Hybrid vehicle and system and method for controlling hybrid vehicle

Abstract

The invention provides a hybrid vehicle and a system and method for controlling the hybrid vehicle. A hybrid vehicle may include a processor, a chassis, and a plurality of wheel leg members coupled to the chassis. A plurality of wheel leg members may be configured to be co-operable to provide wheel movement and walking movement. The processor may be configured to operate the hybrid vehicle in one or more of a plurality of operating modes. Each of the plurality of operating modes is configured to authorize control of operation of at least one aspect of the hybrid vehicle between the operator and the processor.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to systems and methods for controlling a vehicle capable of moving using both walking motion and rolling traction. Background Art

[0002] Traditional passenger motor vehicles are designed to move forward primarily using wheel movement. These traditional motor vehicles typically use a steering wheel to control the direction of travel of the vehicle and two (or three) foot pedals to control acceleration and braking (and shifting in a manual transmission). Although innovations in the automotive industry have changed the driving experience, the use of a steering wheel and standard foot pedals to control a vehicle has not changed fundamentally since the mass production of automobiles.

[0003] New types of motor vehicles capable of wheel movement and walking motion (such as the Hyundai Elevate) will be able to perform omnidirectional movement (e.g., be able to drive in walking mode). The user interfaces currently used to control traditional motor vehicles do not provide control of such new types of vehicles. With the emergence of automobiles capable of omnidirectional travel (e.g., walking vehicles), driving controls must be redesigned to provide an operator with control over the functions of the new types of vehicles. Summary of the Invention

[0004] According to an object of the present disclosure, a hybrid vehicle is provided. The hybrid vehicle may include a processor, a chassis, and a plurality of wheel-leg components coupled to the chassis. The plurality of wheel-leg components may be configured to operate together to provide wheel movement and walking movement. The processor may be configured to operate the hybrid vehicle in one or more of a plurality of operating modes.

[0005] In a specific aspect, one or more of the plurality of operating modes (such as operating modes 1, 2, 3, 4, 5, or 6) or preferably each operating mode may be configured to authorize control of at least one aspect of the hybrid vehicle between an operator and the processor. In a specific method and system, one or more of the plurality of operating modes (such as operating modes 1, 2, 3, 4, 5, or 6) or preferably each operating mode has authorized control of at least one aspect of the hybrid vehicle between an operator and the processor.

[0006] According to an exemplary embodiment, at least one aspect of the hybrid vehicle may include one or more of the following: an objective of the hybrid vehicle, a destination of the hybrid vehicle, a speed of the hybrid vehicle, a direction of travel of the hybrid vehicle, a type of movement of the hybrid vehicle, and a position of the plurality of wheel-leg components of the hybrid vehicle.

[0007] According to an exemplary embodiment, the multiple operation modes may include a first operation mode, and during the first operation mode, the operator controls: the target of the hybrid vehicle, the destination of the hybrid vehicle, the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, the type of movement of the hybrid vehicle, and the positions of the multiple wheel-leg components of the hybrid vehicle.

[0008] According to an exemplary embodiment, the multiple operation modes may include a second operation mode, and during the second operation mode, the operator controls: the target of the hybrid vehicle, the destination of the hybrid vehicle, the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, and the type of movement of the hybrid vehicle, and the processor controls: the positions of the multiple wheel-leg components of the hybrid vehicle.

[0009] According to an exemplary embodiment, the multiple operation modes may include a third operation mode, and during the third operation mode, the operator controls: the target of the hybrid vehicle, the destination of the hybrid vehicle, the speed of the hybrid vehicle, and the traveling direction of the hybrid vehicle, and the processor controls: the type of movement of the hybrid vehicle and the positions of the multiple wheel-leg components of the hybrid vehicle.

[0010] According to an exemplary embodiment, the multiple operation modes may include a fourth operation mode, and during the fourth operation mode, the operator controls: the target of the hybrid vehicle and the destination of the hybrid vehicle, and the processor controls: the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, the type of movement of the hybrid vehicle, and the positions of the multiple wheel-leg components of the hybrid vehicle.

[0011] According to an exemplary embodiment, the multiple operation modes may include a fifth operation mode, and during the fifth operation mode, the operator controls: the target of the hybrid vehicle, and the processor controls: the destination of the hybrid vehicle, the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, the type of movement of the hybrid vehicle, and the positions of the multiple wheel-leg components of the hybrid vehicle.

[0012] According to an exemplary embodiment, the multiple operation modes may include a sixth operation mode, and during the sixth operation mode, a fleet operator controls: multiple hybrid vehicles, where each hybrid vehicle among the multiple hybrid vehicles is configured to be capable of wheel movement and walking movement; and the target of the hybrid vehicle, and the processor controls: the destination of the hybrid vehicle, the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, the type of movement of the hybrid vehicle, and the positions of the multiple wheel-leg components of the hybrid vehicle.

[0013] According to the purpose of the present disclosure, a system for controlling a hybrid vehicle is provided. The system may include a hybrid vehicle. The hybrid vehicle may include a chassis and a plurality of wheel-leg components coupled to the chassis. The plurality of wheel-leg components may be configured to operate together to provide wheel movement and walking movement. The system may further include a computing device. The computing device may include a processor and a memory. The memory may be configured to store programming instructions that, when executed by the processor, cause the processor to operate the hybrid vehicle in one or more of a plurality of operating modes.

[0014] As discussed, in a preferred aspect, one or more of the plurality of operating modes or preferably each operating mode may be configured to authorize control of at least one aspect of the hybrid vehicle between the operator and the hybrid vehicle.

[0015] According to an exemplary embodiment, at least one aspect of the hybrid vehicle may include one or more of the following: the goal of the hybrid vehicle, the destination of the hybrid vehicle, the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, the type of movement of the hybrid vehicle, and the positions of the plurality of wheel-leg components of the hybrid vehicle.

[0016] According to an exemplary embodiment, the plurality of operating modes may include a first operating mode, and during the first operating mode, the operator controls the goal of the hybrid vehicle, the destination of the hybrid vehicle, the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, the type of movement of the hybrid vehicle, and the positions of the plurality of wheel-leg components of the hybrid vehicle.

[0017] According to an exemplary embodiment, the plurality of operating modes may include a second operating mode, and during the second operating mode, the operator controls: the goal of the hybrid vehicle, the destination of the hybrid vehicle, the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, and the type of movement of the hybrid vehicle, and the processor controls: the positions of the plurality of wheel-leg components of the hybrid vehicle.

[0018] According to an exemplary embodiment, the plurality of operating modes includes a third operating mode, and during the third operating mode, the operator controls: the goal of the hybrid vehicle, the destination of the hybrid vehicle, the speed of the hybrid vehicle, and the traveling direction of the hybrid vehicle, and the hybrid vehicle controls: the type of movement of the hybrid vehicle and the positions of the plurality of wheel-leg components of the hybrid vehicle.

[0019] According to an exemplary embodiment, the multiple operation modes include a fourth operation mode, and during the fourth operation mode, the operator controls: the target of the hybrid vehicle and the destination of the hybrid vehicle, and the hybrid vehicle controls: the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, the type of movement of the hybrid vehicle, and the positions of the multiple wheel-leg components of the hybrid vehicle.

[0020] According to an exemplary embodiment, the multiple operation modes may include a fifth operation mode, and during the fifth operation mode, the operator controls: the target of the hybrid vehicle, and the hybrid vehicle controls: the destination of the hybrid vehicle, the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, the type of movement of the hybrid vehicle, and the positions of the multiple wheel-leg components of the hybrid vehicle.

[0021] According to an exemplary embodiment, the multiple operation modes include a sixth operation mode, and during the sixth operation mode, the fleet operator controls: multiple hybrid vehicles, where each hybrid vehicle among the multiple hybrid vehicles is configured to be capable of performing wheel movement and walking movement; and the target of the hybrid vehicle, and the hybrid vehicle controls: the destination of the hybrid vehicle, the speed of the hybrid vehicle, the traveling direction of the hybrid vehicle, the type of movement of the hybrid vehicle, and the positions of the multiple wheel-leg components of the hybrid vehicle.

[0022] According to an exemplary embodiment, the system may further include multiple hybrid vehicles.

[0023] According to other aspects, a method for controlling a hybrid vehicle is provided. In one aspect, the method may include setting, using a processor, one of the multiple operation modes. Each of the multiple operation modes may be configured to authorize control of at least one aspect of the hybrid vehicle between the operator and the hybrid vehicle. The hybrid vehicle may include a chassis and multiple wheel-leg components coupled to the chassis. The multiple wheel-leg components may be configured to be capable of operating together to provide wheel movement and walking movement. The method may suitably include operating the hybrid vehicle in one or more of the multiple operation modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings incorporated in and constituting a part of the description of the embodiments illustrate non-limiting and non-exclusive embodiments of the present subject matter and, together with the detailed description, are used to explain the principles of the present subject matter discussed below. Unless otherwise specified, the drawings referred to in this brief description of the drawings are to be understood as not being drawn to scale, and unless otherwise provided, in the respective drawings, the same reference numerals denote the same components.

[0025] Figures 1A to 1C A hybrid vehicle capable of omnidirectional movement using both walking motion and rolling motion according to an exemplary embodiment of the present disclosure is shown.

[0026] Figure 2A and Figure 2B A wheel leg assembly is shown in a retracted position and a deployed position according to an exemplary embodiment of the present disclosure.

[0027] Figure 2C is a diagram illustrating a low range of motion suspension stage and a high range of motion suspension stage according to an exemplary embodiment of the present disclosure.

[0028] Figures 3A to 3C Perspective views of different walking gaits of a hybrid vehicle according to various exemplary embodiments of the present disclosure are shown.

[0029] Figure 4 is a chart illustrating various operating modes of a motor vehicle according to various exemplary embodiments of the present disclosure.

[0030] Figure 5 Exemplary elements of a computing device according to an exemplary embodiment of the present disclosure are shown.

[0031] Figure 6 An exemplary architecture of a vehicle according to an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0032] The following description of the embodiments is provided by way of example only and not limitation. Furthermore, it is not intended to be bound by any expressed or implied theory presented in the preceding background or the following detailed description.

[0033] Reference will now be made in detail to a number of exemplary embodiments of the present subject matter, examples of which are shown in the accompanying drawings. Although a number of embodiments are discussed herein, it will be understood that they are not intended to limit these embodiments. On the contrary, the embodiments proposed are intended to cover replacements, modifications, and equivalents that may be included in the spirit and scope of a number of embodiments defined by the appended claims. In addition, in this detailed description, many specific details are set forth in order to provide a comprehensive understanding of the embodiments of the present subject matter. However, the embodiments may be practiced without these specific details. In other examples, well-known methods, procedures, components, and circuits are not described in detail to avoid unnecessarily obscuring the various aspects of the described embodiments.

[0034] Some of the detailed descriptions below are presented in the form of procedures, logic blocks, operations, and other symbolic representations that operate on data within an electronic device. These descriptions and representations are the means by which those skilled in the data processing art most effectively convey the substance of their work to other technicians in the field. In this application, the procedures, logic blocks, operations, etc. are envisioned as one or more self-compatible programs or instructions that produce the desired result. These programs require physical manipulation of physical quantities. Usually, although not necessarily, these quantities may take the form of electrical or magnetic signals that can be stored, transmitted, combined, compared, and otherwise manipulated in an electronic system, device, and / or component.

[0035] However, it should be noted that these terms and similar terms are associated with appropriate physical quantities and are merely convenient labels applied to these quantities. Unless explicitly stated otherwise in the following discussion, it should be understood that in the description of the embodiments, discussions using terms such as "determine", "communicate", "take", "compare", "monitor", "calibrate", "estimate", "initiate", "provide", "receive", "control", "transmit", "isolate", "generate", "align", "synchronize", "identify", "hold", "display", "switch", etc. refer to the actions and processes of electronic products, such as: processors, sensor processing units (SPUs), processors of sensor processing units, application processors of electronic devices / systems, etc., or combinations thereof. This product manipulates and converts data represented as physical quantities (electrical and / or magnetic quantities) in registers and memories into other data similarly represented as physical quantities in memories or registers or other such information storage, transmission, processing, or display components.

[0036] It should be understood that as used herein, the term "vehicle" or "vehicular" or other similar terms include motor vehicles in a broad sense, such as passenger vehicles including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles; watercraft (including various small boats and ships); aircraft, etc., and include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from resources other than petroleum). As mentioned herein, a hybrid vehicle is a vehicle having two or more power sources, for example, a vehicle having both gasoline power and electric power simultaneously.

[0037] The terms used in this specification are for the purpose of describing particular embodiments only and are not intended to limit the disclosure. Unless the context clearly dictates otherwise, the singular forms "a," "an," and "the" as used herein are also intended to include the plural forms. Ordinal terms such as "first," "second," etc. are only intended to distinguish one component from another, and these terms do not limit the nature, order, or sequence of the components. It should also be understood that when used in this specification, the terms "comprising" and / or "including" specifically denote the presence of the stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Throughout the specification, unless explicitly described to the contrary, the word "comprising" and variations such as "comprises" or "comprising" will be understood to imply the inclusion of the stated element, but not to exclude any other element. In addition, the terms "unit," "part," "device," and "module" described in the specification refer to a unit for processing at least one function and operation, and can be implemented by hardware components or software components and combinations thereof.

[0038] Although the exemplary embodiments are described as using multiple units to perform the exemplary processes, it should be understood that the exemplary processes can also be performed by one or more modules. In addition, it should be understood that the term controller / control unit refers to a hardware device that includes a memory and a processor and is specifically programmed to perform the processes described herein. The memory is configured to store the modules, and the processor is specifically configured to implement the modules to perform one or more of the processes described further below.

[0039] Furthermore, the control logic of the present disclosure can be embodied as a non - volatile computer - readable medium on a computer - readable medium, which includes executable program instructions executed by a processor, a controller, etc. Examples of computer - readable media include, but are not limited to, ROM, RAM, compact disc (CD) - ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage devices. The computer - readable media can also be distributed in network - coupled computer systems such that the computer - readable media is stored and executed in a distributed manner, for example, via a telematics server or a controller area network (CAN).

[0040] Unless otherwise specified or otherwise apparent from the context, as used herein, the term "about" shall be understood to be within the normal tolerances in the art, for example within two standard deviations of the mean. "About" can be understood to be within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05% or 0.01% of the stated value. Unless the context clearly dictates otherwise, all numerical values provided herein are modified by the term "about".

[0041] The embodiments described herein may be discussed in the general context of processor-executable instructions residing on some form of non-transitory processor-readable medium (such as program modules) and executed by one or more computers or other devices. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. In various embodiments, the functionality of the program modules may be combined or distributed as desired.

[0042] In the figures, a single block may be described as performing one or more functions; however, in actual practice, one or more of the functions performed by that block may be performed in a single component or across multiple components, and / or may be performed using hardware, using software, or using a combination of hardware and software. To clearly illustrate such interchangeability of hardware and software, the various illustrative components, blocks, modules, logics, circuits, and steps have been generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Those of ordinary skill in the art may implement the described functionality in different ways for each particular application, but such implementation decisions should not be construed as departing from the scope of the present disclosure. Additionally, the exemplary apparatus vibration sensing systems and / or electronic devices described herein may include components other than those shown, including well-known components.

[0043] The various techniques described herein may be implemented in hardware, software, firmware, or any combination thereof, unless specifically described as being implemented in a particular manner. Any features described as modules or components may also be implemented together in an integrated logic device, or separately as discrete but interoperable logic devices. If implemented in software, the techniques may be at least partially implemented by a non-transitory processor-readable storage medium that includes instructions that, when executed, perform one or more of the methods described herein. The non-transitory processor-readable data storage medium may form part of a computer program product, which may include packaging materials.

[0044] A non-transitory processor-readable storage medium may include random access memory (RAM) (e.g., synchronous dynamic random access memory (SDRAM)), read-only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), flash memory, other known storage media, etc. Additionally or alternatively, the techniques may be implemented at least in part by a processor-readable communication medium that carries or transmits code in the form of instructions or data structures and that can be accessed, read, and / or executed by a computer or other processor.

[0045] The various embodiments described herein may be executed by one or more processors, such as one or more motion processing units (MPUs), sensor processing units (SPUs), one or more main processors or their cores, digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), application specific instruction set processors (ASIPs), field programmable gate arrays (FPGAs), programmable logic controllers (PLCs), complex programmable logic devices (CPLDs), discrete gate logic or transistor logic, discrete hardware components, or any combination designed to perform the functions described herein, or other equivalent integrated or discrete logic circuitry. As used herein, the term "processor" may refer to any of the foregoing structures or any other structure suitable for implementing the techniques described herein. As used in this specification, the term "processor" may substantially refer to any computing processing unit or device, including but not limited to including a single-core processor; a single-core processor with software multithreading execution capabilities; a multi-core processor; a multi-core processor with software multithreading execution capabilities; a multi-core processor with hardware multithreading technology; a parallel platform; and a parallel platform with distributed shared memory. Additionally, the processor may utilize nanoscale architectures (such as but not limited to molecule- and quantum dot-based transistors), switches, and gates in order to optimize space utilization or enhance the performance of the user equipment. The processor may also be implemented as a combination of computing processing units.

[0046] In addition, in some aspects, the functions described herein may be provided within a dedicated software module or hardware module configured in accordance with the description herein. Additionally, the techniques may be fully implemented in one or more circuits or logic elements. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, e.g., a combination of an SPU / MPU and one or more microprocessors, one or more microprocessors combined with SPU cores, MPU cores, or any other such configuration. One or more components of the SPU or electronic device described herein may be implemented in the form of one or more of a "chip", "package", integrated circuit (IC).

[0047] The embodiments described herein provide different vehicle operation modes for a vehicle (also referred to herein as a “hybrid vehicle”) capable of moving using both walking motion and rolling traction.

[0048] According to an exemplary embodiment, an operator of a hybrid vehicle can be provided with one or more different levels of vehicle control. The one or more different levels of vehicle control can be based on, for example, the operator's experience, vehicle objectives, type of terrain to be traversed, state of the hybrid vehicle, number of hybrid vehicles in a fleet, etc. For example, different vehicle operation modes can range from a fully manual operation mode by an on-vehicle operator to a remote control mode for controlling a fleet of hybrid vehicles.

[0049] According to an exemplary embodiment, as described herein, in controlling the operation of a hybrid vehicle, multiple aspects of the operation are subject to different types of operation controls. For example, aspects that can be controlled when operating a hybrid vehicle can include one or more objectives of the hybrid vehicle, the destination of the hybrid vehicle, the travel speed and direction of the hybrid vehicle, the type of movement used by the hybrid vehicle (e.g., wheel movement, walking movement, or a combination thereof), the position of one or more legs of the hybrid vehicle when using walking movement, controlling the walking gait in the case of walking movement, etc.

[0050] Furthermore, in controlling the operation of a motor vehicle, different vehicle operation modes are described, which can provide different types of operations for a hybrid vehicle operator. Generally, the vehicle operation modes can include a mode where the on-vehicle operator has full control of the vehicle operation, and also include a mode where the (on-vehicle or remote) operator can provide one or more objectives to the hybrid vehicle, which can be interpreted by the hybrid vehicle and then the hybrid vehicle can execute to complete the one or more objectives.

[0051] Now referring to Figures 1A to 1C , according to an exemplary embodiment of the present disclosure, a hybrid vehicle 100 is illustratively described, which is capable of and configured to perform omnidirectional movement using both walking motion and rolling motion. Figure 1A And Figure 1B show the hybrid vehicle 100 in different walking positions on rough terrain, where the hybrid vehicle 100 is capable of omnidirectional movement. Figure 1C shows a side view of the hybrid vehicle 100.

[0052] The hybrid vehicle 100 may include four wheel-leg components 102, each configured to perform movement with at least two degrees of freedom. However, it should be noted that other quantities of wheel-leg components 102 may be incorporated while maintaining the spirit and functionality of the present disclosure. As shown, the hybrid vehicle 100 may include a passenger compartment configured to accommodate one or more persons. It should be understood that in some exemplary embodiments, the hybrid vehicle 100 may be configured to be operated by an on-vehicle operator, may be configured to be remotely operated, and / or may be configured to operate autonomously.

[0053] In one exemplary embodiment, the wheel-leg component 102 may be configured to perform motion with at least six degrees of freedom. It should be understood that although the wheel-leg components 102 may be configured to be jointly controlled to provide rolling movement and walking movement, each wheel-leg component 102 is capable of performing a different movement or positioning from one or more other wheel-leg components 102 during operation. For example, when using wheel movement on an upward slope, in order to keep the body 104 and chassis 106 of the hybrid vehicle 100 flush with the flat ground, the front wheel-leg components 108 may be retracted while the rear wheel-leg components 110 may be extended. In one exemplary embodiment, when using walking movement to traverse rough terrain, each wheel-leg component 102 or opposite pairs of wheel-leg components 102 (e.g., left front and right rear) may be configured to move in a different manner from the other wheel-leg components 102. The wheel-leg components 102 may be configured to operate to move the hybrid vehicle 100 in any direction of travel and may be configured to change direction at any time.

[0054] According to one exemplary embodiment, the hybrid vehicle 100 may be configured to move according to one or more operating modes. According to one exemplary embodiment, each of the plurality of operating modes may be configured to authorize control of at least one aspect of the hybrid vehicle between the operator and the hybrid vehicle 100.

[0055] According to one exemplary embodiment, the hybrid vehicle 100 may include one or more computing devices (e.g., Figure 5a computing device 500) and / or is in electronic communication with the one or more computing devices. The one or more computing devices may be configured to authorize control of at least one aspect of the hybrid vehicle between an operator and the hybrid vehicle 100 (e.g., via a computing device and / or a processor of the hybrid vehicle 100) according to one or more of a plurality of operating modes. According to an exemplary embodiment, a fleet operator may control a plurality of hybrid vehicles 100. According to an exemplary embodiment, each operating mode may be configured to authorize control of at least one aspect of the hybrid vehicle between an operator and the hybrid vehicle 100. According to an exemplary embodiment, the hybrid vehicle 100 and / or the operator may be configured to set one or more of the plurality of operating modes.

[0056] According to an exemplary embodiment, at least one aspect of the hybrid vehicle 100 may include a goal of the hybrid vehicle 100, a destination of the hybrid vehicle 100, a speed of the hybrid vehicle 100, a traveling direction of the hybrid vehicle, a type of movement of the hybrid vehicle 100, and positions of a plurality of wheel-leg members 102 of the hybrid vehicle 100.

[0057] According to an exemplary embodiment, the plurality of operating modes may include a first operating mode, and during the first operating mode, the authorization may be such that: configured, the operator may control the goal of the hybrid vehicle 100, the destination of the hybrid vehicle 100, the speed of the hybrid vehicle 100, the traveling direction of the hybrid vehicle 100, the type of movement of the hybrid vehicle 100, and the positions of the plurality of wheel-leg members 102 of the hybrid vehicle 100.

[0058] According to an exemplary embodiment, the plurality of operating modes may include a second operating mode, and during the second operating mode, the authorization may be such that: configured, the operator may control the goal of the hybrid vehicle 100, the destination of the hybrid vehicle 100, the speed of the hybrid vehicle 100, the traveling direction of the hybrid vehicle 100, and the type of movement of the hybrid vehicle 100, and the hybrid vehicle 100 may be configured to control the positions of the plurality of wheel-leg members 102 of the hybrid vehicle 100.

[0059] According to an exemplary embodiment, the plurality of operating modes may include a third operating mode, and during the third operating mode, the authorization may be such that: configured, the operator may control the goal of the hybrid vehicle 100, the destination of the hybrid vehicle 100, the speed of the hybrid vehicle 100, and the traveling direction of the hybrid vehicle 100, and the hybrid vehicle 100 may be configured to control the type of movement of the hybrid vehicle 100 and the positions of the plurality of wheel-leg members 102 of the hybrid vehicle 100.

[0060] According to an exemplary embodiment, the plurality of operation modes may include a fourth operation mode, and during the fourth operation mode, authorization may enable: configured, the operator may control the target of the hybrid vehicle 100 and the destination of the hybrid vehicle 100, and the hybrid vehicle 100 may be configured to control the speed of the hybrid vehicle 100, the traveling direction of the hybrid vehicle 100, the type of movement of the hybrid vehicle 100, and the positions of the plurality of wheel-leg members 102 of the hybrid vehicle 100.

[0061] According to an exemplary embodiment, the plurality of operation modes may include a fifth operation mode, and during the fifth operation mode, authorization may enable: configured, the operator may control the target of the hybrid vehicle 100, and the hybrid vehicle 100 may be configured to control the destination of the hybrid vehicle 100, the speed of the hybrid vehicle 100, the traveling direction of the hybrid vehicle 100, the type of movement of the hybrid vehicle 100, and the positions of the plurality of wheel-leg members 102 of the hybrid vehicle 100.

[0062] According to an exemplary embodiment, the plurality of operation modes may include a sixth operation mode, and during the sixth operation mode, authorization may enable: configured, the fleet operator may control the plurality of hybrid vehicles 100 and the target of the hybrid vehicle 100, and each hybrid vehicle 100 among the plurality of hybrid vehicles 100 (e.g., the processor and / or computing device of each corresponding hybrid vehicle 100 among the plurality of hybrid vehicles 100) may be configured to control the destination of the hybrid vehicle 100, the speed of the hybrid vehicle 100, the traveling direction of the hybrid vehicle 100, the type of movement of the hybrid vehicle 100, and the positions of the plurality of wheel-leg members 102 of the hybrid vehicle 100.

[0063] For example, Figure 4 A diagram 400 is shown, which shows the plurality of operation modes of the hybrid vehicle 100 according to an exemplary embodiment of the present disclosure.

[0064] Figure 400 illustrates six exemplary operating modes for a hybrid vehicle 100. As shown, various aspects of the control of hybrid vehicle 100 can be controlled by an operator and / or the hybrid vehicle 100 itself, depending on the operating mode. Generally, multiple aspects of operation can be subject to different types of operator control. For example, aspects that can be controlled when operating hybrid vehicle 100 can include one or more goals of hybrid vehicle 100 (e.g., reach a destination within a period of time, etc.), one or more destinations of hybrid vehicle 100 (e.g., a location with road access, a location without road access, a location on flat terrain, non-flat terrain, rocky terrain, wet terrain, etc.), travel speed and direction, the type of movement used (e.g., wheel movement, walking movement, and / or a combination thereof), the position of one or more wheel-leg components 102 during walking movement, control of the walking gait during walking movement, etc. Additionally, with regard to controlling the operation of hybrid vehicle 100, different vehicle operating modes are described, which can provide different types of operations to the operator of hybrid vehicle 100. Generally, the vehicle operating modes can be configured to include a mode in which the on-vehicle operator has full control over vehicle operation, and also include a mode in which an (on-vehicle or remote) operator can provide a goal to hybrid vehicle 100, which can be interpreted by hybrid vehicle 100 and then hybrid vehicle 100 can execute to complete the goal. According to an exemplary embodiment, the selection of the operating mode can be based on one or more goals of hybrid vehicle 100 (e.g., reach a destination within a period of time, etc.), one or more destinations of hybrid vehicle 100 (e.g., a location with road access, a location without road access, a location on flat terrain, non-flat terrain, rocky terrain, wet terrain, etc.), travel speed and direction, the type of movement used (e.g., wheel movement, walking movement, and / or a combination thereof), and / or other suitable factors for selecting the operating mode.

[0065] According to an exemplary embodiment, in a first vehicle operating mode (shown as operating mode 1), the operator can be provided with full control over the operation of hybrid vehicle 100. In this mode, the operator can control the type of movement used and can select between wheel movement, walking movement, and / or a combination of wheel movement and walking movement. According to an exemplary embodiment, the operator can control the position of each wheel by setting the respective joint positions or by specifying the trajectory and position of the wheels. For example, in the first operating mode, the operator can be completely free to choose the posture and position of each leg.

[0066] According to an exemplary embodiment, in a second vehicle operation mode (shown as operation mode 2), an operator may be provided with standard manual control of the hybrid vehicle 100. The operator may control the traveling direction, traveling path, and speed of the hybrid vehicle 100. The operator may control the type of movement used and may select between wheel movement, walking movement, and / or a combination of wheel movement and walking movement. At least based on the user's control of the movement type, the hybrid vehicle 100 may be configured to automatically determine the position of one or more joints in the wheel-leg components. Under the control of the operator, the wheel-leg components may have different walking modes. In addition to walking movement and rolling movement, the wheel motors may be configured to be used during walking to form a hybrid wheel-walking movement mode. In the case of walking movement, the motor may drive the wheels. In the case of rolling movement, the wheel-leg components may operate as a high range-of-motion suspension.

[0067] According to an exemplary embodiment, in a third vehicle operation mode (shown as operation mode 3), an operator may be provided with automatic control of the hybrid vehicle 100. The operator may control the traveling direction and traveling path of the hybrid vehicle 100, as well as the speed of the hybrid vehicle 100. The operator may also be provided with control of the body attitude range of the hybrid vehicle 100 (e.g., pitch limit and roll limit of the chassis). Given the body attitude range set by the operator, the hybrid vehicle may be configured to select between wheel movement, walking movement (e.g., vehicle gait), and / or a combination of wheel movement and walking movement. Based on the movement type, the hybrid vehicle 100 may be configured to automatically determine the position of one or more joints in the wheel-leg components. The wheel-leg components (e.g., wheel-leg component 102) may have different walking modes under the control of the operator. In addition to walking movement and rolling movement, the wheel motors may be configured to be used during walking to form a hybrid wheel-walking movement mode. In the case of walking movement, the motor may be configured to drive the wheels. In the case of rolling movement, the wheel-leg components may be configured to operate as a high range-of-motion suspension.

[0068] According to an exemplary embodiment, in a fourth vehicle operation mode (shown as operation mode 4), an operator may be provided with autonomous supervision of the hybrid vehicle 100. The operator may control the destination of the hybrid vehicle 100. According to an exemplary embodiment, the operator is also able to control various path optimizations and passenger experience configurations, such as shortest travel time, least energy consumption, body attitude limitations, etc. Based at least on the destination set by the operator and optionally based on any path optimization and passenger experience configuration, the hybrid vehicle 100 may be configured to select the travel direction, travel path, and speed of the hybrid vehicle 100. The hybrid vehicle 100 may be configured to select between wheel movement, walking movement (e.g., vehicle gait), and / or a combination of wheel movement and walking movement based on, for example, the destination and travel path of the hybrid vehicle 100. Based on the type of movement, the hybrid vehicle 100 may be configured to automatically determine the joint positions in the wheel-leg components. Under the control of the operator, the wheel-leg components may have different walking patterns. In addition to walking movement and rolling movement, the wheel motors may be configured to be used during walking to form a hybrid wheel-walking movement mode. According to an exemplary embodiment, in the case of walking movement, the motor may be configured to drive the wheels. According to an exemplary embodiment, in the case of rolling movement, the wheel-leg components may be configured to operate as a high range of motion suspension.

[0069] According to an exemplary embodiment, in a fifth vehicle operation mode (shown as operation mode 5), an operator may be provided with cooperative autonomy control of the hybrid vehicle 100. The operator may control the task objectives of the hybrid vehicle 100 and may provide these objectives to the hybrid vehicle 100 (e.g., via a user interface). The operator may issue commands to the hybrid vehicle 100 as needed. According to an exemplary embodiment, the hybrid vehicle 100 may be configured to interpret the received objectives as commands and may be configured to execute these commands to complete the task. According to an exemplary embodiment, the hybrid vehicle 100 may be configured to select appropriate movement priorities (e.g., speed, battery, wear), obtain appropriate information (e.g., mapping data), and automatically and dynamically adjust specific operating points. At least based on the objectives set by the operator, the hybrid vehicle 100 may be configured to select the travel direction, travel path, and speed of the hybrid vehicle 100. The hybrid vehicle 100 may be configured to select between wheel movement, walking movement (e.g., vehicle gait), and / or a combination of wheel movement and walking movement based on the destination and travel path, based on the objectives, movement priorities, and other appropriate information. Based on the movement type, the hybrid vehicle 100 may be configured to automatically determine the joint positions in the wheel-leg components. Under the control of the operator, the wheel-leg components may have different walking patterns. In addition to walking movement and rolling movement, the wheel motors may be configured to be used during walking to form a hybrid wheel-walking movement mode. According to an exemplary embodiment, in the case of walking movement, the motors may be configured to drive the wheels. According to an exemplary embodiment, in the case of rolling movement, the wheel-leg components may be configured to operate as a high range of motion suspension.

[0070] According to an exemplary embodiment, in a sixth vehicle operation mode (shown as operation mode 6), the hybrid vehicle 100 can be configured to be co-controlled in a fleet of hybrid vehicles 100. A fleet operator can control the mission objectives of the hybrid vehicle 100 and can provide the objectives to the hybrid vehicle 100 (e.g., via a remote interface). These objectives can include, for example, multiple destination and / or situational objectives to be completed by the fleet of hybrid vehicles 100. The fleet operator can issue instructions and commands to one hybrid vehicle 100, a group of hybrid vehicles 100, and / or all hybrid vehicles 100 in the fleet as needed. According to an exemplary embodiment, the hybrid vehicle 100 can be configured to interpret the received objectives as instructions and / or commands and can be configured to implement these instructions and / or commands to complete the mission. According to an exemplary embodiment, the hybrid vehicle 100 can be configured to select an appropriate movement priority (e.g., speed, battery, wear), obtain appropriate information (e.g., mapping data), and automatically and dynamically adjust a specific operating point. At least based on the objectives set by the operator, the hybrid vehicle 100 can be configured to select the travel direction, travel path, and speed of the hybrid vehicle 100. According to an exemplary embodiment, the hybrid vehicle 100 can be configured to select between wheel movement, walking movement (e.g., vehicle gait), and / or a combination of wheel movement and walking movement based on the destination and travel path, based on the objectives, movement priority, and other appropriate information. Based on the movement type, the hybrid vehicle 100 can be configured to automatically determine the joint positions in the wheel-leg components. Under the control of the operator, the wheel-leg components can have different walking modes. In addition to walking movement and rolling movement, the wheel motors can be configured to be used during walking to form a hybrid wheel-walking movement mode. According to an exemplary embodiment, in the case of walking movement, the motor can be configured to drive the wheels. According to an exemplary embodiment, in the case of rolling movement, the wheel-leg components can be configured to operate as a high range-of-motion suspension.

[0071] Now referring Figure 2A to Figure 2B and Figure 2A , an exemplary wheel-leg component 102 in a retracted position ( Figure 2B ) and an extended position (

[0072] ) is illustratively depicted according to an exemplary embodiment of the present disclosure.

[0073] The wheel-leg component 102 may include a leg component 202 and a wheel component 204. The wheel component 204 may be coupled to the leg component 202.

[0074] According to an exemplary embodiment, the wheel-leg component 102 may include a coupling component 208 configured to couple the wheel-leg component 102 to the body 104, frame, or other suitable component of the hybrid vehicle 100.

[0075] The leg component 202 may be divided into one or more segments 206. The one or more segments 206, the coupling component 208, and / or the wheel component 204 may be configured to rotate about each other via one or more movable joints 210. According to an exemplary embodiment, the wheel-leg component 102 may include one or more suspension systems 212 (e.g., springs, shock absorbers, etc.).

[0076] According to an exemplary embodiment, the wheel component 204 may be configured to rotate along an axis when coupled to the leg component 202 such that the hybrid vehicle 100 can move along a surface in contact with the wheel component 204. According to an exemplary embodiment, the wheel-leg component 102 may include one or more braking mechanisms for preventing and / or reducing rotation of the wheel component 204.

[0077] Reference Figure 2A , the wheel-leg component 102 (the hybrid vehicle 100 traversing component) is in a retracted state, wherein the wheel-leg component 102 is configured and positioned to provide wheel movement. Reference Figure 2B , the wheel-leg component 102 is in an extended state, wherein the wheel-leg component 102 is configured and positioned to provide walking movement and / or wheel movement.

[0078] According to an exemplary embodiment, wheel movement may be used for situations where a conventional vehicle can travel using rolling wheel components 204 (e.g., roads and highways). When available, wheel movement is efficient for transporting vehicles (e.g., hybrid vehicles 100, 300) between destinations. According to some exemplary embodiments, the wheel-leg component 102 may be configured to allow the hybrid vehicle 100 to actively adjust its height, such that the hybrid vehicle 100 can, for example, transition from street use to off-road use.

[0079] In the case of walking movement, the hybrid vehicle 100 may be configured to walk on terrains and highlands that are impossible to cross using wheel movement. In some cases, walking movement allows for flexible and quiet movement relative to wheel movement. The hybrid vehicle 100 may also be configured to move laterally to allow quadrupedal walking.

[0080] According to an exemplary embodiment, the wheel-leg component 102 includes one or more in-wheel motors 214 configured to power the movement of the wheel component 204 and / or the leg component 202. The use of the in-wheel motors 214 releases the suspension system 212 from the traditional axle and allows for walking, and also increases the driving performance and adaptability.

[0081] By using the wheel component 204 as a foot, the electric motor 214 can be configured to lock to achieve stable walking, and can also have a slow torque-controlled rotation for small movements during climbing or self-recovery. According to some exemplary embodiments, the wheel component 204 of the wheel-leg component 102 can be configured to rotate 180 degrees perpendicular to the wheel hub 216, which not only allows for the tilting ability during driving, but also gives the wheel component 204 enhanced positioning ability when the tire 218 is locked and in the walking mode. The wheel component 204 can be configured to rotate 90 degrees, and can even be configured to act as a wide footpad, thereby reducing the pounds per square inch (PSI) of the coverage area of the hybrid vehicle 100 when walking on loose materials or unstable surfaces, similar to the effect of snowshoes.

[0082] Now referring to Figure 2C , an illustration is illustratively depicted which shows the low range of motion suspension phase ((A), passive phase) and the high range of motion suspension phase ((B), active phase) of the wheel-leg component 102 according to an exemplary embodiment of the present disclosure.

[0083] A hybrid vehicle (e.g., 100, 300) traversing component (also referred to herein as "wheel-leg component" 102) is provided. According to an exemplary embodiment, the wheel-leg component 102 can be configured to provide a two-stage suspension: a first low range of motion suspension phase when the wheel-leg component 102 of the hybrid vehicle 100 is in the retracted position (A); and a second high range of motion suspension phase when the wheel-leg component 102 of the hybrid vehicle 100 is in the deployed position (B).

[0084] According to an exemplary embodiment, in the low motion range suspension phase, when the wheel leg component 102 of the hybrid vehicle 100 is in the retracted position, the suspension system 212 (e.g., coil-over suspension) is utilized and engaged. According to an exemplary embodiment, when in the low motion range suspension phase, the knee joint component 220 of the wheel leg component 102 can be released while the remaining joints 210 of the wheel leg component 102 can be locked. During the low motion range suspension phase, the wheel leg component 102 can be configured to handle high-frequency vibrations through the chassis-mounted suspension system 212. According to an exemplary embodiment, when the wheel leg component 102 is retracted and the low motion range suspension phase is initiated, the hybrid vehicle 100 can be configured to provide a suspension of 0 inches to 5 inches during wheel movement. However, it should be noted that other amplitudes of suspension can be incorporated while maintaining the spirit and functionality of the present disclosure.

[0085] According to an exemplary embodiment, in the high motion range suspension phase, when the wheel leg component 102 is in the deployed or actuated position, the suspension system 212 (e.g., coil-over suspension) can be disengaged. For example, the suspension system 212 can be configured to stay with the chassis during the high motion range suspension phase, and the knee joint 220 can be driven by a motor to provide suspension. According to an exemplary embodiment, during the high motion range suspension phase, the wheel leg component 102 can be configured to support advanced driving power through the function of the motor at the knee joint 220. According to an exemplary embodiment, when the wheel leg component 102 is deployed and the high motion range suspension phase is initiated, the hybrid vehicle 100 can be configured to provide a suspension of 5 inches to 50 inches during walking movement. However, it should be noted that other amplitudes of suspension can be incorporated while maintaining the spirit and functionality of the present disclosure.

[0086] Now referring to Figures 3A to 3C , a perspective view of different walking gaits of a hybrid vehicle 300 according to an exemplary embodiment of the present disclosure is illustratively depicted.

[0087] Figure 3A An exemplary view of a hybrid vehicle 300 operating in a mammalian walking gait according to an exemplary embodiment of the present disclosure is shown. According to an exemplary embodiment, when in the mammalian walking gait, the wheel leg component 102 is positioned in a support position below the hip section 302 to allow more reaction forces to translate axially through each link rather than in shear loads. In this position, each wheel leg component 102 can act closer to a singularity, meaning that for a given angular change of the joint 210, the end effector will move relatively little. This results in a relatively energy-efficient gait that is well-suited for traversing moderate terrain over a longer period of time, but may be less stable due to the narrower posture of the hybrid vehicle 300.

[0088] Figure 3B Shows an exemplary view of a hybrid vehicle 300 operating in a reptilian walking gait according to an exemplary embodiment of the present disclosure. According to an exemplary embodiment, the reptilian walking gait can be configured to generally reflect the way an animal (such as a lizard or gecko) might traverse terrain. In this position, the reptilian walking gait may rely more on one or more hip abduction motors that can be configured to swing the wheel-leg member 102 about a vertical axis to maintain a wider posture. The reptilian gait position results in a higher level of stability and a higher degree of control over movement, but lower energy efficiency. The wider posture creates a high static load on each motor, making the reptilian gait most suitable for walking on extremely unpredictable rough terrain for short periods of time.

[0089] Figure 3C Shows an exemplary view of a hybrid vehicle 300 operating in a hybrid walking gait according to an exemplary embodiment of the present disclosure. In addition to the reptilian and mammalian gaits, various modifications can be made by combining multiple posture strategies. These modifications can be generated through optimization techniques and / or discovered through simulation and machine learning. These hybrid gaits enable the hybrid vehicle 300 to be optimized based on the advantages and disadvantages of more static biomimetic gaits, transitioning to a more mammalian-like posture when the terrain is flatter, and to a more reptilian-like posture in very rough and / or dynamic environments. In a dynamic and highly variable terrain, the hybrid vehicle 300 can be configured to continuously adjust its gait based on the environment, battery charge, and / or any number of other factors.

[0090] According to the described embodiments, wheel movement can be used in situations where a conventional vehicle can travel using rolling wheels (e.g., roads and highways). When available, wheel movement is efficient for transporting the hybrid vehicle (e.g., hybrid vehicles 100, 300) between destinations. In some embodiments, the wheel-leg member 102 can be configured to allow the hybrid vehicle to actively adjust its height when transitioning from street use to off-road use.

[0091] In the case of walking movement, the hybrid vehicle can be configured to walk on terrains and elevated areas that cannot be traversed using wheel movement. In some cases, walking movement can allow for flexible and quiet movement relative to wheel movement. The hybrid vehicle can also be capable of lateral movement to allow for quadrupedal walking.

[0092] Now refer to Figure 5, a diagram of an exemplary architecture for a computing device 500 is provided. According to an exemplary embodiment, one or more functions of the present disclosure may be implemented by a computing device, such as computing device 500 or a computing device similar to computing device 500.

[0093] Figure 5 The hardware architecture represents an exemplary implementation of a representative computing device configured to execute one or more methods and means for controlling a vehicle capable of moving using both walking motion and rolling traction, as described herein. Thus, Figure 5 The computing device 500 executes at least a portion of the methods described herein and / or performs at least a portion of the functions of the systems described herein (e.g., vehicles 100, 300).

[0094] Some or all of the components of computing device 500 may be implemented as hardware, software, and / or a combination of hardware and software. Hardware may include, but is not limited to, one or more electronic circuits. Electronic circuits may include, but are not limited to, passive components (e.g., resistors and capacitors) and / or active components (e.g., amplifiers and / or microprocessors). The passive components and / or active components may be adapted, arranged, and / or programmed to perform one or more of the methods, programs, or functions described herein.

[0095] As Figure 5 shown, computing device 500 may include a user interface 502, a central processing unit (“CPU”) 506, a system bus 510, a memory 512 (containing application programs 524 and connected to other parts of computing device 500 via system bus 510 and accessible by said other parts of computing device 500), and a hardware entity 514 connected to system bus 510. The user interface may include input devices and output devices, which may be configured to facilitate user-software interaction for controlling the operation of computing device 500. Input devices may include, but are not limited to, a physical keyboard and / or a touch keyboard 550. The input devices may be connected to computing device 500 via a wired connection or a wireless connection (e.g., a Bluetooth connection). Output devices may include, but are not limited to, speakers 542, a display 544, and / or light-emitting diodes 546.

[0096] At least some of the hardware entities 514 can be configured to perform actions related to accessing and using the memory 512, which can be a random access memory (RAM), a disk drive, and / or a compact disc read-only memory (CD-ROM), as well as other suitable memory types. The hardware entity 514 can include a disk drive unit 516, which includes a computer-readable storage medium 518, on which one or more sets of instructions 520 (e.g., program instructions, such as but not limited to software code) can be stored, and the one or more sets of instructions are configured to perform one or more of the methods, programs, or functions described herein. The instructions 520 can also be fully or at least partially present in the memory 512 and / or the CPU 506 during execution by the computing device 500.

[0097] The memory 512 and the CPU 506 can also constitute a machine-readable medium. As used herein, the term "machine-readable medium" refers to a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) that store one or more sets of instructions 520. As used herein, the term "machine-readable medium" also refers to any medium that can store, encode, or carry a set of instructions 520 for execution by the computing device 500 and cause the computing device 500 to perform any one or more of the methods of the present disclosure.

[0098] Now referring Figure 6 , there is provided an exemplary vehicle system architecture 600 for a vehicle according to an exemplary embodiment of the present disclosure.

[0099] Hybrid vehicles 100, 300 can have the same or similar system architectures as those shown in Figure 6 . Therefore, the following discussion of the vehicle system architecture 600 is sufficient to understand one or more components of the hybrid vehicles 100, 300.

[0100] As Figure 6As shown, the vehicle system architecture 600 may include an engine, an electric motor, or a propulsion device 602 (e.g., a thruster), and a variety of sensors 604 - 618 for measuring a variety of parameters of the vehicle system architecture 600. In a gas-powered vehicle or a hybrid vehicle with a fuel-powered engine, the sensors 604 - 618 may include, for example, an engine temperature sensor 604, a battery voltage sensor 606, an engine revolutions per minute (RPM) sensor 608, and / or a throttle position sensor 610. If the vehicle is an electric vehicle or a hybrid vehicle, the vehicle may include an electric motor and, correspondingly, may include sensors such as a battery monitoring system 612 (for measuring the current, voltage, and / or temperature of the battery), an electric motor current sensor 614, an electric motor voltage sensor 616, and an electric motor position sensor 618 (such as resolvers and encoders).

[0101] Operation parameter sensors common to both types of vehicles may include, for example, a position sensor 634 (such as an accelerometer, a gyroscope, and / or an inertial measurement unit), a speed sensor 636, and / or an odometer sensor 638. The vehicle system architecture 600 may also include a clock 642 that the system uses to determine the vehicle time and / or date during operation. The clock 642 may be encoded in the vehicle's on-board computing device 620, the clock may be a separate device, or multiple clocks may be used.

[0102] The vehicle system architecture 600 may also include a variety of sensors that operate to collect information about the environment in which the vehicle is traveling. These sensors may include, for example, a positioning sensor 644 (e.g., a global positioning system (GPS) device), an object detection sensor (such as one or more cameras 646), a lidar sensor system 648, and / or a radar system and / or a sonar system 650. The sensors may also include environmental sensors 652, such as a humidity sensor, a precipitation sensor, a light sensor, and / or an environmental temperature sensor. The object detection sensor may be configured to enable the vehicle system architecture 600 to detect objects within a given distance of the vehicle in any direction, while the environmental sensors 652 may be configured to collect data about the environmental conditions within the vehicle's travel area. According to an exemplary embodiment, the vehicle system architecture 600 may include one or more lights 654 (e.g., headlights, floodlights, strobe lights, etc.).

[0103] During operation, information may be transmitted from the sensors to the on-board computing device 620 (e.g., Figure 5The in-vehicle computing device 620 can be configured to analyze data captured by sensors and / or data received from data providers, and can be configured to selectively control the operation of the vehicle system architecture 600 based on the analysis results. For example, the in-vehicle computing device 620 can be configured to perform controls: control braking via the brake controller 622; control direction via the steering controller 624; control speed and acceleration via the throttle controller 626 (in a gasoline-powered vehicle) or the motor speed controller 628 (such as a current level controller in an electric vehicle); the differential gear controller 630 (in a vehicle with a transmission); the auxiliary device controller 632, and / or other controllers. The brake controller 622 can include a pedal force sensor and / or a simulator temperature sensor, as described herein.

[0104] Geographic location information can be transmitted from the positioning sensor 644 to the in-vehicle computing device 620, which can then access an environmental map corresponding to the location information to determine known fixed features of the environment, such as streets, buildings, stop signs, and / or stop / go signals. Images captured by the camera 646 and / or object detection information captured by sensors such as the lidar sensor system 648 can be transmitted from these sensors to the in-vehicle computing device 620. The object detection information and / or the captured images can be processed by the in-vehicle computing device 620 to detect objects near the vehicle. Any known or to-be-known techniques for object detection based on sensor data and / or captured images can be used in the embodiments disclosed in this document.

[0105] The above-described content includes examples of the present disclosure. Of course, for the purpose of describing the subject matter, it is not possible to describe every conceivable combination of components or methods, but it should be understood that many other combinations and permutations of the present disclosure are also possible. Therefore, the claimed subject matter is intended to cover all such changes, modifications, and variations that fall within the spirit and scope of the appended claims.

[0106] Particularly with respect to the different functions performed by the components, devices, systems, etc. described above, unless otherwise specified, the terms used to describe such components (including references to "means") are intended to correspond to any component that performs the specified function of the described component (e.g., a functional equivalent), even if those components are structurally different from the disclosed structures that perform the functions in the exemplary aspects of the claimed subject matter shown herein.

[0107] The foregoing systems and components have been described with respect to the interactions between multiple components. It will be appreciated that such systems and components can include these components or designated sub-components, some of the designated components or sub-components, and / or additional components, as well as various arrangements and combinations in accordance with the foregoing. Sub-components can also be implemented as components communicatively coupled to other components rather than components included within a parent component (hierarchically). Additionally, it should be noted that one or more components can be combined into a single component providing an overall function or divided into multiple separate sub-components. Any component described herein can also interact with one or more other components not specifically described herein.

[0108] Furthermore, although a particular feature of the present invention may be disclosed with respect to only one of multiple implementations, such feature can be combined with one or more other features of other implementations, which may be desirable and advantageous for any given or particular application. Additionally, to the extent that the terms "comprises," "comprising," "includes," "including," "has," "having," and variations thereof and other similar words are used in the detailed description or the claims, these terms are intended to be inclusive in a manner similar to the term "including" as an open transitional word and do not exclude any additional or other elements.

[0109] Accordingly, the embodiments and examples set forth herein are presented to best illustrate selected embodiments of the present invention and their specific applications, and thereby enable those skilled in the art to make and use the embodiments of the present invention. However, those skilled in the art will recognize that the foregoing description and examples are for illustrative and exemplary purposes only. The description set forth is not intended to be exhaustive or to limit the embodiments of the present invention to the precise forms disclosed.

Claims

1. A hybrid vehicle, comprising: A processor; A chassis; And A plurality of wheel-leg components, coupled to the chassis, Wherein: The plurality of wheel-leg components are configured to be operable together to provide wheel movement and walking movement, The processor is configured to operate the hybrid vehicle in one or more of a plurality of operating modes, and One or more of the plurality of operating modes are configured to authorize control of the operation of at least one aspect of the hybrid vehicle between an operator and the processor.

2. The hybrid vehicle according to claim 1, wherein, Two or more operating modes are configured to authorize control of the operation of at least one aspect of the hybrid vehicle between an operator and the processor.

3. The hybrid vehicle according to claim 1, wherein, Each operating mode is configured to authorize control of the operation of at least one aspect of the hybrid vehicle between an operator and the processor.

4. The hybrid vehicle according to claim 1, wherein, The at least one aspect of the hybrid vehicle includes one or more of the following: The goal of the hybrid vehicle; The destination of the hybrid vehicle; The speed of the hybrid vehicle; The traveling direction of the hybrid vehicle; The type of movement of the hybrid vehicle; and The positions of the plurality of wheel-leg components of the hybrid vehicle.

5. The hybrid vehicle according to claim 4, wherein: The plurality of operating modes include a first operating mode, and During the first operating mode, the operator controls: The goal of the hybrid vehicle; The destination of the hybrid vehicle; The speed of the hybrid vehicle; The traveling direction of the hybrid vehicle; The type of movement of the hybrid vehicle; and The positions of the plurality of wheel-leg components of the hybrid vehicle.

6. The hybrid vehicle according to claim 4, wherein: The plurality of operating modes include a second operating mode, and During the second operating mode, The operator controls: The goal of the hybrid vehicle; The destination of the hybrid vehicle; The speed of the hybrid vehicle; The traveling direction of the hybrid vehicle; and The type of movement of the hybrid vehicle, and The processor controls: The positions of the plurality of wheel-leg components of the hybrid vehicle.

7. The hybrid vehicle according to claim 4, wherein: The plurality of operating modes include a third operating mode, and During the third operating mode, The operator controls: The goal of the hybrid vehicle; The destination of the hybrid vehicle; The speed of the hybrid vehicle; and The traveling direction of the hybrid vehicle, and The processor controls: The type of movement of the hybrid vehicle; and The positions of the plurality of wheel-leg components of the hybrid vehicle.

8. The hybrid vehicle according to claim 4, wherein: The plurality of operating modes include a fourth operating mode, and During the fourth operating mode, The operator controls: The goal of the hybrid vehicle; and The destination of the hybrid vehicle, and The processor controls: the speed of the hybrid vehicle; the traveling direction of the hybrid vehicle; the movement type of the hybrid vehicle; and the positions of the plurality of wheel-leg components of the hybrid vehicle.

9. The hybrid vehicle according to claim 4, wherein: the plurality of operation modes include a fifth operation mode, and during the fifth operation mode, the operator controls: the target of the hybrid vehicle, and the processor controls: the destination of the hybrid vehicle; the speed of the hybrid vehicle; the traveling direction of the hybrid vehicle; the movement type of the hybrid vehicle; and the positions of the plurality of wheel-leg components of the hybrid vehicle.

10. The hybrid vehicle according to claim 4, wherein: the plurality of operation modes include a sixth operation mode, and during the sixth operation mode, the convoy operator controls: a plurality of hybrid vehicles, wherein each hybrid vehicle of the plurality of hybrid vehicles is configured to be capable of performing wheel movement and walking movement; and the target of the hybrid vehicle, and the processor of each hybrid vehicle of the plurality of hybrid vehicles controls for its corresponding hybrid vehicle: the destination of the hybrid vehicle; the speed of the hybrid vehicle; the traveling direction of the hybrid vehicle; the movement type of the hybrid vehicle; and the positions of the plurality of wheel-leg components of the hybrid vehicle.

11. A system for controlling a hybrid vehicle, comprising: a hybrid vehicle, comprising: a chassis; and a plurality of wheel-leg components coupled to the chassis, wherein the plurality of wheel-leg components are configured to operate together to provide wheel movement and walking movement; and a computing device, the computing device including a processor and a memory, wherein the memory is configured to store programming instructions that, when executed by the processor, cause the processor: operate the hybrid vehicle in one or more of a plurality of operation modes, wherein one or more of the plurality of operation modes authorize control of the operation of at least one aspect of the hybrid vehicle between an operator and the hybrid vehicle.

12. The system according to claim 11, wherein, Each operation mode is configured to authorize control of the operation of at least one aspect of the hybrid vehicle between the operator and the processor.

13. The system according to claim 12, wherein, The at least one aspect of the hybrid vehicle includes one or more of the following: the target of the hybrid vehicle; the destination of the hybrid vehicle; the speed of the hybrid vehicle; the traveling direction of the hybrid vehicle; the movement type of the hybrid vehicle; and the positions of the plurality of wheel-leg components of the hybrid vehicle.

14. The system according to claim 13, wherein: the plurality of operation modes include a first operation mode, and during the first operation mode, the operator controls: the target of the hybrid vehicle; the destination of the hybrid vehicle; the speed of the hybrid vehicle; the traveling direction of the hybrid vehicle; the movement type of the hybrid vehicle; and the positions of the plurality of wheel-leg components of the hybrid vehicle.

15. The system according to claim 13, wherein: the plurality of operation modes include a second operation mode, and during the second operation mode, the operator controls: the target of the hybrid vehicle; the destination of the hybrid vehicle; the speed of the hybrid vehicle; the traveling direction of the hybrid vehicle; and the movement type of the hybrid vehicle, and the hybrid vehicle controls: the positions of the plurality of wheel-leg components of the hybrid vehicle.

16. The system according to claim 13, wherein: the plurality of operation modes include a third operation mode, and during the third operation mode, the operator controls: the target of the hybrid vehicle; the destination of the hybrid vehicle; the speed of the hybrid vehicle; and the traveling direction of the hybrid vehicle, and the hybrid vehicle controls: the movement type of the hybrid vehicle; and the positions of the plurality of wheel-leg components of the hybrid vehicle.

17. The system according to claim 13, wherein: the plurality of operation modes include a fourth operation mode, and during the fourth operation mode, the operator controls: the target of the hybrid vehicle; and the destination of the hybrid vehicle, and the hybrid vehicle controls: the speed of the hybrid vehicle; the traveling direction of the hybrid vehicle; the movement type of the hybrid vehicle; and the positions of the plurality of wheel-leg components of the hybrid vehicle.

18. The system according to claim 13, wherein: the plurality of operation modes include a fifth operation mode, and during the fifth operation mode, the operator controls: the target of the hybrid vehicle, and the hybrid vehicle controls: the destination of the hybrid vehicle; the speed of the hybrid vehicle; the traveling direction of the hybrid vehicle; the movement type of the hybrid vehicle; and the positions of the plurality of wheel-leg components of the hybrid vehicle.

19. The system according to claim 13, wherein: the plurality of operation modes include a sixth operation mode, and during the sixth operation mode, a fleet operator controls: a plurality of hybrid vehicles, wherein each hybrid vehicle of the plurality of hybrid vehicles is configured to be capable of performing wheel movement and walking movement; and the target of the hybrid vehicle, and each hybrid vehicle of the plurality of hybrid vehicles controls: the destination of the hybrid vehicle; the speed of the hybrid vehicle; the traveling direction of the hybrid vehicle; the movement type of the hybrid vehicle; and The positions of the plurality of wheel-leg components of the hybrid vehicle.

20. A method for controlling a hybrid vehicle, the method comprising: Using a processor to set one of a plurality of operating modes, wherein: Each of the plurality of operating modes is configured to authorize control of the operation of at least one aspect of the hybrid vehicle between an operator and the hybrid vehicle, and The hybrid vehicle includes: A chassis; and A plurality of wheel-leg components coupled to the chassis, wherein the plurality of wheel-leg components are configured to be operable together to provide wheel movement and walking movement; and Operating the hybrid vehicle in one or more of the plurality of operating modes.

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