New energy automobile battery pack connecting support structure

Abstract

The invention belongs to the technical field of automobile manufacturing, and provides a new energy automobile battery pack connecting support structure which comprises an automobile body, two connecting supports and a battery pack, the two connecting supports are symmetrically distributed on the left side and the right side of a front frame of the battery pack, and the battery pack and the automobile body can be integrally connected through the connecting supports; and the battery pack is fixed on a cross beam and a doorsill of the vehicle body, and the vehicle body, the connecting bracket and the battery pack are all provided with corresponding connecting points. According to the new energy automobile battery pack connecting support structure, by arranging the connecting support, the battery pack, the automobile body cross beam and the threshold can be integrally connected in a small space, a force transmission path can be reconstructed, a closed-loop force flow network is formed by the battery pack, the automobile body cross beam and the threshold, and when an automobile body is collided and impacted, force can be transmitted to the threshold; the safety of the battery pack is improved, and meanwhile the rigidity of a vehicle body is improved.

Description

Technical Field

[0001] This invention belongs to the field of automotive manufacturing technology, and specifically relates to a battery pack connection bracket structure for new energy vehicles. Background Technology

[0002] As the market penetration rate of new energy vehicles continues to increase, the mechanical performance of the connection structure between the vehicle body and battery pack, as the core load-bearing boundary of the entire vehicle, directly affects the vehicle's safety (such as the collision force transmission path) and NVH performance. In order to reduce development costs, battery pack assemblies often adopt the strategy of using existing products, but this also puts higher demands on the design of the vehicle body connection interface—it needs to achieve efficient force flow transmission and stiffness improvement within a limited space.

[0003] In the existing technology, due to the limited installation space between the vehicle body sill beam and the battery pack boundary, the traditional sheet metal connection solution lacks cavity support, resulting in a flattened structure that cannot meet the design requirements for torsional stiffness. In addition, there is a significant stress concentration phenomenon at the connection node, resulting in insufficient force flow transmission efficiency under collision conditions, and it is also prone to tearing failure of bolt connection points.

[0004] Therefore, overcoming the shortcomings of the existing technology is an urgent problem to be solved in this technical field. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a battery pack connection bracket structure for new energy vehicles, comprising a vehicle body, connection brackets, and a battery pack. Two connection brackets are symmetrically distributed on the left and right sides of the front frame of the battery pack. The connection brackets connect the battery pack to the vehicle body as a whole and fix the battery pack to the vehicle body's crossbeams and door sills. Corresponding connection points are provided on the vehicle body, connection brackets, and battery pack. The connection points on the vehicle body are distributed at the intersection of the crossbeams and the left and right front longitudinal beams, as well as on the door sills on both sides. The connection points on the battery pack are distributed on the left and right sides of the front frame.

[0006] Furthermore, the connecting bracket is provided with positioning mounting hole one, positioning mounting hole two, and positioning mounting hole three. Positioning mounting hole one and positioning mounting hole two are both circular holes, and positioning mounting hole three is an oblong hole. M10 projection weld nut fixing point one and M10 projection weld nut fixing point two are pre-embedded at the intersection of the crossbeam and the left and right front longitudinal beams of the vehicle body. M10 projection weld nut fixing point one and M10 projection weld nut fixing point two correspond to positioning mounting hole one and positioning mounting hole two, respectively. M10 projection weld nut fixing point three is pre-embedded on the door sills on both sides of the vehicle body. M10 projection weld nut fixing point three corresponds to positioning hole three.

[0007] Furthermore, the connecting bracket is pre-embedded with M10 rivet nut fixing point one, M10 rivet nut fixing point two, and M10 rivet nut fixing point three. The front frame of the battery pack is provided with positioning mounting holes four, five, and six on both sides. Positioning mounting holes four, five, and six correspond to M10 rivet nut fixing points one, two, and three, respectively.

[0008] Furthermore, the size of the first positioning mounting hole is Ø12.5mm, the size of the second positioning mounting hole is Ø19mm, the size of the third positioning mounting hole is Ø12.5x19mm, and the size of the fourth, fifth and sixth positioning mounting holes is Ø18mm.

[0009] Furthermore, a pre-attached component is fixed to the connecting bracket. The pre-attached component is hook-shaped, and a pre-attached hole is provided on the crossbeam of the vehicle body. The pre-attached hole is adapted to the pre-attached component.

[0010] Furthermore, two reinforcing ribs are fixedly connected between the pre-attached component and the connecting bracket, and the reinforcing ribs are triangular ribs.

[0011] Furthermore, the connecting bracket adopts an integrated high-pressure die-cast aluminum structure, the base plate of the connecting bracket has a thickness of 4-6mm, and the base plate is coated with an anti-corrosion undercoat, a powder coating, and a fire-retardant coating.

[0012] Furthermore, the substrate plate of the connecting bracket is provided with multiple sets of reinforcing ribs and multiple columnar protrusions. The height of the reinforcing ribs is 5-25mm, the wall thickness of the reinforcing ribs is 4mm-8mm, and the columnar protrusions are located at the intersection of the multiple sets of reinforcing ribs.

[0013] Furthermore, the connecting bracket has a concave surface at its center.

[0014] Furthermore, the connecting bracket is installed on a plane that matches the vehicle body and battery pack, and is parallel to the XY plane of the vehicle coordinate system.

[0015] Compared with the prior art, the embodiments of the present invention have at least the following advantages: 1. The present invention provides a new energy vehicle battery pack connection bracket structure. By setting the connection bracket, the battery pack can be connected to the vehicle body beam and sill in a small space, reconstructing the force transmission path and forming a closed-loop force flow network. When the vehicle body is subjected to a collision impact, the force can be transmitted to the sill, improving the safety of the battery pack and also improving the rigidity of the vehicle body. 2. The present invention provides a new energy vehicle battery pack connection bracket structure. By setting pre-mounted parts on the connection bracket to match the pre-mounted holes on the vehicle body, it is convenient to place the pre-mounted parts into the pre-mounted holes before actual installation to form a pre-mounted support. This not only improves the reliability and convenience of the process installation, but also saves installation time and reduces the installation difficulty for workers.

[0016] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the connection bracket between the vehicle body and one side of the battery pack of the present invention is shown; Figure 2 A partial front view of the vehicle body of the present invention is shown; Figure 3 A first schematic diagram of the connecting bracket of the present invention is shown; Figure 4 A second schematic diagram of the connecting bracket of the present invention is shown; Figure 5 A schematic diagram of the pre-attached component of the present invention is shown; Figure 6 The diagram shows a front view of the overall installation of the connecting bracket of the present invention.

[0019] In the diagram, 101 is the vehicle body; 102 is the connecting bracket; 103 is the battery pack; 104 is the positioning mounting hole one; 105 is the positioning mounting hole two; 106 is the positioning mounting hole three; 107 is the M10 press-fit nut fixing point one; 108 is the M10 press-fit nut fixing point two; 109 is the M10 press-fit nut fixing point three; 110 is the M10 projection weld nut fixing point one; 111 is the M10 projection weld nut fixing point two; 112 is the M10 projection weld nut fixing point three; 113 is the pre-attached part; 114 is the pre-attached hole; 115 is the positioning mounting hole four; 116 is the positioning mounting hole five; 117 is the positioning mounting hole six; 118 is the reinforcing rib one; 119 is the cylindrical protrusion; 120 is the reinforcing rib two; and 121 is the concave surface. Detailed Implementation

[0020] The following description provides many different embodiments or examples for implementing various features of the invention. The elements and arrangements described in the specific examples below are only for concise expression of the invention and are merely examples, not intended to limit the invention.

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figure 1 , 2 As shown in Figure 6, the present invention provides a battery pack connection bracket structure for a new energy vehicle, including a vehicle body 101, a connection bracket 102, and a battery pack 103. There are two connection brackets 102, which are symmetrically distributed on the left and right sides of the front frame of the battery pack 103. The connection brackets 102 can connect the battery pack 103 to the vehicle body 101 as a whole and fix the battery pack 103 to the crossbeam and door sill of the vehicle body 101. The vehicle body 101, the connection bracket 102, and the battery pack 103 are all provided with corresponding connection points. The connection points of the vehicle body 101 are distributed at the intersection of the crossbeam and the left and right front longitudinal beams and on the door sills on both sides. The connection points of the battery pack 103 are distributed on the left and right sides of the front frame. This application takes into account that the vehicle body 101 and battery pack 103 are the core load-bearing boundaries of the new energy vehicle, and the mechanical performance of their connection structure is directly related to the safety and NVH performance of the entire vehicle. However, due to the limited installation space between the sill beam of the vehicle body 101 and the boundary of the battery pack 103, the traditional sheet metal connection scheme lacks cavity support, resulting in a flattened structure that cannot meet the stiffness requirements. Moreover, the existing connection nodes have stress concentration, and the force flow transmission efficiency is insufficient under collision conditions, which can easily lead to tearing failure of the bolt connection points. Therefore, this application sets up a connection bracket 102, which can connect the battery pack 103 with the crossbeam of the vehicle body 101 and the sill in a smaller space, reconstructing the force transmission path so that the three form a closed-loop force flow network. When the vehicle body 101 is subjected to a collision impact, the force can be transmitted to the sill, improving the safety of the battery pack 103 and also improving the stiffness of the vehicle body 101.

[0023] It should be noted that after the connecting bracket 102 is installed and fixed to the body 101 and the battery pack 103, it forms a "triangular" structure. This "triangular" structure can disperse the collision energy to the door sill of the body 101 and the edge of the battery pack 103, effectively reducing the risk of deformation of the battery pack 103. Traditional bolt fixing is prone to causing the battery pack 103 to be squeezed and deformed due to single-point force. In addition, the connection point of the connecting bracket 102 covers the area of ​​the transverse and longitudinal beams of the body 101 and the door sill, filling the gap of no fixing point at the front of the battery pack 103 in the traditional design, and improving the torsional stiffness of the body 101.

[0024] like Figure 2-4 As shown, the connecting bracket 102 is provided with positioning mounting holes 104, 105, and 106. Positioning mounting holes 104 and 105 are circular holes, while positioning mounting hole 106 is an oblong hole. M10 projection weld nut fixing points 110 and 111 are pre-embedded at the intersection of the crossbeam and the left and right front longitudinal beams of the vehicle body 101. M10 projection weld nut fixing points 110 and 111 correspond to positioning mounting holes 104 and 105, respectively. M10 projection weld nut fixing points 112 are pre-embedded on the door sills on both sides of the vehicle body 101. M10 projection weld nut fixing points 112 correspond to positioning holes 3. During operation, when installing the connection point between the connecting bracket 102 and the vehicle body 101, the workers pass three M10 bolts through the positioning mounting holes 104, 105, and 106 on the connecting bracket 102, respectively, and engage them with the pre-installed M10 projection weld nut fixing points 110, 111, and 112 on the vehicle body 101. After torque tightening, the connecting bracket 102 and the vehicle body 101 are rigidly fixed. By setting multiple connection points between the connecting bracket 102 and the vehicle body 101, the connection force between the vehicle body 101 and the connecting bracket 102 is evenly transmitted, avoiding structural failure caused by local stress concentration.

[0025] like Figure 1 , 3 As shown in Figure 4, the connecting bracket 102 is pre-embedded with M10 rivet nut fixing point 107, M10 rivet nut fixing point 208 and M10 rivet nut fixing point 309. The front frame of the battery pack 103 is provided with positioning mounting holes 415, 516 and 617 on both sides. The positioning mounting holes 415, 516 and 617 correspond to M10 rivet nut fixing point 107, M10 rivet nut fixing point 208 and M10 rivet nut fixing point 309 respectively. During operation, when installing the connection point between the connecting bracket 102 and the battery pack 103, the workers pass three M10 nuts through the positioning mounting holes 115, 116, and 117 on the battery pack 103, respectively, and thread them into the pre-installed M10 rivet nut fixing points 107, 108, and 109 on the connecting bracket 102. This secures the battery pack 103 to the connecting bracket 102. By using the three M10 rivet nuts to engage with the holes in the battery pack 103, not only is the axial load evenly distributed, but thermal deformation is also avoided.

[0026] like Figure 3-4 As shown, the size of the first positioning mounting hole 104 is Ø12.5mm, the size of the second positioning mounting hole 105 is Ø19mm, the size of the third positioning mounting hole 106 is Ø12.5x19mm, and the size of the fourth positioning mounting hole 115, the fifth positioning mounting hole 116, and the sixth positioning mounting hole 117 is Ø18mm.

[0027] like Figure 4-5 As shown, a pre-attached component 113 is fixedly connected to the connecting bracket 102. The pre-attached component 113 is generally hook-shaped. A pre-attached hole 114 is provided on the crossbeam of the vehicle body 101. The pre-attached hole 114 is adapted to the pre-attached component 113. This application also considers that when installing the connecting bracket 102, since there is no placement point between the connecting bracket 102 and the vehicle body 101 and the battery pack 103, the workers need to stabilize the connecting bracket 102 while installing the bolts during the initial installation stage. This not only easily leads to misalignment of the holes, increasing the installation difficulty, but also is time-consuming and labor-intensive. Therefore, this application provides a pre-hanging part 113 on the connecting bracket 102 to cooperate with the pre-hanging hole 114 on the vehicle body 101. This allows the pre-hanging part 113 to be placed into the pre-hanging hole 114 before actual installation, forming a pre-hanging support. This not only improves the reliability and convenience of the process installation, but also saves installation time and reduces the installation difficulty for workers. During operation, before installing the bolts, the workers first align the pre-hanging part 113 with the pre-hanging hole 114, and lift the connecting bracket 102 so that the pre-hanging part 113 slides into the pre-hanging hole 114. Since the pre-hanging part 113 is similar to a hook structure, the connecting bracket 102 can be suspended at the pre-hanging hole 114 by the pre-hanging part 113, achieving quick positioning. This allows the workers to free their hands and quickly carry out the subsequent bolt installation work, reducing assembly time.

[0028] like Figure 5 As shown, two reinforcing ribs 120 are fixedly connected between the pre-hanging component 113 and the connecting bracket 102. The reinforcing ribs 120 are triangular ribs. During operation, by setting a triangular reinforcing rib 120 between the pre-hanging part 113 and the connecting bracket 102, not only is its stability improved under long-term use or complex installation conditions, but it can also effectively disperse and bear external forces, preventing the pre-hanging part 113 from deforming, breaking or loosening under stress such as the fastening force and vibration during installation.

[0029] like Figure 3 As shown, the connecting bracket 102 adopts an integrated high-pressure die-cast aluminum structure. The base plate of the connecting bracket 102 has a thickness of 4-6mm. The base plate is coated with an anti-corrosion underlayer, a powder coating, and a fireproof coating. During operation, the use of high-pressure die-cast aluminum for the connecting bracket 102 provides greater design freedom, allowing for the creation of more geometric shapes and better structural flexibility. Furthermore, the low density of die-cast aluminum reduces weight while maintaining strength, achieving lightweight construction. For the anti-corrosion undercoat, epoxy electrophoretic paint with a thickness of 20-60μm can be used to isolate the metal substrate from the external environment. For the powder coating, polyamide or polyester powder coating with a thickness of 50-400μm can be used, providing mechanical protection and insulation. For the fire-retardant coating, intumescent fire-retardant coating with a thickness of 3-5mm can be used, which expands upon contact with fire to form a heat-insulating layer. The use of this die-cast aluminum connecting bracket 102 ensures uniform force transmission, improves the torsional stiffness of the vehicle body 101, and suppresses rollover of the front compartment of the vehicle body 101 under impact, making the structure of the vehicle body 101 more stable.

[0030] like Figure 3 As shown, the base plate of the connecting bracket 102 is provided with multiple sets of reinforcing ribs 118 and multiple columnar protrusions 119. The height of the reinforcing ribs 118 is 5-25mm, the wall thickness of the reinforcing ribs 118 is 4mm-8mm, and the columnar protrusions 119 are located at the intersection of the multiple sets of reinforcing ribs 118. It should be further explained that in high stress areas, namely the two sides of the connecting bracket 102 and the circumference of the hole, 8mm thick reflective reinforcing ribs-118 can be used, and in low stress areas, 4mm thick grid-shaped reinforcing ribs-118 can be used. During operation, by designing multiple sets of reinforcing ribs 118 on the connecting bracket 102 to form a mesh-like force transmission structure, the collision load can be distributed to the crossbeam and sill of the vehicle body 101. In addition, the crisscrossing reinforcing ribs 118 form multiple open cavity bodies, optimizing the stress transmission path and allowing the load to be more evenly distributed under the synergistic effect of the cavity bodies and reinforcing ribs 118, effectively avoiding structural deformation or failure caused by local stress concentration, thereby ensuring the stability and reliability of the connecting bracket 102 during vehicle operation. By designing columnar protrusions 119 at the intersection of reinforcing ribs 118 as local reinforcement nodes, the stress concentration of the connecting bracket 102 under collision conditions can be further dispersed. A thick-walled area is set at the outer edge of the base plate of the connecting bracket 102, which can improve the local load-bearing capacity of the connecting bracket 102. Together with the reinforcing ribs 118, the structural strength and durability during connection are doubly guaranteed.

[0031] like Figure 4 As shown, the connecting bracket 102 has a concave surface 121 at its center; During operation, the curved structure of the concave surface 121 optimizes stress distribution, avoiding the local stress concentration that is common in traditional planar brackets under stress. The concave surface 121 disperses concentrated stress to a wider area through its curvature, improving the overall strength and durability of the connecting bracket 102 and reducing the risk of breakage. Furthermore, the concave surface 121 can reduce stress impact from hard contact through the "elastic containment" of the curved surface, avoiding structural damage caused by stress concentration during installation. A concave arc edge is provided on the side of the connecting bracket 102 near the door sill of the vehicle body 101, allowing the arc edge to absorb impact energy through plastic deformation when the vehicle collides. Compared to the straight edge structure, the curved shape of the arc edge can disperse the impact force to a longer force path, avoiding local stress concentration that could lead to breakage of the connecting bracket 102, thereby protecting the battery pack 103.

[0032] like Figure 6 As shown, the connecting bracket 102 is matched with the vehicle body 101 and the battery pack 103 on the mounting plane, and is parallel to the vehicle coordinate XY plane.

[0033] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal connection of multiple components or the interaction between multiple components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] It should be understood that all terms used to indicate orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and should not be construed as a limitation of the present invention.

[0036] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A battery pack connection bracket structure for new energy vehicles, characterized in that, It includes a vehicle body (101), a connecting bracket (102) and a battery pack (103). There are two connecting brackets (102), and the two connecting brackets (102) are symmetrically distributed on the left and right sides of the front frame of the battery pack (103). The connecting bracket (102) is used to connect the battery pack (103) to the vehicle body (101) as a whole, and to fix the battery pack (103) on the crossbeam and sill of the vehicle body (101); the vehicle body (101), the connecting bracket (102) and the battery pack (103) are all provided with corresponding connection points. The connection points of the vehicle body (101) are distributed at the intersection of the crossbeam and the left and right front longitudinal beams and on the sills on both sides, and the connection points of the battery pack (103) are distributed on the left and right sides of the front frame.

2. The battery pack connection bracket structure for new energy vehicles according to claim 1, characterized in that, The connecting bracket (102) is provided with positioning mounting hole one (104), positioning mounting hole two (105) and positioning mounting hole three (106). Positioning mounting hole one (104) and positioning mounting hole two (105) are both circular holes, and positioning mounting hole three (106) is an oblong hole. M10 projection weld nut fixing point one (110) and M10 projection weld nut fixing point two (111) are pre-embedded at the intersection of the crossbeam and the left and right front longitudinal beams of the vehicle body (101). M10 projection weld nut fixing point one (110) and M10 projection weld nut fixing point two (111) correspond to positioning mounting hole one (104) and positioning mounting hole two (105) respectively. M10 projection weld nut fixing point three (112) is pre-embedded on the door sills on both sides of the vehicle body (101). M10 projection weld nut fixing point three (112) corresponds to positioning hole three.

3. The battery pack connection bracket structure for new energy vehicles according to claim 2, characterized in that, The connecting bracket (102) is pre-embedded with M10 rivet nut fixing point one (107), M10 rivet nut fixing point two (108) and M10 rivet nut fixing point three (109). The front frame of the battery pack (103) is provided with positioning mounting holes four (115), five (116) and six (117) on both sides. The positioning mounting holes four (115), five (116) and six (117) correspond to M10 rivet nut fixing point one (107), M10 rivet nut fixing point two (108) and M10 rivet nut fixing point three (109) respectively.

4. The battery pack connection bracket structure for new energy vehicles according to claim 3, characterized in that, The size of the first positioning mounting hole (104) is Ø12.5mm, the size of the second positioning mounting hole (105) is Ø19mm, the size of the third positioning mounting hole (106) is Ø12.5x19mm, and the size of the fourth positioning mounting hole (115), the fifth positioning mounting hole (116), and the sixth positioning mounting hole (117) is Ø18mm.

5. The battery pack connection bracket structure for new energy vehicles according to claim 4, characterized in that, A pre-attached component (113) is fixedly attached to the connecting bracket (102). The pre-attached component (113) is generally hook-shaped. A pre-attached hole (114) is opened on the crossbeam of the vehicle body (101). The pre-attached hole (114) is adapted to the pre-attached component (113).

6. The battery pack connection bracket structure for new energy vehicles according to claim 5, characterized in that, Two reinforcing ribs (120) are fixedly connected between the pre-attached component (113) and the connecting bracket (102), and the reinforcing ribs (120) are triangular ribs.

7. The battery pack connection bracket structure for new energy vehicles according to claim 6, characterized in that, The connecting bracket (102) adopts an integrated high-pressure die-cast aluminum structure. The base plate of the connecting bracket (102) has a thickness of 4-6mm and is coated with an anti-corrosion underlayer, a powder coating and a fireproof coating.

8. The battery pack connection bracket structure for new energy vehicles according to claim 7, characterized in that, The base plate of the connecting bracket (102) is provided with multiple sets of reinforcing ribs (118) and multiple columnar protrusions (119). The height of the reinforcing ribs (118) is 5-25mm, the wall thickness of the reinforcing ribs (118) is 4mm-8mm, and the columnar protrusions (119) are located at the intersection of the multiple sets of reinforcing ribs (118).

9. A new energy vehicle battery pack connection bracket structure according to claim 8, characterized in that, The connecting bracket (102) has a concave surface (121) at its center.

10. A new energy vehicle battery pack connection bracket structure according to claim 9, characterized in that, The connecting bracket (102) is matched with the vehicle body (101) and battery pack (103) on the mounting plane and is parallel to the vehicle coordinate XY plane.

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