupler at the first end of the body module automatically establishes at least one of:
a blind electrical connection between the third drive module and the body module;
a blind fluid connection between the third drive module and the body module; or
a blind air connection between the third drive module and the body module.

6. A method of claim 1 , wherein coupling the third drive module to the first end of the body module is performed automatically when the third drive module is brought within a predetermined proximity to the body module.

7. The method of claim 1 , 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.

8. A vehicle comprising:
a body module;
a first drive module removably coupled to the body module at a first end of the body module;
a second drive module removably coupled to the body module at a second end of the body module;
one or more processors; and
non-transitory memory communicatively coupled to the one or more processors, the non-transitory memory storing instructions that, when executed configure the vehicle to perform operations comprising:
supporting the body module of the vehicle above a driving surface by one or more supports;
disconnecting the first drive module from the first end of 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 vehicle of claim 8 , wherein disconnecting the first drive module from the body module comprises:
releasing a mechanical connection between the first drive module and the body module; and
at least one of:
causing the first drive module to drive, under its own power, away from the first end of the body module; or
causing the second drive module to drive, under its own power, the body module away from the first drive module.

10. The vehicle of claim 8 , wherein causing the third drive module to drive, under its own power, into position adjacent to the first end of the body module is performed under control of at least one of:
a vehicle controller of the body module;
a remote control device;
a teleoperations computing device;
a computing device of an automated service robot; or
a controller of the third drive module.

11. The vehicle of claim 8 , the operations 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 drive module.

12. The vehicle of claim 8 , wherein coupling the third drive module to the first end of the body module comprises:
aligning a coupler of the third drive module with a corresponding coupler at the first end of the body module;
mechanically connecting the coupler of the third drive module with the corresponding coupler at the first end of the body module,
wherein mechanically connecting the coupler of the third drive module with the corresponding coupler at the first end of the body module automatically establishes at least one of:
a blind electrical connection between the third drive module and the body module;
a blind fluid connection between the third drive module and the body module; or
a blind air connection between the third drive module and the body module.

13. The vehicle of claim 8 , wherein coupling the third drive module to the first end of the body module is performed automatically when the third drive module is brought within a predetermined proximity to the body module.

14. The vehicle of claim 8 , the operations 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; and
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.

15. One or more non-transitory computer-readable media storing instructions that, when executed, configure a vehicle that includes a body module having a passenger compartment of the vehicle, a first drive module that is removably coupled to the body module at a first end of the body module, and a second drive module that is removably coupled to the body module at a second end of the body module, to perform operations comprising:
supporting the body module of the vehicle above a driving surface by one or more supports;
disconnecting the first drive module from the body module;
causing a third drive mod

Assignees

• Zoox Inc

Inventors

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

Classifications

• B60K2001/0416

  Arrangement in the rear part of the vehicle · CPC title

• B60Y2306/01

  Reducing damages in case of crash, e.g. by improving battery protection · CPC title

• B60W2710/20

  Steering systems · CPC title

• B60L3/0023

  Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train · CPC title

• B60R16/0231

  Circuits relating to the driving or the functioning of the vehicle (monitoring tyres B60C23/00; indicating overspeed B60K31/00; for dash boards B60K37/00, B60Q3/10; for indicating emergencies B60Q1/52; brake control systems B60T; registering or indicating the working of vehicles G07C5/00; measuring distance G01C, e.g. combinations of speed and distance G01C23/00; engine indicators G01L; measuring speed or acceleration G01P) · CPC title