Intelligent vehicle and marshalling method with flexible marshalling

Abstract

The present application relates to unmanned technology field, more specifically, it relates to a kind of flexible marshalling intelligent vehicle and marshalling method.The present application provides a kind of flexible marshalling intelligent vehicle, including wire control brake system, full-wheel independent wire control drive module and full-wheel independent wire control steering module, are electrically connected with each other, and are coordinated and controlled by the electronic control unit of vehicle, wire control brake system is used to control brake force distribution by electronic signal, full-wheel independent wire control drive module includes wheel hub drive system, wheel hub drive system is used to control each wheel speed, full-wheel independent wire control steering module includes wire control steering controller, wire control steering controller is used to control tire angle and realize vehicle turning.The present application not only solves the problem of insufficient single intelligent vehicle traffic and complex multi-car operation and maintenance scheduling, but also realizes the efficient group operation of multiple intelligent vehicles, and optimizes the selection of driving mode and the execution of operation task.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and more specifically, to an intelligent vehicle that can be flexibly grouped and a grouping method. Background Technology

[0002] With the continuous development of autonomous driving technology, its application prospects in freight and passenger transport are broad. However, current autonomous driving systems still face technical bottlenecks in their perception, recognition, and decision-making capabilities under complex road conditions. Overall stability and reliability need further improvement, and large-scale open applications have not yet been fully realized, remaining only in the demonstration operation stage. Therefore, achieving efficient, safe, and stable autonomous vehicles remains a pressing technical challenge that needs to be overcome.

[0003] To address the application needs of autonomous vehicles, the carrying capacity of a single intelligent vehicle is limited, making it difficult to meet the demands of medium to large-scale transportation. Furthermore, the operation and scheduling of multiple vehicles presents significant complexities, particularly in terms of inter-vehicle collaborative communication and real-time control. Current technologies typically design vehicles to operate independently, lacking effective grouping capabilities and hindering their ability to leverage their full potential on specific routes or semi / fully enclosed roads. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible grouping intelligent vehicle to solve the problems of insufficient carrying capacity of a single vehicle and complex operation and maintenance scheduling of multiple vehicles in the prior art, thereby improving the application efficiency and reliability of autonomous driving technology in specific scenarios.

[0005] The following provides a brief overview of one or more aspects to offer a basic understanding of them. This overview is not an exhaustive summary of all conceived aspects, nor is it intended to identify key or decisive elements of all aspects, nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form to prepare for the more detailed descriptions that follow.

[0006] To achieve the above objectives, the present invention provides a flexibly groupable intelligent vehicle, including a brake-by-wire system, an all-wheel independent steer-by-wire module, and an all-wheel independent steering-by-wire module;

[0007] The brake-by-wire system, the all-wheel independent steer-by-wire module, and the all-wheel independent steering-by-wire module are electrically connected to each other and coordinated and controlled by the vehicle's electronic control unit.

[0008] The brake-by-wire system is used to control the distribution of braking force via electronic signals;

[0009] The all-wheel independent drive-by-wire module includes a hub drive system, which is used to control the speed of each wheel.

[0010] The all-wheel independent steer-by-wire module includes a steer-by-wire controller, which is used to control the tire angle to achieve vehicle turning.

[0011] In one embodiment, it includes a mechanical interface module, an electrical interface module, and a network interface module:

[0012] The mechanical interface module, electrical interface module, and network interface module are used to enable the grouping and operation of multiple intelligent vehicles;

[0013] Among them, the mechanical interface module is used to realize the mechanical connection between intelligent vehicles. By mechanically connecting multiple independent intelligent vehicles end to end, the physical fixation and stable operation of the vehicles can be achieved.

[0014] The electrical interface module is used to realize electrical connections between intelligent vehicles and to identify the lead car and the number of vehicles in a train through IO digital signals;

[0015] The network interface module is used to enable communication between intelligent vehicles and transmit traction, braking and steering control commands through wireless communication technology.

[0016] In one embodiment, the intelligent vehicle adopts a symmetrical structural design for mechanical connection of the front, rear and / or sides of any intelligent vehicle.

[0017] In one embodiment, the hub drive system uses electronic differential technology to control the speed of each wheel, thereby achieving differential steering in place.

[0018] In one embodiment, the steer-by-wire controller controls the tire angle through a steering structure to enable the vehicle to turn on different curves.

[0019] In one embodiment, the intelligent vehicle includes a control panel for operators to select the lead vehicle, which, as the master control vehicle, communicates with the operation and maintenance dispatch center.

[0020] In one embodiment, the intelligent vehicle is equipped with panoramic glass sliding doors at the front and rear for communication between intelligent vehicles.

[0021] To achieve the above objectives, the present invention also provides a method for grouping intelligent vehicles, employing flexibly groupable intelligent vehicles as described in any of the preceding claims, comprising:

[0022] The grouping method is selected according to the application scenario and requirements. The grouping method includes single-column grouping and / or matrix grouping.

[0023] Multiple intelligent vehicles are connected end-to-end via mechanical connections;

[0024] Grouping information is identified through IO digital signals, and the grouping information includes: lead car and number of cars in the group;

[0025] Based on the identified formation information, the lead vehicle sends traction, braking, and steering control commands to other vehicles via wireless communication technology, enabling intelligent vehicle formation and operation.

[0026] In one embodiment, the single-line grouping is a grouping method that connects multiple intelligent vehicles end to end to form a long convoy.

[0027] The matrix grouping involves arranging multiple intelligent vehicles in a matrix format to form an M×N grouping, where M represents rows and N represents columns.

[0028] In one embodiment, the intelligent vehicle grouping operation further includes: determining the outer aisle radius of the turning path based on the size of the intelligent vehicles and the number of groups.

[0029] In one embodiment, the intelligent vehicle grouping operation further includes: identifying the number of vehicle groups based on IO digital signals, and lengthening the turning curves by increasing the radius of the outer channel circle as the number of vehicle groups increases.

[0030] This invention proposes a flexible grouping intelligent vehicle and its grouping method, which adopts brake-by-wire, all-wheel independent drive-by-wire, and all-wheel independent steering-by-wire technologies to balance independent and grouped operation. It is grouped into a convoy for operation through mechanical, electrical, and network connections. At the same time, a panoramic glass sliding door structure is introduced to facilitate sightseeing and communication between vehicles. This not only realizes the efficient grouping and operation of multiple intelligent vehicles, but also optimizes the selection of driving modes and the execution of operational tasks. Attached Figure Description

[0031] The above-described features and advantages of the present invention will be better understood after reading the following detailed description of embodiments of the present disclosure in conjunction with the accompanying drawings. In the drawings, components are not necessarily drawn to scale, and components having similar related characteristics or features may have the same or similar reference numerals.

[0032] Figure 1 A system block diagram of an intelligent vehicle according to one aspect of the present invention is disclosed.

[0033] Figure 2 Four views of an intelligent vehicle according to one aspect of the present invention are shown.

[0034] Figure 3 A schematic diagram of a smart vehicle's differential steering in place, as described in this invention, is shown.

[0035] Figure 4 A schematic diagram of intelligent vehicle steer-by-wire according to one aspect of the present invention is shown.

[0036] Figure 5 A schematic diagram of a panoramic glass sliding door for intelligent vehicles, one aspect of the present invention, is shown.

[0037] Figure 6A A schematic diagram of a two-unit intelligent vehicle according to an embodiment of the present invention is shown.

[0038] Figure 6B A schematic diagram of a two-unit intelligent vehicle turning according to an embodiment of the present invention is shown.

[0039] Figure 7A A schematic diagram of a three-unit intelligent vehicle according to another embodiment of the present invention is shown.

[0040] Figure 7B A schematic diagram of a three-unit intelligent vehicle turning according to an embodiment of the present invention is shown.

[0041] Figure 8A A schematic diagram of a two-unit (2×1) intelligent vehicle according to another embodiment of the present invention is shown.

[0042] Figure 8B A schematic diagram of a two-group (2×1) intelligent vehicle turning according to an embodiment of the present invention is disclosed.

[0043] Figure 9A A schematic diagram of a four-unit (2×2) intelligent vehicle according to another embodiment of the present invention is shown.

[0044] Figure 9B A schematic diagram of a four-group (2×2) intelligent vehicle turning according to an embodiment of the present invention is disclosed.

[0045] Figure 10A A schematic diagram of a six-unit (2×3) intelligent vehicle according to another embodiment of the present invention is shown.

[0046] Figure 10B A schematic diagram of a six-unit (2×3) intelligent vehicle turning according to an embodiment of the present invention is disclosed.

[0047] Figure 11 A flowchart of a grouping method according to an embodiment of the present invention is disclosed.

[0048] The meanings of the labels in the figures are as follows:

[0049] 100-line control braking system;

[0050] 200 all-wheel independent drive-by-wire module;

[0051] 300 all-wheel independent steer-by-wire module;

[0052] A passage for 50 intelligent vehicles. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention.

[0054] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0055] Figure 1 A schematic diagram of a flexibly groupable intelligent vehicle, as shown in this invention, is illustrated. Figure 1 As shown, the present invention proposes a flexibly groupable intelligent vehicle, including a brake-by-wire system 100, an all-wheel independent steer-by-wire module 200, and an all-wheel independent steering-by-wire module 300;

[0056] The brake-by-wire system 100, the all-wheel independent steer-by-wire module 200, and the all-wheel independent steering-by-wire module 300 are electrically connected to each other and are coordinated and controlled by the vehicle's electronic control unit.

[0057] The brake-by-wire system 100 is used to control the distribution of braking force via electronic signals;

[0058] The all-wheel independent drive-by-wire module 200 includes a hub drive system for controlling the rotational speed of each wheel;

[0059] The all-wheel independent steer-by-wire module 300 includes a steer-by-wire controller for controlling the tire angle to achieve vehicle turning.

[0060] The brake-by-wire system is responsible for the vehicle's braking function, controlling the braking force through electronic signals to improve braking response speed and accuracy.

[0061] Each wheel of the intelligent vehicle is driven by an independent motor. The all-wheel independent drive-by-wire module controls the torque output of each wheel through electronic signals, enhancing the vehicle's handling and power performance.

[0062] The steering angle of each wheel in an intelligent vehicle can be controlled independently. By adjusting the steering of each wheel through electronic signals, the maneuverability and stability of the vehicle can be improved.

[0063] The intelligent vehicle provided by this invention coordinates and controls the brake-by-wire system through the vehicle's electronic control unit (ECU). It can work in conjunction with the all-wheel independent steer-by-wire module and the all-wheel independent steering-by-wire module to achieve more precise dynamic control and handle different functions.

[0064] Intelligent vehicles can operate in groups through mechanical, electrical, and network connections;

[0065] Among them, the mechanical interface module is used to realize mechanical connection, which realizes the physical fixation and stable operation of multiple independent intelligent vehicles by mechanically connecting them end to end;

[0066] The electrical interface module is used to implement electrical connections and to identify the lead car and the number of trains through IO digital signals;

[0067] The network interface module is used to establish communication connections and transmit traction, braking and steering control commands through wireless communication technology.

[0068] This invention proposes a flexible intelligent vehicle that can be grouped into formations through mechanical, electrical, and network connections. This solves the problems of insufficient capacity of a single intelligent vehicle and complex operation and scheduling of multiple vehicles, enabling efficient grouping and operation of multiple intelligent vehicles. At the same time, a panoramic glass sliding door structure is introduced to facilitate sightseeing and communication between vehicles. By-wire braking, all-wheel independent drive-by-wire, and all-wheel independent steering-by-wire technologies are adopted to balance independent and group operation. Furthermore, the intelligent vehicle grouping identification method simplifies the identification process of the lead vehicle, the front of the vehicle, and the number of vehicles in the formation, thereby optimizing the selection of driving modes and the execution of operational tasks.

[0069] Figure 2 The invention discloses four views of an intelligent vehicle, which are, from left to right and from top to bottom, a left view, a front view, a right view, and a bottom view of the intelligent vehicle.

[0070] like Figure 2 As shown, the vehicle length L can range from L=3.5m to 4.5m, the width B can range from B=2m to 2.5m, and the height H can range from H=2.5m to 3.5m. The specific model can be selected according to the application scenario.

[0071] Combination Figure 1 and Figure 2 Intelligent vehicles are driverless vehicles with functions such as brake-by-wire, all-wheel independent drive-by-wire, and all-wheel independent steering-by-wire. They can be used for both freight and passenger transport.

[0072] The intelligent vehicle includes a brake-by-wire system 100, an all-wheel independent steer-by-wire module 200, and an all-wheel independent steering-by-wire module 300.

[0073] The brake-by-wire system 100 is a system that controls the brakes via electrical signals. It replaces mechanical parts with electronic components and achieves braking control through sensors and actuators. There is no direct mechanical connection between the brake pedal and the brake actuator. Instead, the displacement and pressure of the pedal are sensed by sensors, and these signals are then transmitted to the electronic control unit (ECU). The ECU then controls the brake actuator to generate braking force, which has a faster response speed, higher control precision, and support for autonomous driving.

[0074] The all-wheel independent drive-by-wire module 200 includes a hub drive system for controlling the speed of each wheel. Furthermore, the hub drive system uses electronic differential technology to control the speed of each wheel, thereby achieving differential steering in place.

[0075] In-wheel drive systems, also known as in-wheel motor technology, are an advanced drive system that integrates an electric motor, drive system, and brake system within the wheel. In this system, each wheel of a smart vehicle is driven by an independent motor. The in-wheel motor directly transmits power to the wheel, specifically by providing different torque outputs to the left and right wheels. This effectively prevents wheel slippage, reduces the turning radius, and improves vehicle stability when cornering.

[0076] Electronic Differential Control (EDC) is an intelligent control system used to improve the traction and stability of a vehicle during driving. It uses an electronic control unit (ECU) to monitor the wheel speed difference in real time and automatically adjust the torque distribution between the wheels, thereby enabling intelligent vehicles to perform differential steering on the spot.

[0077] Figure 3 A schematic diagram illustrating one aspect of the present invention—in-situ differential steering of an intelligent vehicle—is shown, as follows: Figure 3 As shown, in stationary differential steering, only one pair of wheels and axles are fixed, and these are also the wheels responsible for steering. The other pairs of wheels are usually free-rotating and do not participate in steering. This makes the direction of movement of the drive wheels the same as the plane of rotation, even when the vehicle is turning.

[0078] The all-wheel independent steer-by-wire module 300 includes a steer-by-wire controller for controlling the tire angle to achieve vehicle turning. Furthermore, the steer-by-wire controller controls the tire angle through the steering structure to achieve different curves for the vehicle to turn.

[0079] Figure 4 A schematic diagram illustrating one aspect of intelligent vehicle steer-by-wire according to the present invention is shown. For example... Figure 4 As shown, when an intelligent vehicle turns, the steering angle of each wheel is controlled independently. Specifically, the steering angle of the tires is directly controlled by the steering structure of the steer-by-wire controller, enabling the vehicle to turn on different curves.

[0080] In one embodiment, the outer channel radius is determined based on the length L, width B, height H, and number of groups of the intelligent vehicle. For example, when an intelligent vehicle is steered by steer-by-wire, the outer channel radius can be set to R = 4500 mm.

[0081] It should be noted that the outer channel radius of each group of intelligent vehicles provided in this invention when turning can be used for comparison, but has no practical significance.

[0082] Figure 5 A schematic diagram of a panoramic glass sliding door for intelligent vehicles, representing one aspect of the present invention, is shown. (See diagram below.) Figure 5 As shown, the intelligent vehicle is equipped with panoramic glass sliding doors at both the front and rear. The middle part of the panoramic glass sliding door plan is the intelligent vehicle's passageway 50. This panoramic glass sliding door provides a panoramic view, is used for communication between intelligent vehicles after being grouped together, and is also convenient for sightseeing.

[0083] This invention enables the efficient grouping and operation of multiple intelligent vehicles through mechanical, electrical, and network connection technologies. It also introduces a panoramic glass sliding door structure to facilitate sightseeing and communication between vehicles, and adopts drive-by-wire braking, all-wheel independent drive-by-wire drive, and all-wheel independent steering-by-wire technologies to balance independent and grouped operation, thus realizing the operation and maintenance scheduling of multiple vehicles.

[0084] Figure 11 A flowchart of a grouping method according to an embodiment of the present invention is disclosed, as follows: Figure 11 As shown, the present invention also provides a grouping method for the intelligent vehicle described above, comprising:

[0085] S1. Select the grouping method according to the application scenario and requirements. The grouping method includes single-column grouping and matrix grouping.

[0086] S2. Connect multiple intelligent vehicles end to end via mechanical connection;

[0087] S3. Identify the grouping information through IO digital signals, wherein the grouping information includes: the lead car and the number of cars in the group;

[0088] S4. Based on the identified grouping information, the lead vehicle sends traction, braking, and steering control commands to other vehicles via wireless communication technology, thereby enabling intelligent vehicle grouping and operation.

[0089] Single-line formation is a formation method that connects multiple intelligent vehicles end to end to form a long convoy.

[0090] In one embodiment, single-row grouping (1×L, L>2) is suitable for long-distance transportation on fixed, semi-enclosed, or fully enclosed lines, such as urban rail transit or logistics lines in specific areas. It not only provides continuous transportation capacity and stable, efficient service, but also simplifies vehicle control and scheduling in scenarios where complex grouping control logic is not required. Here, L represents the number of intelligent vehicle groups.

[0091] Matrix grouping is a method of arranging multiple intelligent vehicles in a matrix form to form an M×N (M>1, N≥1) grouping, where M represents rows and N represents columns.

[0092] In one embodiment, matrix grouping is suitable for use in space-constrained environments, such as urban centers or small industrial parks, or on road sections with complex road conditions. Matrix grouping can provide greater flexibility and adaptability, and in scenarios requiring multi-vehicle collaborative operation, matrix grouping can provide better collaborative effects.

[0093] The choice between single-column grouping and matrix grouping depends on the specific application scenario, transportation needs, road conditions, and operational flexibility requirements. In practical applications, these two grouping methods can be flexibly selected or combined according to actual needs.

[0094] Figure 6A A schematic diagram of a two-unit intelligent vehicle according to an embodiment of the present invention is shown, as follows: Figure 6A As shown, the intelligent vehicle adopts a symmetrical structure (the front and rear designs of the intelligent vehicle are the same) for mechanical connection at the front and rear and / or sides of any intelligent vehicle, and the vehicles are connected by mechanical, electrical and network connections to realize the grouping and operation of two vehicles.

[0095] The front and rear of the vehicle feature a symmetrical design, and the body is typically symmetrical around the vehicle's centerline.

[0096] Figure 7A A schematic diagram of a three-unit intelligent vehicle according to another embodiment of the present invention is disclosed, as follows: Figure 7A As shown, the intelligent vehicle adopts a symmetrical structure (the front and rear designs of the intelligent vehicle are the same) for mechanical connection at the front and rear and / or sides of any intelligent vehicle, and the vehicles are connected by mechanical, electrical and network connections to realize the grouping and operation of three vehicles.

[0097] Among them, the mechanical interface module is used to realize mechanical connection, which realizes the physical fixation and stable operation of multiple independent intelligent vehicles by mechanically connecting them end to end;

[0098] The electrical interface module is used to implement electrical connections and to identify the lead car and the number of trains through IO digital signals;

[0099] The network interface module is used to establish communication connections and transmit traction, braking and steering control commands through wireless communication technology.

[0100] In one embodiment, the intelligent vehicles are grouped in a single column, during which the head and tail of any vehicle can be connected to each other. After grouping, the vehicles identify the front and lead vehicle through electrical connection I / O digital signals. Furthermore, the operator selects the lead vehicle through the control panel. The lead vehicle, as the main control vehicle, communicates with the operation and maintenance dispatch center to perform operational tasks, while other vehicles execute the traction, braking, and steering control commands of the lead vehicle.

[0101] In this embodiment, the electrical connection, via I / O digital signals, is also used to identify information about the lead vehicle. The lead vehicle is the primary control vehicle in the convoy, responsible for communicating with the outside world and directing the actions of other vehicles. The locomotive is the first vehicle in the convoy; it may or may not be the lead vehicle, depending on the connection and control logic used during assembly. In practical applications, the lead vehicle sends control signals to direct the other vehicles in the convoy, ensuring the coordinated operation of the convoy.

[0102] Figure 6B A schematic diagram of a two-unit intelligent vehicle turning according to an embodiment of the present invention is shown, as follows: Figure 6B As shown, the two groups of intelligent vehicles are connected end to end.

[0103] In this embodiment, a single-column grouping is selected, with the two groups of intelligent vehicles mechanically connected end to end.

[0104] Figure 7B A schematic diagram of a three-unit intelligent vehicle turning according to an embodiment of the present invention is shown, as follows: Figure 7B As shown, the three intelligent vehicles are connected end to end.

[0105] In this embodiment, a single-column grouping is selected, and the three groups of intelligent vehicles are mechanically connected end to end.

[0106] Furthermore, the number of vehicles in a formation can be identified through IO digital signals to adapt to different application scenarios and enter different driving modes, with the formation length increasing the radius of passage through curves.

[0107] Combination Figure 6B and Figure 7B The turning radius required for a two-unit intelligent vehicle is 8,500 mm (8.5 m), and the turning radius required for a three-unit intelligent vehicle is 12,000 mm (or 12 m).

[0108] In this embodiment, the number of vehicles in a group is identified based on the IO digital signal. As the number of vehicles in a group increases, the turning curves are lengthened by increasing the radius of the channel circle. The radius of the channel circle is a key parameter to ensure that the vehicles in the group can pass through the curves smoothly without collisions or deviating from the road.

[0109] Figure 8A A schematic diagram of a two-unit (2×1) intelligent vehicle according to another embodiment of the present invention is shown. Figure 9A A schematic diagram of a four-unit (2×2) intelligent vehicle according to another embodiment of the present invention is shown. Figure 10A A schematic diagram of a six-unit (2×3) intelligent vehicle according to another embodiment of the present invention is shown.

[0110] like Figure 8A , Figure 9A and Figure 10A As shown, the two-car (2×1) intelligent vehicle, the four-car (2×2) intelligent vehicle, and the six-car (2×3) intelligent vehicle are some embodiments of the matrix formation method. Each intelligent vehicle is equipped with a brake-by-wire system, an all-wheel independent steer-by-wire module, and an all-wheel independent steering-by-wire module.

[0111] It is worth noting that by choosing the matrix formation method, intelligent vehicles are not only connected end-to-end, but also connected sideways or in other ways to form a matrix structure, which is suitable for scenarios that require rapid adjustment of the formation structure or operation in complex environments. Furthermore, operators can select the lead vehicle through the control panel. The lead vehicle will automatically act as the main control vehicle, communicating with the operation and maintenance dispatch center to perform operational tasks, while other vehicles execute the traction, braking, and steering control commands of the lead vehicle.

[0112] Figure 8B A schematic diagram of a two-unit intelligent vehicle turning according to an embodiment of the present invention is shown. Figure 9B A schematic diagram of a four-unit intelligent vehicle turning according to an embodiment of the present invention is shown. Figure 10B A schematic diagram of a six-unit intelligent vehicle turning according to an embodiment of the present invention is shown.

[0113] like Figure 8B , Figure 9B and Figure 10B As shown, during the turning process, the radius of the passage circle of the two-car (2×1) intelligent vehicle, the four-car (2×2) intelligent vehicle, and the six-car (2×3) intelligent vehicle can be determined according to the number of cars in the car. As the number of cars in the car increases, by increasing the radius of the passage circle, the intelligent vehicle can adapt to longer and wider turns to ensure smooth and safe turning.

[0114] It is worth noting that the radius data of the outer channel circle in the figure is not specifically set and is only a visual comparison diagram.

[0115] This invention provides a flexible grouping intelligent vehicle and a grouping method, in which multiple intelligent vehicles are grouped into a train for operation through mechanical, electrical, and network connections, solving the problems of insufficient transport capacity and complex scheduling, and achieving the following technical effects:

[0116] (1) This invention organizes multiple independent intelligent vehicles into a train for operation through mechanical, electrical and network connections. This design effectively solves the problem of insufficient carrying capacity of a single intelligent vehicle, while simplifying the operation and maintenance scheduling of multiple vehicles and improving the overall transportation efficiency.

[0117] (2) The present invention provides a panoramic glass sliding door structure, which not only enhances the sightseeing experience of passengers, but also provides interoperability between vehicles after intelligent vehicle assembly, increasing convenience.

[0118] (3) This invention proposes an unmanned vehicle with brake-by-wire, all-wheel independent drive-by-wire, and all-wheel independent steering-by-wire, which enables intelligent vehicles to switch flexibly between independent operation and group operation, achieving flexibility in independent and group operation and meeting the needs of different operating scenarios.

[0119] (4) The present invention also proposes an intelligent vehicle grouping identification method, which can accurately identify the lead vehicle, the front of the vehicle and the number of groups. This is crucial for selecting appropriate driving modes and performing operational tasks for the grouped intelligent vehicles, thereby improving the flexibility and efficiency of operation.

[0120] Furthermore, the terms "upper," "lower," "left," "right," "top," "bottom," "horizontal," and "vertical" used in the following description should be understood as the orientations shown in the relevant paragraphs and accompanying drawings. These relative terms are for illustrative purposes only and do not imply that the described apparatus must be manufactured or operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0121] It is understood that although terms such as "first," "second," and "third" may be used herein to describe various components, regions, layers, and / or parts, these components, regions, layers, and / or parts should not be limited by these terms, and these terms are only used to distinguish different components, regions, layers, and / or parts. Therefore, the first components, regions, layers, and / or parts discussed below may be referred to as second components, regions, layers, and / or parts without departing from some embodiments of the present invention.

[0122] The prior description of this disclosure is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to this disclosure will be apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not intended to be limited to the examples and designs described herein, but should be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible, modular intelligent vehicle, characterized in that, The intelligent vehicle includes a brake-by-wire system, an all-wheel independent steer-by-wire module, and an all-wheel independent steering-by-wire module. The brake-by-wire system, the all-wheel independent steer-by-wire module, and the all-wheel independent steering-by-wire module are electrically connected to each other and coordinated and controlled by the vehicle's electronic control unit. The brake-by-wire system is used to control the distribution of braking force via electronic signals; The all-wheel independent drive-by-wire module includes a hub drive system, which is used to control the speed of each wheel. The all-wheel independent steer-by-wire module includes a steer-by-wire controller, which is used to control the tire angle to achieve vehicle turning.

2. The intelligent vehicle capable of flexible grouping according to claim 1, characterized in that, Includes mechanical interface modules, electrical interface modules, and network interface modules: The mechanical interface module, electrical interface module, and network interface module are used to enable the grouping and operation of multiple intelligent vehicles; Among them, the mechanical interface module is used to realize the mechanical connection between intelligent vehicles. By mechanically connecting multiple independent intelligent vehicles end to end, the physical fixation and stable operation of the vehicles can be achieved. The electrical interface module is used to realize electrical connections between intelligent vehicles and to identify the lead car and the number of vehicles in the formation through IO digital signals; The network interface module is used to enable communication between intelligent vehicles and transmit traction, braking and steering control commands through wireless communication technology.

3. The flexibly groupable intelligent vehicle according to claim 2, characterized in that, The intelligent vehicle adopts a symmetrical structural design for mechanical connection at the front, rear and / or sides of any intelligent vehicle.

4. The intelligent vehicle capable of flexible grouping according to claim 1, characterized in that, The hub drive system uses electronic differential technology to control the speed of each wheel, enabling differential steering while stationary.

5. The intelligent vehicle capable of flexible grouping according to claim 1, characterized in that, The steer-by-wire controller controls the tire angle through the steering structure, enabling the vehicle to turn on different curves.

6. The flexibly groupable intelligent vehicle according to claim 2, characterized in that, The intelligent vehicle includes a control panel, which is used by the operator to select the lead vehicle, which, as the main control vehicle, communicates with the operation and maintenance dispatch center.

7. The intelligent vehicle capable of flexible grouping according to claim 1, characterized in that, The intelligent vehicle is equipped with panoramic glass sliding doors at the front and rear for communication between intelligent vehicles.

8. A method for grouping intelligent vehicles, characterized in that, The intelligent vehicle with flexible grouping as described in any one of claims 1-7 includes: The grouping method is selected according to the application scenario and requirements. The grouping method includes single-column grouping and / or matrix grouping. Multiple intelligent vehicles are connected end-to-end via mechanical connections; Grouping information is identified through IO digital signals, and the grouping information includes: lead car and number of cars in the group; Based on the identified formation information, the lead vehicle sends traction, braking, and steering control commands to other vehicles via wireless communication technology, enabling intelligent vehicle formation and operation.

9. The grouping method according to claim 8, characterized in that, The single-line formation is a formation method that connects multiple intelligent vehicles end to end to form a long convoy; The matrix grouping involves arranging multiple intelligent vehicles in a matrix format to form an M×N grouping, where M represents rows and N represents columns.

10. The grouping method according to claim 8, characterized in that, The intelligent vehicle grouping operation further includes: determining the outer radius of the turning channel based on the size of the intelligent vehicles and the number of groups.

11. The grouping method according to claim 10, characterized in that, The intelligent vehicle grouping operation further includes: identifying the number of vehicle groups based on IO digital signals, and lengthening the turning curves by increasing the radius of the outer channel as the number of vehicle groups increases.

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