EP3652004A1 - Véhicule - Google Patents

Véhicule

Info

Publication number
EP3652004A1
EP3652004A1 EP18734487.4A EP18734487A EP3652004A1 EP 3652004 A1 EP3652004 A1 EP 3652004A1 EP 18734487 A EP18734487 A EP 18734487A EP 3652004 A1 EP3652004 A1 EP 3652004A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
vehicle according
autonomous
control
vehicles
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18734487.4A
Other languages
German (de)
English (en)
Inventor
Herwig Fischer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Innovative Dragon Ltd
Original Assignee
Innovative Dragon Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102017115838.3A external-priority patent/DE102017115838A1/de
Priority claimed from DE102017008583.8A external-priority patent/DE102017008583A1/de
Priority claimed from DE102018002181.6A external-priority patent/DE102018002181A1/de
Application filed by Innovative Dragon Ltd filed Critical Innovative Dragon Ltd
Publication of EP3652004A1 publication Critical patent/EP3652004A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/005—Arrangement or mounting of seats in vehicles, e.g. dismountable auxiliary seats
    • B60N2/01—Arrangement of seats relative to one another
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
    • B60N2/14—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable rotatable, e.g. to permit easy access
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/02—Steering deflectable wheels not otherwise provided for combined with means for inwardly inclining vehicle body on bends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J17/00—Weather guards for riders; Fairings or stream-lining parts not otherwise provided for
    • B62J17/08—Hoods protecting the rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/01—Motorcycles with four or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/02—Tricycles
    • B62K5/027—Motorcycles with three wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/10—Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B60G2202/41—Fluid actuator
    • B60G2202/412—Pneumatic actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B60G2202/41—Fluid actuator
    • B60G2202/413—Hydraulic actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B60G2202/42—Electric actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/62—Adjustable continuously, e.g. during driving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/45—Rolling frame vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/50—Electric vehicles; Hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/824—Travel path sensing; Track monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/16—GPS track data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K2031/0091—Speed limiters or speed cutters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/18—Acceleration lateral
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/68—Traffic data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/70—Interactions with external data bases, e.g. traffic centres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the present invention relates to a vehicle, in particular a single-track vehicle with a narrow track width in relation to the vehicle height and three or four wheels.
  • the vehicle according to claim 1 which has an automatically controlled tilting kinematics in which the vehicle body and the wheels incline about a longitudinal axis of the vehicle.
  • the vehicles can drive with a small track width in relation to the vehicle height without tilting and at a comparatively high speed through a curve and are also by the way by a tipping by crosswind, side slope or the like preserved.
  • the inclination and balance of the driver of the vehicle In known concepts of narrow-gauge vehicles with a tilting kinematics, the inclination and balance of the driver of the vehicle
  • the vehicle has a track width of less than 1, 2 m, preferably less than 1, 0 m, and / or a height of at least 1, 30 m, so that a comfortable approach and / or a comfortable seating position for persons within the vehicle is possible.
  • a vehicle height of about 1, 80 m to 1, 90 m provided, so that too large
  • Overall height of a vehicle according to the invention provides in particular the small track width of less than 1, 2 m for multiple vehicles can drive on a conventional lane, which already relieves the flow of traffic considerably.
  • the automatically controlled tilt kinematics is preferably as
  • Vehicle stabilization designed to automatically tilt the vehicle in bends, in crosswind, when approaching people and / or at
  • Tilting mechanisms of single or two-lane vehicles to distinguish that allow only a deliberately induced by the driver inclination, for example, leaning when cornering in the curve.
  • the present automatically controlled tilt kinematics allows the predetermination of the required tilt angle, which is then adjusted by appropriately designed actuators.
  • the wheels and the vehicle body tilt at the same angle when tilting, so that the wheel planes and the vehicle body are aligned parallel to each other regardless of the inclination angle, which significantly increases the driving stability in cornering over such vehicles, in which the vehicle body are tilted independently of the wheels.
  • the present vehicle differs from known vehicles with a tilting technique in that an automatic control determines the angle by which the vehicle must be tilted if necessary.
  • the vehicle according to the invention has a Preferred embodiment, a target value control that determines the amount and the direction of the inclination from input parameters, in particular from the
  • Vehicle mass distribution the lateral acceleration, an existing asymmetric entry load and a decentralized load distribution within the vehicle, the crosswind and / or side impacts.
  • Vehicle body and the passenger compartment is aligned. This balance of power causes passengers to experience no lateral acceleration and thus are essentially unaffected by the actual cornering.
  • the present vehicle is designed according to a particularly preferred embodiment as an electric vehicle, so that the available electrical
  • Basic inclination is set in the right direction, without that actuators must actively intervene for a slope.
  • the inclination of the vehicle is adjusted because the upper part of the vehicle remains in the current position due to the inertia, while the lower part of the vehicle through the
  • Input parameter is optimized.
  • Inclined actuators provided, which are designed such that the virtual tilting axis of the vehicle at a height of 1, 5 m to 1, 8 m above the
  • a particular embodiment of the vehicles according to the invention and a particularly communicative embodiment provides that the seats are arranged in opposite orientation within the vehicle, so that passengers occupy a face-to-face position while driving. This orientation of the seats assumes that the vehicle is a self-propelled autonomous vehicle, which is the preferred embodiment of the vehicles with tilting kinematics.
  • the tires of the wheels have a rounded cross-section, so that the uprising level in curves through the
  • Wheel suspensions or actuators provided, namely
  • an actuator which includes a spindle drive, a hydraulic, a pneumatic and / or electromagnetic coils.
  • the latter electromagnetic coils form a
  • electromagnetic linear actuator so include a magnetic
  • Metal cylinder in a coil. When the coil is energized, the cylinder moves axially out of the coil and tilts the vehicle.
  • the vehicle has a 4-wheel steering and / or a 4-wheel hub drive, so that a drive of the vehicle in both
  • such a vehicle is preferably designed as a completely autonomously driving vehicle.
  • an embodiment of the vehicle is provided as a controlled vehicle, to which the driver only requires a normal driver's license, because the vehicle - of the
  • Tilting kinematics aside - in the conventional way can be controlled.
  • Steering movement is applied by a control, such as a steering wheel or a control horn or a handlebar directly as a way transfer from the driver.
  • the appropriate lateral inclination of the vehicle is adjusted as a function of the path speed to the curve radius, the road gradient and / or the crosswind force.
  • an automatic control is provided, preferably consisting of sensors, control, regulation and actuators, so that the driver does not like on a two-wheeled while standing or while driving the lateral To ensure balance.
  • the vehicle can be controlled much more like a conventional car on the track.
  • the present vehicle is based essentially on a four-wheel concept with a geometrically clean steering trapeze and slip-free rolling condition in all driving conditions with a front-wheel steering, so that it can be driven like a conventional car.
  • the steering has a direct power transmission between the stub axles and the steering wheel.
  • the transmission takes place via a mechanical decoupling kinematics or a hydraulic power transmission, which is executed in both cases as path control, so no drive-by-wire.
  • the required properties such as steering power, differentiation, restoring force, damping, steering feel and flutter inclination as a normal car freely tuned.
  • monitored speed limits are provided, i. in a
  • the vehicles can be specific
  • the stationary or extremely slow-moving traffic as a traffic jam via sensors, in particular ultrasound, radar, camera and / or lidar systems with appropriate software.
  • the positive identification of a jam from the outside is visually or acoustically displayed on the vehicle, e.g. through light signals, leaving the rest
  • Traffic can react accordingly, in particular clear by mid-range, no snaking lines and / or keep doors closed. Furthermore, this ad can also be used for police abuse monitoring.
  • the vehicle is designed as a one- or two-seater, with a tandem arrangement being preferred in the latter case.
  • the vehicle has an advantageous
  • the vehicle according to the invention has a GPS and cartography-controlled driving speed limit, with which e.g. Accident centers, crosswalks, tight bends etc. are detected and the available maximum speed is set and / or displayed to the driver.
  • a GPS and cartography-controlled driving speed limit with which e.g. Accident centers, crosswalks, tight bends etc. are detected and the available maximum speed is set and / or displayed to the driver.
  • the width of the vehicle is reduced to about half the size of a conventional car, but also the length is limited to 2.8 m, preferably 2.6 m or less, so that on a standard parking lot of a car 4 vehicles can park.
  • the vehicle with these dimensions can also be carried across an outside bracket at the rear of a car or RV.
  • the battery can preferably be removed. With this system can The vehicle will be passively carried on long-haul to be then brought to the city limits on a Park & Ride place used.
  • the vehicle is preferably powered electrically.
  • the battery is housed in a housing that is similar to a rolling suitcase and next Abiaufrollen a preferably
  • the battery has telescopic handle and can be easily removed from the outside and carried for loading, e.g. in an apartment or at work in the office.
  • the battery only has to be pulled by the handle and otherwise rolls on the ground, so that the usually high weight of a suitable battery does not have to be borne by the driver.
  • the vehicle according to the invention has a
  • the speed in this mode is set to e.g. 5 km / h reduced, allowing collision detection with simple
  • the vehicle instead of a second seat from inside and / or outside accessible storage space, so that the use as a delivery vehicle for last mile / post / parcel delivery or pizza taxi so possible again, the fact that the vehicle parked at the roadside does not block a complete lane again proves to be advantageous.
  • the kinematics of the automatic curve slope is chosen in a particular embodiment so that the virtual axis of rotation lies on the middle of the road.
  • the tilt control with a feedforward is chosen in a particular embodiment so that the virtual axis of rotation lies on the middle of the road.
  • this pilot control is triggered by the steering movement.
  • the parameterization of this precontrol is carried out so that the driver can intuitively learn the optimum for driving comfort steering movement.
  • each transverse link and / or chassis carrier in particular the right and left inclination control, are actuated with separate actuators.
  • each transverse link and / or chassis carrier in particular the right and left inclination control, are actuated with separate actuators.
  • this version is also a
  • the suspension kinematics is designed so that the track width increases with increasing inclination angle.
  • the suspension In order to reach the maximum angle of inclination without contact with the ground, the suspension is locked when reaching a critical angle.
  • the kinematics of the curve slope is designed so that the virtual axis is above the roadway, so that the on the Inmates acting acceleration forces are reduced especially at the height of the head.
  • the supporting structure of the vehicle is preferably sharpened at the ends so that the likelihood of a frontal or offset collision is significantly reduced with total absorption of the kinetic energy.
  • the vehicle with a
  • the known mobility concepts with autonomous vehicles are subject to usage limits because the traffic at the borders of the territories released for these vehicles, e.g. at city limits, not in the same vehicle can be continued.
  • the passenger has to change to another means of transport, which must also be available on the arterial roads to avoid waiting times.
  • the vehicle optionally as an autonomous
  • Fleet vehicle is operated completely without a driver or is person-controlled. This drive, tilting technology and the control of driving dynamics remain unchanged.
  • the driver sitting backwards in autonomous operation in the front part of the vehicle is in this case rotated by 180 degrees and aligned to the front and can
  • the integrated navigation software ensures that the driver always knows whether he is driving manually or autonomously, or whether he can drive autonomously or has to drive manually.
  • the vehicle is manually controlled with respect to the travel distance (trajectory) and the speed in manual mode and the respective to the curve radius,
  • Lane inclination, crosswind and orbital speed Appropriate angle of inclination is set automatically via a control.
  • the driver controls the vehicle via a
  • Control stick with its inclination or displacement to the side of the steering angle is specified.
  • a forward and backward movement of the joystick generates a positive or negative acceleration, the latter being preferably generated by recuperation of the electric drive or by mutual induction.
  • the control stick is preferably pulled further back with increased force, whereby a mechanical brake is then activated hydraulically, pneumatically or mechanically or electrically.
  • a steering wheel and brake and accelerator pedals are provided for directional control.
  • Actuation via joystick does not interfere directly with the mechanical coupling members, but only gives signals to electric or hydraulic or pneumatic actuators, so that the same signal transmission can be used for autonomous driving as for manual driving.
  • warning and orientation signals and systems are used as driver assistance systems.
  • the system can be used so that the vehicles in the peripheral areas drive manually on the way to the city center. Upon reaching the city limits, the vehicle receives a corresponding signal and can continue autonomously from there. Compared to the exclusive use of autonomous vehicles, however, the driver must park and load the vehicle himself after reaching his destination. In contrast, the driver can be dropped off with the public vehicles directly at the destination and the publicly available vehicle can automatically go to the nearest parking opportunity and load there and wait for a new customer.
  • the vehicle will drive autonomously to a privately rented and reserved parking space, which is only possible if the vehicle is in an autonomous territory.
  • the vehicle is supplied via a teach-in system with programs that lead the vehicle to always the same parking space, for example, the domestic garage inside or outside the autonomous area.
  • a teach-in system the driver manually controls a distance once, the control signals are stored and can then be retrieved as often as desired.
  • a measurement is carried out by means of suitable sensors, preferably via radar / lidar / DGPS or a camera, which are set up at the starting point.
  • the vehicle is not a private vehicle, but belongs to one
  • Vehicle pool and is released after use and continues autonomously.
  • Autonomous area can request and submit via app. Besides, he can
  • the present invention therefore not only describes a tiltable vehicle, but in comparison with DE 102016008800 also an expanded mobility concept with vehicles that can be used both in designated autonomous areas as an autonomously driving taxi and as a car pool vehicle outside the autonomous area.
  • a further advantage of the invention is that in times or areas where autonomous driving is permitted only with a driver present, e.g. in so-called model regions for test and registration purposes can be driven autonomously with the present driver, whereas vehicles without drivers would not be allowed.
  • Fig. 1 a, b is a vehicle for transporting people without body
  • Fig. 2a-c a vehicle for passenger transport with body.
  • the vehicle 1 which is designed for the transport of persons.
  • the vehicle 1 has a chassis 2 with a flat bottom 3, on which two opposite seats 4, 4 'are arranged, and a frame structure 5, which may be designed for safety reasons and precaution as a roll bar.
  • the illustrated vehicles 1 have four wheels 6a-6d, which are arranged below and laterally offset from the seats 4, 4 '. While the space 7 between the seats is configured as a luggage storage area, electrical units (not shown) are arranged below the seats 4, 4 'and serve to control the vehicle. Also not shown are electrical hub motors, the like are designed so that the vehicle can drive both forward and backward in the direction of arrow 8, 8 '.
  • FIG. 1 b shows the same vehicle 1 with a person 9 sitting on a seat.
  • FIGS. 2a-c show the vehicle 1 with a body 20 which consists of two body halves 22, 22 'displaceable relative to one another in the direction of the arrow 21, 21'.
  • the body halves 22, 22 ' are moved outwards and thus open the passenger compartment.
  • a conventional pivot or sliding door can be provided, from which the passengers can emerge from the body and thus the vehicle 1.
  • the flat floor 3 of the vehicle and the preferred total height of the vehicle of about 1, 8 m allows a comfortable entry and a comfortable exit.
  • the vehicle 1 is designed with a track width of less than 1, 2 m and is therefore one of the so-called single-track vehicles.
  • an automatic tilting kinematics is provided, which the vehicle 1 as a function of the instantaneous speed of the loading condition and the leading and predetermined trajectory tilts towards the inside of the curve about the tilting axis K, which is preferably arranged at the level of the heads of the person sitting in the vehicle (s).
  • Fig. 2c shows the vehicle 1 therefore with an inclination of about 75 ° relative to a horizontal H.
  • the actuators with which a corresponding inclination of the vehicle 1 can be adjusted, are not shown for clarity.
  • Fig. 2c it can be clearly seen in Fig. 2c that the planes of the wheels and the vertical axis of the vehicle in each position of the vehicle 1 are aligned parallel to each other, which increases the driving stability of the vehicle.
  • a virtual pivot axis which is preferably located at a height between 1, 5 and 1, 8 m and thus at head height of a person sitting in the vehicle from the riot levels, so that any lateral forces have no noticeable effect on the person to be transported. This will For example, it prevents transporting people from suffering from so-called seasickness.

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  • Engineering & Computer Science (AREA)
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  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
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Abstract

La présente invention concerne un véhicule, en particulier un véhicule à voie unique ayant une largeur de voie étroite par rapport à la hauteur du véhicule et présentant trois ou quatre roues. L'invention vise à créer un véhicule permettant d'atteindre une vitesse de circulation élevée à des densités de trafic élevées. À cet effet, le véhicule présente un système cinématique d'inclinaison à commande automatique grâce auquel la carrosserie (20) et les roues du véhicule sont inclinées autour d'un axe longitudinal du véhicule.
EP18734487.4A 2017-07-14 2018-06-19 Véhicule Withdrawn EP3652004A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102017115838.3A DE102017115838A1 (de) 2017-07-14 2017-07-14 Fahrzeug
DE102017008583.8A DE102017008583A1 (de) 2017-09-13 2017-09-13 Landfahrzeug mit schmaler Spurbreite und automatisch geregelter Neigetechnik
DE102018002181.6A DE102018002181A1 (de) 2018-03-17 2018-03-17 Schmales Landfahrzeug mit Neigetechnik
PCT/EP2018/066173 WO2019011589A1 (fr) 2017-07-14 2018-06-19 Véhicule

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EP3652004A1 true EP3652004A1 (fr) 2020-05-20

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US (1) US20210086577A1 (fr)
EP (1) EP3652004A1 (fr)
CN (1) CN110891804A (fr)
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DE102019219108B4 (de) * 2019-12-06 2021-07-01 Volkswagen Aktiengesellschaft Elektrisch betriebenes Kleinstfahrzeug mit einem zumindest teilweise autonomen Fahrerassistenzsystem, sowie Verfahren
US12415426B2 (en) * 2021-07-06 2025-09-16 Hi Performance Electric Vehicle Systems, Inc. Safety system for a baggage tractor
US11628700B2 (en) * 2021-08-04 2023-04-18 GM Global Technology Operations LLC Vehicle suspension system architecture for minimized small overlap frontal impact effects
CN114091171B (zh) * 2021-10-15 2025-04-15 岚图汽车科技有限公司 整车架构尺寸确定方法及相关设备
DE102021128061B3 (de) * 2021-10-28 2023-01-05 Audi Aktiengesellschaft Verfahren zum Betreiben eines Kraftfahrzeugs
CN114954465B (zh) * 2022-04-07 2025-03-14 北京主线科技有限公司 一种控制车辆行驶的方法、装置、设备及存储介质

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US20210086577A1 (en) 2021-03-25
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