VEHICLE CORNER MODULES AND SYSTEMS AND METHODS FOR PACKAGING SAME - Patent application

Abstract

A vehicle corner module (VCM) for coordinating vehicle movement, the VCM connectable to a VCM connection interface of a reference frame of a vehicle platform. When a wheel is attached to a wheel hub assembly of the VCM, the vehicle connection interface of the VCM is disposed within a cylindrical footprint of the wheel. At least one of at least one subsystem of the VCM is contained between the wheel hub assembly and the vehicle connection interface. A vehicle platform is connectable to the VCM. The connection of the vehicle platform to the VCM can include connecting a subsystem of the VCM to an electronic subsystem or a flow subsystem attached to the vehicle platform by connecting two portions of a multi-interface connection element.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority from U.S. Provisional Patent Application No. 63 / 196,700, filed June 4, 2021, which is incorporated by reference in its entirety. This application is a continuation of U.S. Provisional Patent Application No. 17 / 555,459, filed December 19, 2021, which is incorporated by reference in its entirety.

[0002] The present invention relates to a vehicle corner module (VCM) for adjusting the motion of a vehicle, and more particularly to a system and method for mounting said VCM on a reference frame or platform of said vehicle. [Background technology]

[0003] As future vehicle ownership transitions from personal ownership to fleet and shared mobility ownership, maintenance of such future fleets is becoming a key factor in the profitability of fleet operations. A vehicle platform designed for electric drive can include axleless wheel assemblies that include independent suspension subsystems, drivetrain subsystems, braking subsystems, and steering subsystems between the wheel assemblies assembled on the vehicle platform.

[0004] Connecting or disconnecting the subsystems associated with the wheel assemblies to the vehicle platform can be a complex and specialized operation.

[0005] Therefore, what is needed is a system and method for simply and quickly mounting and dismounting one or more wheel assemblies to a reference frame of a vehicle. Summary of the Invention

[0006] Some embodiments of the present invention relate to methods and systems for mounting the VCM to a reference frame or platform of the vehicle, including various interfaces for mounting the VCM to the reference frame, as well as specialized connectors that simplify mounting of the VCM.

[0007] Thus, in one embodiment disclosed herein, there is disclosed a Vehicle Corner Module (VCM) connectable to a VCM connection interface of a reference frame of a vehicle platform for coordinating vehicle motion, the VCM comprising: a subframe including a vehicle connection interface for reversibly mechanically connecting the VCM to the VCM connection interface of the reference frame; a wheel hub assembly including a wheel hub adapted to mount a wheel; At least one subsystem of the vehicle, the at least one subsystem of the vehicle being mounted to the subframe and selected from the group of subsystems consisting of a drive subsystem, a steering subsystem, a suspension subsystem, and a braking subsystem; when a wheel is attached to the wheel hub assembly, the vehicle connection interface is disposed within a cylindrical footprint of the wheel; At least one of the at least one subsystem is contained between the wheel hub assembly and the vehicle connection interface.

[0008] In some embodiments, when the subframe is connected to the reference frame by engagement of the vehicle connection interface with the VCM connection interface, the vehicle connection interface is located between the wheels and the reference frame.

[0009] In some embodiments, when the subframe is connected to the reference frame by engagement of the vehicle connection interface with the VCM connection interface, the vehicle connection interface is positioned at a height between an upper surface and a lower surface of the reference frame.

[0010] In some embodiments, the vehicle further includes at least one power source and the VCM further includes at least one connector for connecting to the at least one power source such that the at least one power source provides power to the at least one subsystem when the VCM is connected to the vehicle.

[0011] In some embodiments, the at least one subsystem comprises: a subsystem disposed between the wheel hub assembly and the vehicle connection interface; a subsystem mounted to a portion of the subframe and adapted to be disposed within the reference frame and between an upper surface and a lower surface of the reference frame when the subframe is connected to the reference frame; Includes at least one of the following:

[0012] In some embodiments, all subsystems in the plurality of subsystems are disposed between the wheel hub assembly and the vehicle connection interface.

[0013] In some embodiments, when a vehicle connection interface of the VCM is positioned at the height of the reference frame, connection of the subframe to the reference frame is effected by engagement of the vehicle connection interface and the VCM connection interface.

[0014] In some embodiments, the VCM connection interface includes a rod extending from the reference frame parallel to a longitudinal axis of the reference frame, and the vehicle connection interface includes a clamp adapted to clamp to the rod, thereby connecting the VCM to the vehicle. In some such embodiments, the clamp's clamping to the rod is adapted to be enhanced by at least one fastener. In some embodiments, the clamp is slidable onto the rod.

[0015] In some embodiments, the rod extends between the reference frame and a bumper of the vehicle platform, and in some such embodiments, the clamp is attached to the rod prior to attachment of the bumper such that attachment of the bumper strengthens the connection between the VCM and the vehicle platform.

[0016] In some embodiments, the sub-frame is adapted to be attached to a planar reference frame, the planar reference frame not including a raised connecting portion located above an upper surface or below a lower surface of said reference frame.

[0017] In some embodiments, the subframe includes a second connection interface adapted to connect to a vehicle assembly coupled to the reference frame. In some such embodiments, the vehicle assembly includes a top hat frame of the vehicle adapted to encase the wheels.

[0018] In some embodiments, the vehicle connection interface includes a plurality of fasteners adapted to fasten the VCM to holes corresponding to the holes forming part of a VCM connection interface of the reference frame.

[0019] In some embodiments, the vehicle connection interface is adapted for snap-fit ​​engagement with a VCM connection interface of the reference frame.

[0020] In some embodiments, the at least one subsystem includes a suspension subsystem disposed between the wheel hub assembly and the vehicle connection interface.

[0021] In some embodiments, the VCM does not include a steering subsystem, but does include a drive subsystem, while in other embodiments, the VCM does not include a drive subsystem, but does include a steering subsystem.

[0022] In some embodiments, when the VCM is connected to the vehicle platform, at least one of the camber angle, caster angle, and toe angle of the wheels is adjustable by adjusting the engagement between the vehicle connection interface and the VCM connection interface.

[0023] In some embodiments, the VCM further includes a VCM portion of a multi-interface connection element, the VCM portion of the multi-interface connection element being adapted to be mounted on the subframe and to connect to a vehicle platform portion of the multi-interface connection element. The vehicle platform portion is mounted on the reference frame of the vehicle platform and connected to a plurality of electronic or flow subsystems of the vehicle. The VCM portion of the multi-interface connection element may include a plurality of connection interfaces for connecting the VCM portion to the vehicle platform portion, thereby connecting the VCM to each of the plurality of electronic or flow subsystems of the vehicle. Each of the plurality of electronic or flow subsystems may be selected from the group consisting of a power source of the vehicle, a control circuit of the vehicle, a computerized controller of the vehicle, a network bus of the vehicle, a network interface of the vehicle, a coolant flow subsystem of the vehicle, an oil flow subsystem of the vehicle, and a brake fluid flow subsystem of the vehicle.

[0024] In one embodiment disclosed herein, there is further disclosed a vehicle corner module (VCM) connectable to a VCM connection interface of a reference frame of the vehicle platform for adjusting a motion of the vehicle, the VCM includes a subframe including a vehicle connection interface for reversibly mechanically connecting the VCM to the VCM connection interface of the reference frame, a wheel hub assembly including a wheel hub adapted to mount a wheel, and at least one subsystem of the vehicle mounted on the subframe, the at least one subsystem being selected from the group of subsystems including a drive subsystem, a steering subsystem, a suspension subsystem, and a braking subsystem; when a wheel is attached to the wheel hub assembly, the vehicle connection interface is disposed within a cylindrical footprint of the wheel; When the subframe is connected to the reference frame by engagement of the vehicle connection interface and the VCM connection interface, the vehicle connection interface is located at a height between the upper and lower surfaces of the reference frame.

[0025] In some embodiments, at least one of the at least one subsystem is contained between the wheel hub assembly and the vehicle connection interface.

[0026] In some embodiments, when the subframe is connected to the reference frame by engagement of the vehicle connection interface with the VCM connection interface, the vehicle connection interface is located between the wheels and the reference frame.

[0027] In some embodiments, the vehicle further includes at least one power source, and the VCM further includes at least one connector for connecting to the at least one power source such that the at least one power source provides power to the at least one subsystem when the VCM is connected to the vehicle.

[0028] In some embodiments, the at least one subsystem comprises: a subsystem disposed between the wheel hub assembly and the vehicle connection interface; a subsystem mounted to a portion of the subframe and adapted to be disposed within the reference frame and between an upper surface and a lower surface of the reference frame when the subframe is connected to the reference frame; Includes at least one of the following:

[0029] In some embodiments, all subsystems in the plurality of subsystems are disposed between the wheel hub assembly and the vehicle connection interface.

[0030] In some embodiments, when a vehicle connection interface of the VCM is positioned at the height of the reference frame, connection of the subframe to the reference frame is effected by engagement of the vehicle connection interface and the VCM connection interface.

[0031] In some embodiments, the VCM connection interface includes a rod extending from the reference frame parallel to a longitudinal axis of the reference frame, and the vehicle connection interface includes a clamp adapted to clamp to the rod, thereby connecting the VCM to the vehicle. In some embodiments, the clamp's clamping to the rod is adapted to be enhanced by at least one fastener. In some embodiments, the clamp is slidable onto the rod. In some embodiments, the rod extends between the reference frame and a bumper of the vehicle platform. In some embodiments, the clamp is slidable onto the rod prior to attachment of the bumper, such that attachment of the bumper enhances the connection of the VCM to the vehicle platform.

[0032] In some embodiments, the sub-frame is adapted to be attached to a planar reference frame, the planar reference frame not including a raised connection portion located above an upper surface of the reference frame or below a lower surface of the reference frame.

[0033] In some embodiments, the subframe includes a second connection interface adapted to connect to a vehicle assembly coupled to the reference frame. In some embodiments, the vehicle assembly includes a top hat frame of the vehicle adapted to encase the wheels.

[0034] In some embodiments, the vehicle connection interface includes a plurality of fasteners adapted to fasten the VCM to holes corresponding to the holes forming part of a VCM connection interface of the reference frame.

[0035] In some embodiments, the vehicle connection interface is adapted for snap-fit ​​engagement with a VCM connection interface of the reference frame.

[0036] In some embodiments, the at least one subsystem includes a suspension subsystem disposed between the wheel hub assembly and the vehicle connection interface.

[0037] In some embodiments, the VCM does not include a steering subsystem, but does include a drive subsystem, while in other embodiments, the VCM does not include a drive subsystem, but does include a steering subsystem.

[0038] In some embodiments, when the VCM is connected to the vehicle platform, at least one of the camber angle, caster angle, and toe angle of the wheels is adjustable by adjusting the engagement between the vehicle connection interface and the VCM connection interface.

[0039] In some embodiments, the VCM further includes a VCM portion of a multi-interface connection element, the VCM portion of the multi-interface connection element being adapted to be mounted on the subframe and to connect to a vehicle platform portion of the multi-interface connection element. The vehicle platform portion is mounted on the reference frame of the vehicle platform and connected to a plurality of electronic or flow subsystems of the vehicle. The VCM portion of the multi-interface connection element may include a plurality of connection interfaces for connecting the VCM portion to the vehicle platform portion, thereby connecting the VCM to each of the plurality of electronic or flow subsystems of the vehicle. Each of the plurality of electronic or flow subsystems may be selected from the group consisting of a power source of the vehicle, a control circuit of the vehicle, a computerized controller of the vehicle, a network bus of the vehicle, a network interface of the vehicle, a coolant flow subsystem of the vehicle, an oil flow subsystem of the vehicle, and a brake fluid flow subsystem of the vehicle.

[0040] Further disclosed in one embodiment herein is a vehicle platform of a vehicle adapted to connect to at least one vehicle corner module (VCM) adapted to coordinate movement of the vehicle, the vehicle platform including a reference frame including upper and lower surfaces and at least one bar forming a VCM connection interface adapted to receive a clamp of the VCM and for reversibly mechanically connecting the VCM to the reference frame.

[0041] In some embodiments, the rod is sized and configured to allow the VCM to be slidably mounted onto the rod.

[0042] In some embodiments, the vehicle platform further includes at least one bumper mounted on the reference frame distal to the rod. In some embodiments, the rod engages both the reference frame and the bumper. In other embodiments, the rod engages the reference frame and extends from the reference frame toward the bumper without engaging the bumper.

[0043] In some embodiments, the vehicle platform further includes a vehicle platform portion of a multi-interface connection element mounted on the reference frame and connected to a plurality of electronic or flow subsystems of the vehicle, the vehicle platform portion adapted to connect to a VCM portion of the multi-interface connection element, the VCM portion mounted to a subframe of the VCM. The vehicle platform portion of the multi-interface connection element may include a plurality of connection interfaces for connecting the vehicle platform portion to the VCM portion, thereby connecting the VCM to each of the plurality of electronic subsystems of the vehicle. Each of the plurality of electronic or flow subsystems may be selected from the group consisting of a power source of the vehicle, a control circuit of the vehicle, a computerized controller of the vehicle, a network bus of the vehicle, a network interface of the vehicle, a coolant flow subsystem of the vehicle, an oil flow subsystem of the vehicle, and a brake fluid flow subsystem of the vehicle.

[0044] In one embodiment disclosed herein, a vehicle is disclosed, the vehicle comprising: a vehicle platform including a reference frame having an upper surface and a lower surface, the reference frame including at least one VCM connection interface; at least one Vehicle Corner Module (VCM) connected to a VCM connection interface of the reference frame, the at least one VCM including a subframe adapted to accommodate movement of the vehicle and including a vehicle connection interface that reversibly mechanically engages with the VCM connection interface of the reference frame; a wheel hub assembly including a wheel hub adapted to mount a wheel; at least one subsystem of the vehicle mounted on the subframe, the at least one subsystem being selected from the group of subsystems consisting of a drive subsystem, a steering subsystem, a suspension subsystem, and a braking subsystem; wherein the vehicle connection interface and the VCM connection interface are contained within a cylindrical footprint of the wheel when the wheel is mounted to the wheel hub assembly.

[0045] In some embodiments, the vehicle connection interface of the subframe is reversibly mechanically connected to the VCM connection interface of the reference frame.

[0046] In some embodiments, the vehicle connection interface and the VCM connection interface are located at an elevation between the elevations of the upper and lower surfaces of the reference frame.

[0047] In some embodiments, at least one of the at least one subsystem is contained between the wheel hub assembly and the vehicle connection interface.

[0048] In some embodiments, the vehicle connection interface is located between the wheel and the reference frame.

[0049] In some embodiments, the vehicle further includes at least one power source, the VCM being connected to the at least one power source such that the at least one power source provides power to the at least one subsystem.

[0050] In some embodiments, the at least one subsystem comprises: a subsystem disposed between the wheel hub assembly and the vehicle connection interface; a subsystem mounted to a portion of the subframe and disposed within the reference frame between an upper surface and a lower surface of the reference frame; Includes at least one of the following:

[0051] In some embodiments, all subsystems in the plurality of subsystems are disposed between the wheel hub assembly and the vehicle connection interface.

[0052] In some embodiments, the subframe is connected to the reference frame when the vehicle connection interface of the VCM is positioned at the height of the reference frame.

[0053] In some embodiments, the VCM connection interface includes a rod extending from the reference frame parallel to a longitudinal axis of the reference frame, and the vehicle connection interface includes a clamp clamped to the rod, thereby connecting the VCM to the reference frame. In some embodiments, the tightening of the clamp onto the rod is adapted to be reinforced by at least one fastener, hi some embodiments, the clamp is slidable onto the rod.

[0054] In some embodiments, the vehicle platform further includes a bumper, and the bar extends between the reference frame and the bumper. In some embodiments, the clamp can be slid onto the bar prior to installation of the bumper, such that installation of the bumper strengthens the connection of the VCM to the vehicle platform.

[0055] In some embodiments, the reference frame is flat and does not include any raised connecting portions located above an upper surface of the reference frame or below a lower surface of the reference frame.

[0056] In some embodiments, the vehicle platform includes a vehicle assembly coupled to the reference frame, and the subframe includes a second connection interface connected to the vehicle assembly. In some embodiments, the vehicle assembly includes a top hat frame surrounding the wheels.

[0057] In some embodiments, the vehicle connection interface includes a number of fasteners that secure the VCM to corresponding holes that form part of the VCM connection interface of the reference frame.

[0058] In some embodiments, the vehicle connection interface engages with the VCM connection interface of the reference frame by a snap-fit ​​engagement.

[0059] In some embodiments, the at least one subsystem includes a suspension subsystem disposed between the wheel hub assembly and the vehicle connection interface.

[0060] In some embodiments, the VCM does not include a steering subsystem, but does include a drive subsystem, while in other embodiments, the VCM does not include a drive subsystem, but does include a steering subsystem.

[0061] In some embodiments, at least one of a camber angle, a caster angle, and a toe angle of the wheel is adjustable by adjusting an engagement between the vehicle connection interface and the VCM connection interface.

[0062] In some embodiments, the vehicle further includes a plurality of electronic or flow subsystems selected from the group of subsystems consisting of a power source, a control circuit, a computerized controller, a network bus, a network interface, a coolant flow subsystem, an oil flow subsystem, and a brake fluid flow subsystem. The vehicle further includes a multi-interface connection element including a VCM portion mounted on the subframe reversibly connected to a corresponding vehicle platform portion mounted on the reference frame and connected to the plurality of electronic or flow subsystems. The VCM portion includes a plurality of connection interfaces for connecting to the vehicle platform portion and the vehicle platform portion to the VCM portion, respectively. Connecting the VCM portion of the multi-interface connection element to the vehicle platform portion connects the VCM to the plurality of electronic or flow subsystems.

[0063] In some embodiments, for each electronic subsystem or flow subsystem of the plurality of electronic subsystems or flow subsystems, one of the VCM portion and the vehicle platform portion of the multi-interface connection element includes a port and the other of the VCM portion and the vehicle platform portion of the multi-interface connection element includes a corresponding plug that is received in the port when the VCM portion and the vehicle platform portion of the multi-interface connection element are connected, thereby connecting the VCM to the electronic subsystem or flow subsystem.

[0064] According to one embodiment disclosed herein, a vehicle corner module (VCM) connectable to a VCM connection interface of a reference frame of a vehicle platform, said reference frame being attached to a vehicle platform portion of a multi-interface connection element, said vehicle platform portion including a plurality of connection interfaces, each of said plurality of connection interfaces being connected to one of a plurality of electronic or flow subsystems of said vehicle, said VCM comprising: a subframe including a vehicle connection interface for reversibly mechanically connecting the VCM to the VCM connection interface of the reference frame; a wheel hub assembly including a wheel hub adapted to mount a wheel; At least one subsystem of the vehicle, the subsystem being mounted to the subframe and selected from the group of subsystems consisting of a drive subsystem, a steering subsystem, a suspension subsystem, and a braking subsystem; and a VCM portion of the multi-interface connection element attached to the subframe, the VCM portion of the multi-interface connection element connectable to the vehicle platform portion of the multi-interface connection element and including a plurality of corresponding connection interfaces for connecting to connection interfaces of the vehicle platform portion; wherein connecting the VCM portion to the vehicle platform portion of the multi-interface connection element connects the VCM to the plurality of electronic or flow subsystems.

[0065] In some embodiments, each of the plurality of corresponding connection interfaces is adapted to connect the VCM to one of the plurality of electronic or flow subsystems, each of the plurality of electronic or flow subsystems selected from the group of subsystems consisting of a power source for the vehicle, a control circuit for the vehicle, a computer controller for the vehicle, a network bus for the vehicle, a network interface for the vehicle, a coolant flow subsystem for the vehicle, an oil flow subsystem for the vehicle, and a brake fluid flow subsystem for the vehicle. In some embodiments, each of the plurality of corresponding connector interfaces of the VCM portion includes a plug adapted to be inserted into a port of the vehicle platform portion or a port adapted to receive a plug of the vehicle platform portion.

[0066] In some embodiments, the vehicle connection interface is disposed within a cylindrical footprint of the wheel when the wheel is attached to the wheel hub assembly, hi some embodiments, at least one of the at least one subsystem is contained between the wheel hub assembly and the vehicle connection interface.

[0067] In some embodiments, when the subframe is connected to the reference frame by engagement of the vehicle connection interface with the VCM connection interface, the vehicle connection interface is located between the wheels and the reference frame.

[0068] In some embodiments, when the subframe is connected to the reference frame by engagement of the vehicle connection interface with the VCM connection interface, the vehicle connection interface is positioned at a height between an upper surface and a lower surface of the reference frame.

[0069] In some embodiments, the vehicle further includes at least one power source, and the VCM further includes at least one connector for connecting to the at least one power source such that the at least one power source provides power to the at least one subsystem when the VCM is connected to the vehicle.

[0070] In some embodiments, the at least one subsystem comprises: a subsystem disposed between the wheel hub assembly and the vehicle connection interface; a subsystem mounted to a portion of the subframe and adapted to be disposed within the reference frame and between an upper surface and a lower surface of the reference frame when the subframe is connected to the reference frame; Includes at least one of the following:

[0071] In some embodiments, all subsystems in the plurality of subsystems are disposed between the wheel hub assembly and the vehicle connection interface.

[0072] In some embodiments, when a vehicle connection interface of the VCM is positioned at the height of the reference frame, connection of the subframe to the reference frame is effected by engagement of the vehicle connection interface and the VCM connection interface.

[0073] In some embodiments, the VCM connection interface includes a rod extending from the reference frame parallel to a longitudinal axis of the reference frame, and the vehicle connection interface includes a clamp adapted to clamp to the rod, thereby connecting the VCM to the vehicle. In some embodiments, the clamp to the rod is adapted to be enhanced by at least one fastener. In some embodiments, the clamp is slidable onto the rod. In some embodiments, the rod extends between the reference frame and a bumper of the vehicle platform.

[0074] In some embodiments, the sub-frame is adapted to mount to a flat reference frame that does not include a raised connecting portion located above an upper surface of the reference frame or below a lower surface of the reference frame.

[0075] In some embodiments, the subframe includes a second connection interface adapted to connect to a vehicle assembly coupled to the reference frame. In some embodiments, the vehicle assembly includes a top hat frame of the vehicle adapted to encase the wheels.

[0076] In some embodiments, the vehicle connection interface includes a plurality of fasteners adapted to fasten the VCM to holes corresponding to the holes forming part of a VCM connection interface of the reference frame.

[0077] In some embodiments, the vehicle connection interface is adapted for snap-fit ​​engagement with a VCM connection interface of the reference frame.

[0078] In some embodiments, the at least one subsystem includes a suspension subsystem disposed between the wheel hub assembly and the vehicle connection interface.

[0079] In some embodiments, the VCM does not include a steering subsystem, but does include a drive subsystem, while in other embodiments, the VCM does not include a drive subsystem, but does include a steering subsystem.

[0080] In some embodiments, when the VCM is connected to the vehicle platform, at least one of the camber angle, caster angle, and toe angle of the wheels is adjustable by adjusting the engagement between the vehicle connection interface and the VCM connection interface.

[0081] Further disclosed herein is an embodiment of a method for mounting a vehicle corner module (VCM) to a vehicle platform of a vehicle, the method comprising: aligning a vehicle connection interface of a subframe of the VCM with a reference frame of the vehicle platform such that the vehicle connection interface is disposed between an upper surface and a lower surface of the reference frame; and mechanically connecting the at least one VCM to the reference frame by engaging the vehicle connection interface with a VCM connection interface of the reference frame without changing a height alignment between the vehicle connection interface of the VCM and the reference frame; Includes.

[0082] In some embodiments, the method further includes connecting the VCM to a plurality of electronic or flow subsystems of the vehicle by connecting a VCM portion of a multi-interface connection element mounted to the subframe to a vehicle platform portion of the multi-interface connection element forming a portion of the vehicle platform, In some embodiments, each of the plurality of electronic or flow subsystems is selected from a subsystem group consisting of a power supply, a control circuit, a computerized controller, a network bus, a network interface, a coolant flow subsystem, an oil flow subsystem, and a brake fluid flow subsystem.

[0083] In some embodiments, the mechanically connecting includes pushing the VCM in a direction perpendicular to a longitudinal axis of the reference frame such that the vehicle connection interface engages the VCM connection interface. In some embodiments, the mechanically connecting includes pushing the VCM in a direction parallel to a longitudinal axis of the reference frame such that the vehicle connection interface engages the VCM connection interface.

[0084] In some embodiments, the mechanically connecting includes disposing fasteners that engage the vehicle connection interface and the VCM connection interface.

[0085] In some embodiments, the VCM connection interface includes a rod extending from the reference frame in a direction parallel to a longitudinal axis of the reference frame, the vehicle connection interface includes a clamp including an opening, the clamp adapted to be clamped to the rod, and the mechanically connecting includes attaching the clamp to the rod, in some embodiments, attaching the clamp to the rod includes sliding the clamp onto the rod.

[0086] In some embodiments, the method further includes connecting at least one bumper to the reference frame. In some embodiments, the connection of the bumper occurs after the sliding of the clamp. In some other embodiments, the connection of the bumper occurs before the sliding of the clamp.

[0087] In one embodiment disclosed herein, a multi-interface connection element for connecting a plurality of electronic or flow vehicle subsystems of a vehicle to a vehicle corner module (VCM) mounted to a reference frame of a vehicle platform of the vehicle and adapted to coordinate movement of the vehicle, the multi-interface connection element comprising: a vehicle platform portion mountable on the reference frame of the vehicle, the vehicle platform portion including a plurality of connection interfaces, each of the plurality of connection interfaces adapted to be associated with one of the plurality of electronic or flow vehicle subsystems; a VCM portion mountable on a subframe of the VCM, the VCM portion including a plurality of corresponding connection interfaces adapted to connect to the plurality of connection interfaces of the vehicle platform portion; and wherein the VCM is connected to the plurality of electronic or flow subsystems by connecting the connection interfaces of the vehicle platform portion to the plurality of corresponding connection interfaces of the VCM portion.

[0088] In some embodiments, each of the plurality of electronic or flow subsystems is selected from a subsystem group consisting of a power source for the vehicle, a control circuit for the vehicle, a computerized controller for the vehicle, a network bus for the vehicle, a network interface for the vehicle, a coolant flow subsystem for the vehicle, an oil flow subsystem for the vehicle, and a brake fluid flow subsystem for the vehicle.

[0089] In some embodiments, connecting the connection interfaces of the vehicle platform portion to the plurality of corresponding connection interfaces of the VCM portion connects at least one VCM subsystem to at least one of the plurality of electronic or flow subsystems, In some embodiments, the at least one VCM subsystem includes at least one of a drive subsystem, a steering subsystem, a braking subsystem, a suspension subsystem, a VCM controller, and a cooling subsystem.

[0090] In some embodiments, the multi-interface connection element further includes a motion actuator extending between a front and a rear of the VCM, the motion actuator adapted to move the VCM portion relative to the vehicle platform portion for connection of the vehicle platform portion and the VCM portion. In some embodiments, the motion actuator is located on a VCM portion different from the VCM portion such that the VCM portion can be moved even if the VCM portion is inaccessible.

[0091] In some embodiments, the motion actuator includes a fastener connected to the VCM portion by a connector cable, and the VCM portion is actuated by manipulating the fastener to transfer an actuation force from the fastener to the VCM portion.

[0092] In some embodiments, the motion actuator includes a fastener connected to the VCM portion by a fluid flow conduit, and the VCM portion is actuated by directing fluid from the fastener through the fluid flow conduit to the VCM portion.

[0093] In some embodiments, the motion actuator comprises an electric motor adapted to be remotely operated by a remote controller.

[0094] In some embodiments, a connection assembly connecting the VCM portion to the VCM subframe includes at least one spring adapted to apply a force to the VCM portion toward the vehicle platform portion.

[0095] According to one embodiment disclosed herein, a method is disclosed for connecting at least one Vehicle Corner Module (VCM) subsystem mounted to at least one electronic or flow subsystem mounted to a vehicle platform of a vehicle, the method comprising: connecting a VCM portion of a multi-interface connection element attached to a subframe of the VCM and connected to the at least one VCM subsystem to a vehicle platform portion of the multi-interface connection element forming part of the vehicle platform and connected to the at least one vehicle subsystem; thereby forming a connection between the at least one VCM subsystem and the at least one electronic subsystem or flow subsystem; Here, each of the VCM portion and the vehicle platform portion of the multi-interface connection element includes a plurality of connection interfaces, each of the plurality of connection interfaces being associated with one of a plurality of electronic subsystems or flow subsystems.

[0096] In some embodiments, each of the plurality of electronic or flow subsystems is selected from the group of subsystems consisting of a power supply, a control circuit, a computerized controller, a network bus, a network interface, a coolant flow subsystem, an oil flow subsystem, and a brake fluid flow subsystem.

[0097] In some embodiments, the connecting of the VCM portion and the vehicle platform portion includes moving the VCM portion relative to the vehicle platform portions until the VCM portion and the vehicle platform portion are connected, in some embodiments, only one of the VCM portion and the vehicle platform portion is movable and the other is fixed.

[0098] In some embodiments, moving the VCM portion relative to the vehicle platform portion includes actuating the VCM portion with a mechanical mechanism extending between a front and a rear of the VCM, in some embodiments, the mechanical mechanism actuating the movement of the VCM portion is at a location remote from the location of the VCM portion.

[0099] In some embodiments, the mechanical mechanism includes a fastener connected to the VCM portion by a connector cable, and the actuating action includes manipulating the connected fastener to transmit a force from the fastener to the VCM portion to actuate movement.

[0100] In some embodiments, the mechanical mechanism includes a fastener connected to the VCM portion, and the actuating action includes manipulating the fastener such that a force actuating movement is transmitted to the VCM portion by fluid communication through the conduit.

[0101] In some embodiments, actuating movement of at least one of the VCM portion and the vehicle platform portion is performed by an electric motor, hi some embodiments, the electric motor is adapted to be remotely operated by a remote controller.

[0102] In some embodiments, the connection is performed from the front side of the VCM, regardless of the location of the VCM connector within the VCM.

[0103] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. In case of conflict, the specification herein, including definitions, shall control.

[0104] As used herein, the terms "comprise", "include", "have" and grammatical variations thereof should be interpreted as specifying the stated features, integers, steps or portions, but not excluding the inclusion of one or more additional features, integers, steps, portions or groups thereof. The above terms also include the terms "consisting of" and "consisting essentially of". [Brief description of the drawings]

[0105] FIG. 1 is a schematic block diagram of a VCM and a vehicle platform adapted to house the VCM, in accordance with one embodiment of the disclosed technology.

[0106] FIG. 2 is a photograph of a multi-interface connection element for connecting a VCM to vehicle subsystems mounted to a reference frame of the vehicle platform, according to one embodiment of the disclosed subject matter.

[0107] 3A and 3B are schematic diagrams of the connection interfaces of the vehicle platform portion and the VCM portion, respectively, of the multi-interface connection element of FIG.

[0108] FIG. 4 is a perspective view showing the VCM portion of the multi-interface connection element of FIG.

[0109] FIG. 5 is a perspective view of the VCM portion of the multi-interface connection element of FIG. 2, including connections to various subsystems of the VCM, according to certain embodiments of the disclosed invention.

[0110] FIG. 6 is a schematic top view of a VCM mounted on a reference frame of a vehicle platform in accordance with one embodiment of the disclosed technology.

[0111] 7A, 7B, and 7C are schematic top views of mounting the VCM of FIG. 6 onto the reference frame of the vehicle platform according to one mounting method.

[0112] 8A, 8B, and 8C are schematic top views of mounting the VCM of FIG. 6 onto the reference frame of the vehicle platform according to an alternative mounting method.

[0113] FIG. 9 is a perspective view of a portion of a VCM suitable for connection to a reference frame of a vehicle platform in accordance with the methods of FIGS. 7A-8C.

[0114] 10A and 10B are perspective views of a VCM suitable for connection to a reference frame of a vehicle platform in accordance with the method of FIGS. 7A-8C, including portions of FIG.

[0115] 11A, 11B, 11C, and 11D are perspective views illustrating the steps of mounting the VCM shown in FIGS. 10A and 10B onto a reference frame of a vehicle platform.

[0116] FIG. 12 is a perspective view showing a subframe of a VCM and a reference frame of a vehicle platform separated from each other in accordance with certain embodiments of the disclosed subject matter.

[0117] 13A and 13B are perspective views of the sub-frame and reference frame of FIG. 12 when connected together.

[0118] Figures 14A and 14B are perspective and side plan views, respectively, of a VCM including the subframe of Figures 12 to 13B, including its subsystems. In Figure 14B, the subframe is mounted on the reference frame.

[0119] FIG. 15 is a partial perspective view illustrating an additional connection of the subframe of the VCM to a portion of the reference frame of the vehicle platform according to certain embodiments of the disclosed invention.

[0120] 16A and 16B are photographs of the VCM of FIGS. 14A and 14B prior to attachment to the reference frame.

[0121] 17A, 17B, 17C, and 17D are photographs of the VCM of FIGS. 14A and 14B after it has been mounted in the reference frame.

[0122] FIG. 18 is a perspective view of a VCM in accordance with another embodiment of the disclosed invention.

[0123] 19A, 19B, and 19C are perspective and front plan views of a VCM similar to that of FIG.

[0124] FIG. 20 is a perspective view of a vehicle platform reference frame including a VCM connection interface for connecting to the VCM of FIG.

[0125] 21A and 21B are perspective and top rear views, respectively, of a VCM in accordance with yet another embodiment of the disclosed invention.

[0126] FIG. 22 is a perspective view of a VCM similar to the VCM of FIGS. 21A-21B, and has a subframe structure similar to the VCM of FIGS. 21A-21B.

[0127] FIG. 23 is a perspective view of a vehicle platform reference frame, including a VCM connection interface for connecting to the VCM of FIGS. 21A-22.

[0128] 24A and 24B are photographs of a VCM connected to a reference frame of a vehicle platform in accordance with yet another embodiment of the disclosed invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0129] The present invention, in some embodiments, relates to methods and systems for mounting a Vehicle Corner Module (VCM) onto a vehicle reference frame or platform, including various interfaces for mounting the VCM to the reference frame, as well as specialized connectors that simplify mounting of the VCM.

[0130] For convenience, various terms are used in connection with the description herein. To the extent that definitions are provided, either expressly or impliedly, here or in other pages of this application, such definitions are understood to be consistent with the usage of those defined terms by those of ordinary skill in the relevant art. Moreover, such definitions are intended to be interpreted in the broadest possible sense consistent with such usage.

[0131] Unless otherwise stated, as used herein, a "vehicle corner module" or "VCM" refers to an assembly for supporting wheels of a vehicle and restricting vehicle movement according to any of the embodiments disclosed herein. The VCM assembly includes, but is not limited to, parts such as steering system, suspension system, braking system including hydraulic subsystem, gear assembly, drive motor, drive shaft, wheel hub assembly, controller, communication device, electrical wiring, etc. In some embodiments, the VCM may include wheels and tires. The VCM may be mounted to a "reference frame" of the vehicle, such as a chassis or similar vehicle frame, platform. When a VCM is described as being installed in / on a vehicle, the VCM is mounted to the reference frame. The VCM may include a "subframe" on which some or all of the VCM parts rest or are attached. In some cases, the subframe serves as a link between the reference frame and the various VCM parts.

[0132] The term "subframe" may be understood to mean any rigid frame or combination of one or more fixed structural elements. The prefix "sub" is intended to distinguish the subframe from the main frame or reference frame of the vehicle. A VCM may or may not include one or more electric motors and / or the wheels themselves (and tires).

[0133] As used herein and in the appended claims, the term "vehicle" should be understood to refer to a vehicle having one or more wheels. According to this definition, non-limiting examples of vehicles include vehicles powered by an on-board engine, and "electric vehicles" that are driven by one or more electric motors and on-board batteries or other energy storage devices during operation. The batteries do not need to be provided or attached to the vehicle until the vehicle is in operation. The term "vehicle" should also be understood to include a "vehicle platform" that includes at least a chassis (or other "frame of reference" to which a VCM can be mounted) and one or more wheels. A "vehicle platform" does not necessarily have to include all of the body parts, interior fittings, and other accessories necessary for the transportation of passengers and cargo at the time the vehicle platform is provided.

[0134] The term "controller" as used herein means a computing device configured to monitor, control, regulate and / or operate one or more components, systems or subsystems. A controller shall be understood to include any or all of, but not limited to, one or more processors, one or more computer readable media, such as temporary and / or non-transitory storage media, communication devices, power sources and / or connections to power sources, and firmware and / or software. When hyphenated expressions such as vehicle-controller or VCM-controller are used herein, these terms refer to a controller for controlling the vehicle and / or parts and / or subsystems of the vehicle, or a controller for controlling the VCM and / or parts and / or subsystems of the VCM, respectively. Unless otherwise specified, a controller is located in or on a controlled element (e.g., vehicle, VCM, etc.), whereas a "control unit" is not located in or on the controlled element, even if it resembles a controller. For example, a VCM-controller may be located in or on the VCM, but a VCM control unit may instead be located elsewhere on the vehicle, such as in the chassis unit. Controllers (and control units) may be pre-programmed, for example, by storing program instructions on the computer readable medium that are executed by one or more processors of the controller. Thus, as used herein, a controller that is "configured" to perform a function is equivalent to a controller that is programmed (i.e., has access to stored program instructions for execution) to perform that function.

[0135] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details. In some instances, well-known methods, procedures, and components have not been described in detail so as not to obscure the present invention.

[0136] FIG. 1 is a schematic block diagram of a VCM and a vehicle platform on which the VCM is adapted to be mounted, in accordance with one embodiment of the disclosed technology.

[0137] 1, a vehicle platform 10 adapted to mount a vehicle capsule includes a vehicle reference frame 12 having four VCM connection interfaces 14 adapted for connection to a VCM. In the illustrated embodiment, all four VCM connection interfaces 14 are identical to one another. However, in some embodiments, a single reference frame may include multiple different types of VCM connection interfaces, e.g., for connection to different types of VCMs.

[0138] The vehicle platform 10 may include one or more electronic subsystems 16 mounted on the reference frame 12, which may include a power source for the vehicle, a control circuit for the vehicle, a computerized controller for the vehicle, a network bus for the vehicle, and a network interface for the vehicle. The vehicle platform 10 may further include one or more fluid flow subsystems 18 mounted on the reference frame 12, which may include a coolant flow subsystem, an oil flow subsystem, and a brake fluid flow subsystem. In some embodiments, the reference frame 12 may have front and / or rear bumpers 19 mounted thereto. Examples of subsystems 16 and 18 are described in PCT Patent Application No. PCT / IB2020 / 062598 and U.S. Pat. No. 10,919,575, which are incorporated by reference as if fully set forth herein.

[0139] As described herein, a VCM 20 for coordinating motion of the vehicle is connectable to a reference frame 12. According to some embodiments, the VCM 20 includes a subframe 22 including a vehicle connection interface 24 adapted for reversible mechanical connection to a VCM connection interface 14 of the reference frame 12. The VCM 20 further includes a wheel hub assembly 26 adapted to mount wheels 28. One or more subsystems of the vehicle are mounted to the subframe 22, each of which includes mechanical and / or electrical components. The subsystems may also be mounted to the wheel hub assembly 26.

[0140] As described in more detail below, in some embodiments, when a wheel 28 is attached to a wheel hub assembly 26, at least a portion, and in some embodiments the entirety, of the vehicle connection interface 24 of the VCM 20 is disposed within the cylindrical footprint of the wheel. In the context of this application, the "cylindrical footprint of a wheel" is the area resulting from the projection of the wheel onto another plane parallel to the plane of rotation of the wheel.

[0141] As described in more detail below, at least one subsystem mounted to the subframe 22 is housed between the wheel hub assembly 26 and the vehicle connection interface 24. In some embodiments, all of the subsystems mounted to the subframe 22 are housed between the wheel hub assembly 26 and the vehicle connection interface 24. In other embodiments, in addition to the subsystems housed between the wheel hub assembly and the vehicle connection interface, at least one subsystem mounted to the subframe 22 is mounted to a portion of the subframe and disposed within the reference frame 12 when the subframe is connected to the reference frame 12. In some embodiments, at least one subsystem mounted to the subframe 22 is housed between the wheel hub assembly 26 and the subframe 22.

[0142] As will be explained in more detail below, when the subframe 22 is connected to the reference frame 12 by the engagement of the vehicle connection interface 24 with the VCM connection interface 14, the vehicle connection interface may be located at an elevation between the elevation of the upper surface of the reference frame and the elevation of the lower surface of the reference frame. Even if the vehicle connection interface is between the upper and lower surfaces of the reference frame, parts of the subframe may be outside this range. In some embodiments, the elevation of the vehicle connection interface is between the elevations of the upper and lower surfaces in a local sense. In such embodiments, the vehicle connection interface is between the elevations of the upper and lower surfaces within a distance of 20-50 cm from the vehicle connection interface. However, in other more distant parts of the reference frame, the upper and lower surfaces may be located at different elevations such that the vehicle connection interface is not between the upper and lower surfaces in the more distant parts.

[0143] The subsystems included in the VCM may include a drive subsystem 30, a steering subsystem 32, a suspension subsystem 34, and / or a braking subsystem 36. Subframe 22 may also include a VCM-controller 38 adapted to control the operation of one or more of subsystems 30, 32, 34, and 36 and / or to communicate with one or more of the vehicle's electronic subsystems 16, such as a computerized controller or a network interface of the vehicle.

[0144] To drive the vehicle, drive subsystem 30 may include any or all of the mechanical and / or electrical components necessary to actuate a drive shaft to rotate wheels 28 or other wheels on the vehicle. The mechanical and / or electrical components may include, but are not limited to, an electric drive motor, a drive shaft rotated by the motor, and a gear assembly (optionally including a single gear or multiple gear transmission) that transmits the rotation to the wheels, and sensors such as wheel speed sensors (one example being a rotary encoder). In some embodiments, the drive motor is included in the VCM, and in some embodiments, the drive motor is on the vehicle, e.g., mounted to reference frame 12. In some embodiments, the drive motor is mounted to subframe 22, such that the drive motor is considered a sprung mass.

[0145] In an embodiment, VCM-controller 38 is adapted to adjust the motor power and / or the rotational speed of wheels 28 and / or the transmission gear selection in response to commands received via an electrical input from the vehicle, e.g., an input from a driver operated drive mechanism (such as an accelerator pedal) or an automated driving unit. In an embodiment, the commands include, for example, the current and voltage for operating the electric drive motor.

[0146] In an embodiment, the drive subsystem 30 may be used in a regenerative braking fashion. In another example, the regenerative braking may be augmented by friction braking, i.e., normal operation of the brake subsystem 36.

[0147] In some embodiments, the "coordination" of the drive subsystem 30 and the brake subsystem 36 in the combined regenerative and friction braking can be controlled by a VCM-controller 38. The VCM-controller is configured (e.g. programmed) to control the subsystems in coordination with each other. In yet another example, the steering subsystem 32 can be used to assist braking (i.e., in coordination with the brake system, for example by steering the wheels symmetrically, with opposing wheels turning in tandem in the same direction, to increase friction with the road, or asymmetrically, with opposing wheels not turning in tandem). In a similar example, the VCM-controller controls the steering subsystem 32 in coordination with the brake system to reduce the effect of steering-induced brake pull (a phenomenon known as "brake steer" or "steering drift"). In yet another example, the VCM-controller coordinates the drive system for regenerative braking, the brake system for friction braking, and the steering system for "brake-by-steering" to achieve the required braking effect.

[0148] The steering subsystem 32 may include any or all of the mechanical and / or electrical components necessary for steering, i.e., turning the wheels of the vehicle about a steering axis, including but not limited to a steering motor, a steering actuator, a steering rod, a steering system controller or control unit, a steering inverter, and a wheel angle sensor.

[0149] In some embodiments, the VCM-controller 38 receives steering commands as electrical (including electronic) inputs from the vehicle, e.g., a driver-operated steering mechanism or an autonomous steering unit. In response to the received commands, it executes the commands by inducing movement of a steering rod, e.g., via a steering actuator, to effectuate turning of the wheels, e.g., by adjusting the current and voltage sent to the steering actuator, or by sending higher level commands to a steering system controller. The steering motor, the actuator, and / or the inverter can receive power from an external power source ("external" meaning outside the VCM) mounted in or on the reference frame.

[0150] The suspension subsystem 34 may optionally include an active suspension system that is controllable by a VCM-controller 38 (eg, via a suspension system control unit).

[0151] The brake subsystem 36 may include any or all of the mechanical and electrical components for actuating the brake assemblies (e.g., brake discs, brake calipers, etc.) The mechanical and electrical components may optionally include one or more of a VCM-mounted hydraulic system, a VCM-mounted vacuum boost system, or a hybrid brake assist system incorporating a pressurized gas accumulator and a brake actuator.

[0152] In some embodiments, VCM-controller 38 is configured to adjust the output of the braking system (e.g., causing a braking action) in response to commands received via an electrical input from the vehicle, such as an electrical input from a driver-operated braking mechanism (e.g., a brake pedal) or an autonomous braking unit.

[0153] In some embodiments, the plurality of VCM subsystems in a VCM 20 includes all of subsystems 30, 32, 34, and 36. In other embodiments, the plurality of VCM subsystems in a given VCM 20 may include two or three of subsystems 30, 32, 34, and 36.

[0154] In some embodiments, the connection interface between VCM 20 and reference frame 12 has one or more degrees of freedom. In such embodiments, the connection of the VCM to the reference frame is configurable to, for example, control or set any of the caster, camber, and toe angles of the wheels.

[0155] Figure 2 is a photograph of a multi-interface connection element 50 according to one embodiment of the disclosed invention for connecting a VCM subsystem, such as subsystem 20 of Figure 1, to a vehicle subsystem, such as subsystems 16 and 18 of Figure 1, mounted to a reference frame of the vehicle platform. Figures 3A-3B are schematic diagrams of connection interfaces of the vehicle platform portion and the VCM portion, respectively, of the multi-interface connection element 50 of Figure 2.

[0156] As shown, multi-interface connection element 50 includes a vehicle platform portion 52a connectable to a reference frame of a vehicle platform, such as reference frame 12 of Figure 1, and a VCM portion 52b connectable to a subframe of a VCM, such as subframe 22 of Figure 1. Vehicle platform portion 52a and VCM portion 52b are reversibly connectable to one another, such as by inserting alignment pins 54 extending from one portion into corresponding holes 56 in the other portion. Portions 52a and 52b each include a plurality of connection interfaces, and the plurality of connection interfaces of portions 52a and 52b correspond to one another.

[0157] For example, in the illustrated embodiment, vehicle platform portion 52a includes a pair of high voltage connectors 60a, two pairs of 12V battery connectors 62a, two pairs of 48V battery connectors 64a, a vehicle controller area network (CAN) bus connector 66a, and a pair of coolant flow connectors 68a. VCM portion 52b includes corresponding high voltage connectors 60b, a 12V battery connector 62b, a 48V battery connector 64b, a vehicle CAN bus connector 66b, and a pair of coolant flow connectors 68b. In some embodiments, the connection interfaces of each portion of multi-interface connection element 50 include: a power supply unit mounted to the vehicle platform; a control circuit mounted to the vehicle platform; a computerized controller mounted to the vehicle platform; a network bus mounted to the vehicle platform; a network interface mounted to the vehicle platform; a coolant flow subsystem mounted to the vehicle platform; an oil flow subsystem mounted to the vehicle platform; and a brake fluid flow subsystem mounted to the vehicle platform; The optical fiber 100 may include a connection interface for connecting to one or more of the optical fiber 100.

[0158] The mechanical connection between the vehicle platform portion 52a and the VCM portion 52b of the multi-interface connection element 50 connects corresponding connection interfaces within the vehicle platform portion 52a and the VCM portion 52b. The connection interfaces of the vehicle platform portion 52a are connected to various vehicle platform subsystems mounted on the reference frame, such as subsystems 16 and 18 of FIG. 1. The connection interfaces of the VCM portion 52b are connected to various subsystems mounted on the VCM subframe, such as subsystems 30, 32, 34, 36, and 38 of FIG. 1. Thus, the connection of the two portions of the multi-interface connection element 50 provides a functional connection between the VCM subsystem and the vehicle subsystem. For example, a connection to a vehicle power subsystem can be used to provide power to one or more of the VCM subsystems. As another example, a connection to a coolant flow subsystem can be used to cool a motor mounted on the VCM as part of the drive subsystem 30 of FIG. 1, and a connection to a brake fluid flow subsystem can be used by the brake subsystem 36 of FIG. 1.

[0159] Figures 4 and 5 are, respectively, perspective views of a VCM portion 52b of a multi-interface connection element 50 similar to that shown in Figure 2 (including connections to various subsystems mounted on the reference frame of the vehicle platform) and a perspective view of VCM portion 52b mounted to a VCM 70 similar to VCM 20 of Figure 1. It will be understood that the particular connections included in the connection interfaces of the two portions of a multi-interface connection element, and the arrangement of the connection interfaces within each of the portions, may vary in different implementations of the multi-interface connection element according to the requirements of the particular vehicle, vehicle platform, VCM, or implementation.

[0160] As can be seen in FIGS. 4 and 5, the coolant flow connector 68b is connected to a pipe 72 which is connected to a cooling subsystem 74 of the VCM 70 which is shown most clearly in FIG. The cooling subsystem 74 may form part of, or be operatively associated with, a drive subsystem (including a drive shaft 76, a motor 78, and a motor inverter) of the VCM 70. The VCM 70 further includes a brake pressure system 86 between the VCM portion 52b and a brake caliper 84 and a brake subsystem (including a brake caliper 84 connected to the wheel hub assembly 26).

[0161] According to some embodiments, the engagement of the VCM portion 52b with the vehicle platform portion 52a is performed by moving one or more of the portions 52a / 52b toward each other until they are connected. In some embodiments, one of the portions 52a / 52b is movable and the other is stationary. As shown in the exemplary embodiment of Figures 4-5, the VCM portion 52b is movable and is actuated to connect to the vehicle platform portion 52a by a mechanical mechanism extending between the front and rear of the VCM 70. The mechanical mechanism allows the VCM portion 52b to move between connected and disengaged states with the vehicle platform portion 52a even when actuation of the movement is performed away from the location of the VCM portion 52b (e.g., when the VCM portion 52b is at the rear and actuation is performed from the front of the VCM 70). This allows all of the VCM 70 subsystems and subframes to be attached and connected to the vehicle platform, all from the front of the VCM 70.

[0162] According to some embodiments, the mechanical mechanism includes a connector fastener 88 connected to the VCM portion 52b by an adapter of a connector cable 89, thereby transferring the operating actuation force from the fastener 88 to the VCM portion 52b. In some embodiments, the actuation force is transferred between the fastener 88 and the VCM portion 52b using a fluid (e.g., air pressure, hydraulics), and the connector cable 89 is replaced by a tube filled with such a fluid. In some embodiments, the fastener 88 is based on a bolt that is screwed into a hole in the subframe 22. In some embodiments, the fastener 88 is a lever that applies a force to the cable 89.

[0163] In some embodiments, the VCM portion 52b, or the connection of the VCM portion 52b to the subframe 22, may include one or more springs 92, as shown clearly in Figure 4. The springs 92 are adapted to urge the VCM portion 52b towards the vehicle platform portion 52a (or the vehicle platform portion 52a towards the VCM portion 52b) to assist in forming and / or maintaining a usable connection between the VCM portion 52b and the vehicle platform portion 52a, and in particular between the connection interfaces of the VCM portion 52b and the vehicle platform portion 52a.

[0164] In some embodiments, actuation of the VCM portion 52b is performed by an electric motor. In some embodiments, control of the mechanical or electrical actuation of the VCM portion 52b is performed by a remote controller rather than by a mechanical fastener.

[0165] Figure 6 is a schematic top view of a VCM 120 mounted on a reference frame 112 (partially shown) of a vehicle platform 110 in one embodiment of the disclosed technology. In the embodiment of Figure 6, the reference frame 112 includes a rod 114 extending outwardly from the reference frame 112 as a VCM connection interface. In some embodiments, the rod 114 extends from the reference frame 112 to a bumper 119 of the vehicle platform. The rod 114 may have a circular cross-section, a polygonal cross-section, or any other suitable cross-section.

[0166] The VCM 120 includes a subframe 122 having a wheel hub assembly 126 connectable to a wheel 128. The subframe 122 includes a clamp 124 having a clamping surface adapted to clamp on or around the rod 114 as a vehicle connection interface. The cross-section of the clamping surface of the clamp 124 generally corresponds to the shape of the cross-section of the rod 114. In some embodiments, the clamp 124 may be secured to the rod 114 by a bolt or fastener. In other embodiments, the clamp 124 may include two parts secured or clamped together by a bolt or fastener.

[0167] 7A, 7B, and 7C are schematic top views of the installation of the VCM 120 of FIG. 6 on the reference frame 112 in one installation method.

[0168] As shown in Figures 7A-7C, the rod 114 extends between the reference frame 112 and a bumper 119, which may be attached to the rod 114 prior to installation of the VCM. The VCM 120 is aligned with the rod 114 such that the height of the clamp 124 is substantially equal to the height of the rod 114, as shown in Figure 7A. The VCM 120 is then moved in a horizontal plane in a lateral direction 127 perpendicular (or substantially perpendicular) to the longitudinal axis 113 of the reference frame 112, without substantially changing the height of the clamp 124, until the clamp 124 engages the rod 114, as shown in Figure 7B. The clamp 124 is then secured to the rod 114 by a suitable securing mechanism, such as a clamp closure 125 in Figure 7C. Although Figures 7A-7C show the attachment of the VCM 120 to the front of the reference frame 112, the VCM may be similarly attached to the rear of the reference frame.

[0169] 7A-7C, the bumper 119 may be omitted from the vehicle platform 110. In such embodiments, the VCM 120 is connected and fastened to the rods 114 as described herein. In some embodiments, the bumper 119 is secured to the VCM 120 after the VCM is secured to the reference frame 112.

[0170] Figures 8A, 8B, and 8C are schematic top views of an alternative installation procedure for the VCM 120 of Figure 6 on the reference frame 112. As can be seen in the embodiment shown in Figures 8A-8C, the rod 114 extends from the reference frame 112, but the bumper 119 has not yet been attached to said rod or said reference frame.

[0171] In FIG. 8A, the VCM 120 is aligned with the rod 114 such that the height of the clamp 124 is substantially equal to the height of the rod 114, and the clamp 124 is aligned with the end of the rod 114. The VCM 120 is then moved in a horizontal plane in a longitudinal direction 129 parallel to the longitudinal axis 113 of the reference frame 112 without substantially changing the height of the clamp 124 until the clamping surface of the clamp 124 is located on the rod 114 as shown in FIG. 8B. The clamp 124 is then secured to the rod 114 by a suitable securing mechanism, such as a clamp closure 125, as shown in FIG. 8C. In some embodiments, a bumper 119 may be attached to said end of the rod 114 following attachment of the VCM 120 and tightening of the clamp 124. Such installation of the bumper 119 may further strengthen the attachment of the VCM 120 to the reference frame 112 and secure the VCM 120 to the reference frame 112. However, the method shown in Figures 8A-8C is equally applicable when a bumper is not used by making sure the VCM is securely fastened to the reference frame.

[0172] Although Figures 8A-8C show VCM 120 mounted to the front of reference frame 112, the VCM may be mounted to the rear of the reference frame as well.

[0173] In some embodiments, the diameter or at least one cross section of the opening of the clamp 124 may be slightly larger than the cross-sectional dimension of the rod 114. In such embodiments, the connection of the VCM 120 to the reference frame 112 is adjustable, for example to control or adjust any of the caster, camber, and toe angles of the wheel. A circular cross section of the rod and / or clamping surface of the clamp 124 may allow rotational movement to adjust the camber angle. A polygonal cross section of the rod and / or clamping surface of the clamp 124 may allow the camber angle to be adjusted within a predetermined angle value. Adjustment of the toe and / or caster angle may be possible by mounting the clamp 124 to the rod 114 (e.g., with some clearance and freedom between the surface of the rod 114 and the surface of the clamp 124).

[0174] Figure 9 is a perspective view of a portion of a VCM 120 suitable for connection to a reference frame 112 of a vehicle platform 110 in accordance with the method of Figures 7A-8C. Figures 10A and 10B are perspective views of a VCM 120 including the portion of Figure 9.

[0175] 9, the subframe 122 of the VCM 120 includes a plurality of connection points 140 connected to a portion 142. The subframe 122 includes a semicircular opening 144 that forms the front half of the clamp connector 124.

[0176] 10A and 10B, the VCM 120 further includes a wheel hub assembly 126 having a wheel 128 mounted thereon. The subframe 122, in addition to portions 142 and 144 shown in FIG. 9, includes a corresponding clamp connector portion 146 including a second semicircular surface 148 which, together with the opening 144, forms a clamp 124. The clamp 124 is located on a side of the subframe 122 and is easily accessible for connection to a corresponding VCM connection interface 114 on the vehicle platform.

[0177] As is apparent from Figure 10B, the suspension assembly 134 extends between the subframe 122 and the wheel hub assembly 126. More specifically, the suspension assembly 134 extends between the clamp 114 that forms a vehicle connection assembly of the subframe 122 and the wheel hub assembly 126.

[0178] Figures 11A, 11B, 11C and 11D are perspective views illustrating a procedure for mounting the VCMs shown in Figures 10A-10B onto a reference frame 112 of a vehicle platform. Figures 11A and 11B illustrate a procedure for connecting a first VCM 120a to the reference frame 112, and Figures 11C and 11D illustrate a procedure for connecting a second VCM 120b to said reference frame on the opposite side to the first VCM 120a.

[0179] As seen in FIG. 11A, the reference frame 112 includes a first bar 114a extending outward from the reference frame 112 toward the bumper 119. In the embodiment illustrated in FIG. 11A, the bar 114a is a relatively short bar that does not span the entire length between the reference frame and the bumper. From FIG. 11B, it can be seen that the VCM 120a is placed on the bar 114a and the clamp 124 of the VCM engages and secures to the bar, with a portion of the bar 114a exposed behind the subframe 122. The configuration shown in FIG. 11B is typically the configuration prior to attachment of the opposing clamps 124 and closure of the clamps by clamp closure 125 (FIG. 6). Typically, the VCM 120a may be attached by the method of FIGS. 7A-7C or the method of FIGS. 8A-8C, or a combination thereof. However, regardless of the method used, the first step in installing VCM 120a is to align clamp 124 to the height of rod 114a and then move the VCM while maintaining the height alignment of clamp 124.

[0180] Similarly, as seen in Figure 11C, the reference frame 112 includes a second rod 114b that extends outwardly from the reference frame 112, substantially parallel to rod 114a, toward the bumper 119. In the embodiment illustrated in Figure 11C, rod 114b does not extend the full length between the reference frame and the bumper, but is a relatively short rod. With reference to Figure 11D, it can be seen that VCM 120b is disposed on rod 114b, substantially as described above with respect to Figures 11A and 11B.

[0181] Figure 12 is a perspective view of the subframe 222 of the VCM 220 and the reference frame 212 of the vehicle platform 210 prior to installation of the VCM 220. Figures 13A and 13B are perspective views of the subframe 222 and reference frame 212 of Figure 12 when connected together.

[0182] As seen in the exemplary embodiment of Figures 12-13B, the reference frame 212 includes an upper surface 212a and a lower surface 212b. The VCM connection interface 214 of the reference frame 212 is disposed between the upper surface and the lower surface of the reference frame and includes an angled surface 214a, a substantially vertical surface 214b, a substantially horizontal surface 214c, and a second substantially vertical surface 214d. The VCM connection interface 214 can terminate in a leaf 214e, in some embodiments, suitable for snap-fit ​​engagement with the subframe, as described herein. The reference frame 212 further includes a plurality of holes adapted to receive fasteners 229, as described herein.

[0183] The subframe 222 includes a first portion 222a adapted to align with and fit between the top and bottom surfaces of the reference frame 212. A vehicle connection interface 224 of the subframe 222 is included within said first portion. In some embodiments, the subframe 222 includes a second portion 222b adapted to extend above the top surface 212a of the reference frame and may be connected to other portions of the vehicle as described in more detail below. The vehicle connection interface 224 of the subframe 222 includes a surface corresponding to a surface of the VCM connection interface 214 of the reference frame. As shown in the exemplary embodiment of Figures 12-13B, the vehicle connection interface 224 includes an angled surface 224a, a substantially vertical surface 224b, a substantially horizontal surface 224c, and a second substantially vertical surface 224d. The vehicle connection interface 224 may terminate in a substantially horizontal protrusion 224e adapted for snap-fit ​​engagement with a leaf 214e as described herein. The first portion 222a of the subframe 222 further includes a plurality of holes 225 that are aligned with the holes 215 of the reference frame 212 and adapted to receive fasteners 229 therein to connect the reference frame 212 and the subframe 222, as described herein.

[0184] As can be seen in Figures 13A and 13B, without changing the height of the vehicle connection interface 224, the subframe 222 is connected to the reference frame 212 by aligning the surfaces of the vehicle connection interface 224 with the corresponding surfaces of the VCM connection interface 214 and moving the subframe 224 laterally in the direction 227 until the surfaces 214a, 214b, 214c, and 214d engage the corresponding surfaces 224a, 224b, 224c, and 224d, respectively. In some embodiments, in the orientation of Figures 13A and 13B, the leaf 214e is in snap-fit ​​engagement with the protrusion 224e. At this stage, the holes 215 and 225 are aligned and the fasteners 229 are inserted into the aligned holes 215 and 225, thereby strengthening the connection between the reference frame 212 and the subframe 222.

[0185] A particular feature of the embodiment of Figures 12 to 13B, as described in more detail below, is that the vehicle connection interface of the subframe 222 is located entirely between the upper and lower surfaces of the reference frame 212, such that at least some of the subsystems mounted to the subframe 222 can be located within said reference frame.

[0186] Figures 14A and 14B are perspective and side plan views, respectively, of the VCM 220 and the subsystems of the VCM 220, including the subframe 222 of Figures 12-13B. In Figure 14B, the subframe 222 is mounted on the reference frame 212. As shown, the VCM 220 includes a wheel hub assembly 226 and a drive subsystem 230, including a drive shaft 240 and a motor 241. A suspension subsystem 234 is mounted on the subframe 222 and extends toward the wheel hub assembly 226.

[0187] When the subframe 222 and the reference frame 212 are connected, the steering subsystem 232 includes a steering rod 244 (shown in FIG. 14B ) disposed between the subframe 212 and the wheel hub assembly 226, and a steering actuator 246 (shown in FIG. 14A ) disposed within the reference frame 212. In some embodiments, a braking subsystem is attached to the subframe 222 and disposed within the reference frame 212 when the subframe 222 and the reference frame 212 are connected.

[0188] VCM portion 252b of multi-interface connection element 50 (FIG. 2) is attached to subframe 222, either directly or by being attached to another subsystem attached to said subframe. When connecting VCM 220 to reference frame 212, VCM portion 252b is adapted to connect to a corresponding portion of said multi-interface connection element (not explicitly shown), as described above with respect to FIGS. 2-5.

[0189] 15 is a partial perspective view showing the additional connection of the subframe 222 of the VCM 220 to a portion of the reference frame 212 of the vehicle platform 210. As seen in the embodiment of FIG. 15, when the VCM 220 is connected to the reference frame 212, the reference frame 212 further includes a top hat structure 217 adapted to cover the wheels 228. In the embodiment of FIG. 15, the second portion 222b of the subframe 222 includes a plurality of holes 225b and the top hat structure 217 includes a plurality of holes 215b. Once the holes 215b and 225b are aligned, a fastener or bolt 229b is inserted into the aligned hole, thereby connecting the second portion 222b of the subframe 222 to the top hat structure 217.

[0190] Figures 16A and 16B are photographs of VCM 220 before mounting VCM 220 on reference frame 212, and Figures 17A, 17B, 17C, and 17D are photographs of VCM 220 after mounting VCM 220 on reference frame 212. The reference numbers used in Figures 16A through 17D correspond to the reference numbers described above with respect to Figures 12 through 15.

[0191] Figure 18 is a perspective view of a VCM 320 with portions removed according to another embodiment of the disclosed invention. Figures 19A, 19B, and 19C are two perspective views and a front plan view, respectively, of a VCM 320. In the context of the following description, the "front" of the VCM is the portion of the VCM to which the wheel is attached, and the "rear" of the VCM is the portion of the VCM distal to the wheel.

[0192] 18-19C, the VCM 320 includes a subframe 322 having a plurality of fasteners or bolts 324 extending therefrom, said fasteners forming a vehicle connection interface of the VCM 320. The VCM 320 includes a wheel hub assembly 326 which is shown with a wheel 328 attached. As is evident from FIG. 18 and described herein, all of the fasteners 324 and corresponding holes 314 (FIG. 20) through which the fasteners 324 are received are within the cylindrical footprint of the wheel 328, and therefore the entire vehicle connection interface of the VCM 320 resides within the cylindrical footprint of said wheel.

[0193] The suspension subsystem 334 is mounted to the wheel hub assembly 326 and the subframe 322. A brake subassembly 336 is also mounted to the subframe 322 and includes a brake caliper 340 coupled to the wheel hub assembly 326. The drive subassembly 330 typically includes a motor and drive shaft, and is mounted to the subframe 322 and extends between the rear of the VCM 320 and the wheel hub assembly 326. In some embodiments, such as shown in FIG. 18, the VCM 320 may lack a steering subassembly.

[0194] 19A-19C, the VCM 320 includes a cooling subsystem 346. The cooling subsystem 346 may be used to cool the motor. In some embodiments, the cooling subsystem 346 is mounted on the subframe 322 near the rear of the VCM 320, shown here as being mounted on or behind the drive subassembly 330. The cooling subsystem 346 is connected by appropriate tubing to the coolant connection interface of the VCM portion 352b of the multi-interface connection element, as described above with respect to FIGS. 2-5.

[0195] As seen in Figure 18, in VCM 320, suspension subsystem 334 and braking subsystem 336 are disposed between the subframe and the wheel hub assembly. Additionally, drive subsystem 330 is disposed substantially between prong 324 and the wheel. Thus, in the embodiment of Figures 18-19C, the drive subsystem, suspension subsystem, and braking subsystem are all disposed between the wheel hub assembly and the vehicle connection interface of the VCM.

[0196] FIG. 20 is a perspective cutaway view of a rear or front portion of a reference frame 312 adapted to connect to the VCM 320 of FIGS. 18-19C. As seen in FIG. 20, either the rear / front portion of the reference frame 312 has an upper surface 312a and a lower surface 312b. The reference frame 312 is divided into a central portion 313a and a VCM receiving portion 313b, which is either the rear or the front, and can selectively terminate in a bumper 319. A plurality of holes 314 are formed in the sidewalls of the VCM receiving portion 313b across the upper and lower surfaces, thereby forming a VCM connection interface for connecting to the VCM 320. In some embodiments, at least some of the holes 314 may be perpendicular to the upper and / or lower surfaces. In some embodiments, at least some of the holes 314 are not perpendicular to the upper and / or lower surfaces, but are formed at an angle relative to the upper and / or lower surfaces suitable for receiving fasteners 324 of the subframe 322.

[0197] In some embodiments, fasteners 324 can be replaced by corresponding protrusions adapted to be received within holes 314 and retained within holes 314 by additional fasteners not expressly shown.

[0198] Upon connection of VCM 320 to reference frame 312, VCM 320 is aligned with VCM receiving portion 313b such that fastener 324 and hole 314 are aligned. VCM 320 is then moved laterally toward reference frame 312 without changing the vertical alignment of said VCM until fastener 324 engages hole 314. In some embodiments, additional fasteners may be used to strengthen the connection of fastener 324 in hole 314.

[0199] In some embodiments, some portions of the VCM 320 (such as the cooling subsystem 346) may be disposed between the upper and lower surfaces of the reference frame 312 (e.g., within the cavity 315) in a mounted configuration. In some embodiments, the vehicle platform portion of the multi-interface connection element corresponding to the VCM portion 352b may be mounted on the reference frame 312 (e.g., on a support or sidewall 317 connecting the upper and lower surfaces).

[0200] Figures 21A and 21B are perspective and top rear views, respectively, of a VCM 420 according to yet another embodiment of the disclosed invention. Figure 22 is a perspective view of a VCM 420a similar to the VCM 420 of Figures 21A and 21B, but having a different subsystem and subframe structure than VCM 420. In the context of the following description, the "front" of the VCM is the portion of the VCM to which the wheels are attached, and the "rear" of the VCM is the portion of the VCM distal to the wheels.

[0201] 21A and 21B, the VCM 420 includes a subframe 422 having a plurality of fasteners 424 extending therefrom, said fasteners forming a vehicle connection interface for the VCM 420. In the VCM 420, the subframe 422 includes a generally planar lower portion 423a and an upper portion 423b.

[0202] 22, it can be seen that the VCM 420a includes a subframe 422a having a plurality of fasteners 424 extending therefrom that form the vehicle connection interface of the VCM 420a. In the VCM 420a, the subframe 422a includes a rear portion 425a and an upper portion 425b that is similar to the upper portion 423a of the VCM 423.

[0203] It will be appreciated that the fasteners 424 of VCMs 420 and 420a are substantially identical in structure and are positioned such that the distance between each of said fasteners is substantially equal, and thus VCMs 420 and 420a have the same vehicle connection interface such that VCMs 420 and 420a may be interchangeably connected to a reference frame of a vehicle platform.

[0204] Each of VCMs 420 and 420a includes a wheel hub assembly 426 which is shown with a wheel 428 attached. As is evident from Figures 21b and 22, all of the fasteners 424 are within the cylindrical footprint of wheel 428, and therefore the entire vehicle connection interface of each of VCMs 420 and 420a is within the cylindrical footprint of said wheel.

[0205] A suspension subsystem 434 is mounted to the wheel hub assembly 426 and to each of the subframes 422 and 422a. A brake subassembly (not explicitly shown) may also be mounted to each of the subframes 422 and 422a. A steering subassembly 432, which typically includes an actuator 442 and a steering rod 444, is mounted to each of the subframes 422 and 422a. The VCMs 420 and 420a lack a drive subassembly.

[0206] 21A and 21B, the VCM portion 452b of the multi-interface connection element is connected to the subframe 422 and may be similar to the multi-interface connection element described above with respect to Figures 2-5. Although the VCM portion 452b is not shown on the VCM 420a, it is understood that the VCM 420a may also be connectable using the multi-interface connection element.

[0207] 22, in VCMs 420 and 420a, suspension subsystem 434 and steering subsystem 432 are disposed between subframe 422 and wheel hub assembly 426. In some embodiments, the braking subsystem (not explicitly shown) as well as suspension subsystem 434 and steering subsystem 432 are disposed between subframe 422 and wheel hub assembly 426.

[0208] FIG. 23 is a perspective cross-sectional view of a rear or front portion of a vehicle reference frame 412 adapted to connect to the VCMs 420 and 420a of FIGS. 21A-22. As seen in FIG. 23, either the rear / front portion of the reference frame 412 has an upper surface 412a and a lower surface 412b. The reference frame 412 is divided into a central portion 413a and a VCM receiving portion 413b, which may be either the rear or the front, and may optionally terminate in a bumper 419. A plurality of holes 414 are formed in the sidewalls of the VCM receiving portion 413b across the upper and lower surfaces, thereby forming a VCM connection interface for connecting to the VCM 420 or 420a. In some embodiments, at least some of the holes 414 may be perpendicular to the upper and / or lower surfaces. In some embodiments, at least some of the holes 414 are not perpendicular to the upper and / or lower surfaces, but rather are formed at an angle suitable for receiving fasteners 424 of the subframe 422.

[0209] In some embodiments, fasteners 424 may be replaced by corresponding protrusions adapted to be received within holes 414 and retained within holes 414 by additional fasteners not expressly shown.

[0210] Upon connection of VCM 420 or 420a to reference frame 412, the VCM is aligned with VCM receiving portion 413b such that fastener 424 is aligned with hole 414. The VCM is then moved laterally toward reference frame 412 without changing the vertical alignment of the VCM until fastener 424 engages and is inserted into hole 414. In some embodiments, a fastener may be used to strengthen the connection of fastener 424 within hole 414.

[0211] In some embodiments, portions of the VCM may be disposed in a mounted configuration between the upper and lower surfaces of reference frame 412 (e.g., within cavity 415). In some embodiments, a vehicle platform portion of a multi-interface connection element corresponding to VCM portion 452b may be mounted on reference frame 412 (e.g., on a sidewall 417 connecting the upper and lower surfaces).

[0212] 24A and 24B are photographs of a VCM 520 connected to a reference frame 512 of a vehicle platform 510 in yet another embodiment of the disclosed invention.

[0213] 24A and 24B, the reference frame 512 includes an upper surface 512a and a VCM connection portion 513 extending upwardly from the upper surface. The VCM connection interface of the reference frame 512 includes a plurality of holes 514 formed in the VCM connection portion 513.

[0214] The VCM 520 includes a subframe 522 that includes a vehicle connection interface formed of a corresponding number of holes that are adapted to align with holes 514 when the subframe 522 is seated in the hollow space of the vehicle connection portion 513. In use, the subframe 522 of the VCM 520 is connected to the reference frame 512 by first aligning the subframe to the height of the vehicle connection portion 513 and then moving the subframe 522 laterally without changing the height of holes 524 until holes 524 are aligned with holes 514 of the reference frame 512. At this stage, fasteners 529 are inserted into the aligned holes 514 and 524 to maintain the connection between the reference frame and the subframe.

[0215] 24B, holes 514 and / or 524 may be larger in at least one direction than fasteners 529. In such embodiments, the connection of VCM 520 to reference frame 512 is configurable to control or set, for example, any of the caster, camber, and toe angles of the wheels.

[0216] 24A , the subframe 522 includes a wheel hub assembly 526 to which a wheel 528 is mounted. The entire vehicle interface portion 513 and the entire connection interfaces 514 and 524 are within the cylindrical footprint of the wheel 528. The subframe 522 carries a suspension subsystem 534 mounted on the subframe 522 and a steering subsystem 532 which may be partially disposed within the wheel 528.

[0217] In some embodiments, a VCM portion (not shown) of a multi-interface connection element ( FIG. 2 ) may be mounted on the subframe 522, and a vehicle platform portion corresponding to said VCM portion may be mounted on the vehicle connection portion 513. In such embodiments, said VCM portion is adapted to connect to the vehicle platform portion of said multi-interface connection element upon connecting VCM 520 to reference frame 512, as described above with respect to FIGS. 2-5 .

[0218] The present invention can be described by the following aspects.

[0219] <Aspect 1> A vehicle corner module (VCM) for adjusting a movement of a vehicle, the VCM being connectable to a VCM connection interface of a reference frame of a vehicle platform, the VCM comprising: a subframe including a vehicle connection interface for reversibly mechanically connecting the VCM to the VCM connection interface of the reference frame; a wheel hub assembly including a wheel hub adapted to mount a wheel; At least one subsystem of the vehicle, the at least one subsystem of the vehicle being mounted to the subframe and selected from the group of subsystems consisting of a drive subsystem, a steering subsystem, a suspension subsystem, and a braking subsystem; when a wheel is attached to the wheel hub assembly, the vehicle connection interface is disposed within a cylindrical footprint of the wheel; At least one of the at least one subsystem is housed between the wheel hub assembly and the vehicle connection interface.

[0220] <Aspect 2> A VCM as described in aspect 1, wherein when the subframe is connected to the reference frame by engagement between the vehicle connection interface and the VCM connection interface, the vehicle connection interface is positioned between the wheel and the reference frame.

[0221] <Aspect 3> A VCM as described in aspect 1 or 2, wherein when the subframe is connected to the reference frame by engagement between the vehicle connection interface and the VCM connection interface, the vehicle connection interface is positioned at a height between the upper and lower surfaces of the reference frame.

[0222] <Aspect 4> A VCM according to any one of aspects 1, 2, and 3, wherein the vehicle further includes at least one power source, and the VCM further includes at least one connector for connecting to the at least one power source, such that when the VCM is connected to the vehicle, the at least one power source supplies power to the at least one subsystem.

[0223] <Aspect 5> In the VCM according to any one of aspects 1 to 4, the at least one subsystem includes: a subsystem disposed between the wheel hub assembly and the vehicle connection interface; a subsystem mounted to a portion of the subframe and adapted to be disposed within the reference frame and between an upper surface and a lower surface of the reference frame when the subframe is connected to the reference frame; VCM, including at least one of the following:

[0224] <Aspect 6> The VCM according to any one of aspects 1 to 4, wherein all of the subsystems in the plurality of subsystems are disposed between the wheel hub assembly and the vehicle connection interface.

[0225] <Aspect 7> A VCM described in any one of aspects 1 to 6, wherein when a vehicle connection interface of the VCM is positioned at the height of the reference frame, connection of the subframe to the reference frame is performed by engagement between the vehicle connection interface and the VCM connection interface.

[0226] <Aspect 8> A VCM described in any one of aspects 1 to 7, wherein the VCM connection interface includes a rod extending from the reference frame parallel to the longitudinal axis of the reference frame, and the vehicle connection interface includes a clamp adapted to fasten to the rod, thereby connecting the VCM to the vehicle.

[0227] <Aspect 9> The VCM of aspect 8, wherein the tightening of the clamp to the rod is adapted to be reinforced by at least one fastener.

[0228] <Aspect 10> The VCM according to aspect 8 or 9, wherein the clamp is capable of sliding onto the rod.

[0229] <Aspect 11> A VCM described in any one of aspects 8 to 10, wherein the rod extends between the reference frame and a bumper of the vehicle platform.

[0230] <Aspect 12> The VCM of aspect 11, wherein the clamp is attached to the bar prior to attachment of the bumper such that attachment of the bumper strengthens the connection of the VCM to the vehicle platform.

[0231] <Embodiment 13> A VCM described in any one of embodiments 1 to 12, wherein the subframe is adapted to be mounted to a flat reference frame that does not include a raised connection portion located above an upper surface of the reference frame or below a lower surface of the reference frame.

[0232] <Aspect 14> A VCM described in any one of aspects 1 to 13, wherein the subframe includes a second connection interface adapted to connect to a vehicle assembly coupled to the reference frame.

[0233] <Aspect 15> The VCM according to aspect 14, wherein the vehicle assembly includes a top hat frame of the vehicle adapted to encase the wheel.

[0234] <Aspect 16> A VCM described in any one of aspects 1 to 15, wherein the vehicle connection interface includes a plurality of fasteners corresponding to holes that form part of the VCM connection interface of the reference frame and adapted to tighten the VCM into the holes.

[0235] <Aspect 17> The VCM according to any one of aspects 1 to 16, wherein the vehicle connection interface is adapted for snap-fit ​​engagement with the VCM connection interface of the reference frame.

[0236] <Aspect 18> A VCM according to any one of aspects 1 to 17, wherein the at least one subsystem includes a suspension subsystem disposed between the wheel hub assembly and the vehicle connection interface.

[0237] <Aspect 19> The VCM according to any one of aspects 1 to 18, wherein the VCM does not include a steering subsystem and includes a drive subsystem.

[0238] <Aspect 20> The VCM according to any one of aspects 1 to 18, wherein the VCM does not include a drive subsystem and includes a steering subsystem.

[0239] <Aspect 21> A VCM described in any one of aspects 1 to 20, wherein when the VCM is connected to the vehicle platform, at least one of the camber angle, caster angle, and toe angle of the wheel is adjustable by adjusting the engagement between the vehicle connection interface and the VCM connection interface.

[0240] <Aspect 22> The VCM according to any one of aspects 1 to 21, further comprising a VCM portion of a multi-interface connection element mounted on the subframe and adapted to connect to a vehicle platform portion of the multi-interface connection element; the vehicle platform portion is mounted on the reference frame of the vehicle platform and connected to a plurality of electronic or flow subsystems of the vehicle; the VCM portion of the multi-interface connection element including a plurality of connection interfaces for connecting the VCM portion to the vehicle platform portion, thereby connecting the VCM to each of the plurality of electronic subsystems of the vehicle; Each of the plurality of electronic or flow subsystems is selected from the group including a power source of the vehicle, a control circuit of the vehicle, a computerized controller of the vehicle, a network bus of the vehicle, a network interface of the vehicle, a coolant flow subsystem of the vehicle, an oil flow subsystem of the vehicle, and a brake fluid flow subsystem of the vehicle, a VCM.

[0241] <Aspect 23> A vehicle corner module (VCM) for adjusting a movement of a vehicle, the vehicle corner module being connectable to a VCM connection interface of a reference frame of a vehicle platform, the VCM comprising: the VCM includes a subframe including a vehicle connection interface for reversibly mechanically connecting the VCM to the VCM connection interface of the reference frame, a wheel hub assembly including a wheel hub adapted to mount a wheel, and at least one subsystem of the vehicle mounted on the subframe, the at least one subsystem being selected from the group of subsystems including a drive subsystem, a steering subsystem, a suspension subsystem, and a braking subsystem; when a wheel is attached to the wheel hub assembly, the vehicle connection interface is disposed within a cylindrical footprint of the wheel; When the subframe is connected to the reference frame by engagement of the vehicle connection interface with the VCM connection interface, the vehicle connection interface is positioned at a height between an upper surface and a lower surface of the reference frame.

[0242] <Aspect 24> A VCM as described in aspect 23, wherein at least one of the at least one subsystem is housed between the wheel hub assembly and the vehicle connection interface.

[0243] <Aspect 25> A VCM as described in aspect 23 or 24, wherein when the subframe is connected to the reference frame by engagement between the vehicle connection interface and the VCM connection interface, the vehicle connection interface is positioned between the wheel and the reference frame.

[0244] <Aspect 26> A VCM described in any one of aspects 23 to 25, wherein the vehicle further includes at least one power source, and the VCM further includes at least one connector for connecting to the at least one power source, so that the at least one power source supplies power to the at least one subsystem when the VCM is connected to the vehicle.

[0245] <Aspect 27> In the VCM according to any one of aspects 23 to 26, the at least one subsystem comprises: a subsystem disposed between the wheel hub assembly and the vehicle connection interface; and a subsystem mounted to a portion of the subframe and adapted to be disposed within the reference frame and between an upper surface and a lower surface of the reference frame when the subframe is connected to the reference frame; VCM, including at least one of the following:

[0246] <Aspect 28> A VCM described in any one of aspects 23 to 26, wherein all subsystems in the plurality of subsystems are disposed between the wheel hub assembly and the vehicle connection interface.

[0247] <Aspect 29> A VCM described in any one of aspects 23 to 28, wherein when a vehicle connection interface of the VCM is positioned at the height of the reference frame, connection of the subframe to the reference frame is performed by engagement between the vehicle connection interface and the VCM connection interface.

[0248] <Aspect 30> A VCM described in any one of aspects 23 to 29, wherein the VCM connection interface includes a rod extending from the reference frame parallel to the longitudinal axis of the reference frame, and the vehicle connection interface includes a clamp adapted to fasten to the rod, thereby connecting the VCM to the vehicle.

[0249] <Embodiment 31> The VCM of embodiment 30, wherein the tightening of the clamp to the rod is adapted to be reinforced by at least one fastener.

[0250] <Aspect 32> The VCM according to aspect 30 or 31, wherein the clamp is capable of sliding onto the rod.

[0251] <Embodiment 33> A VCM according to any one of embodiments 30 to 32, wherein the rod extends between the reference frame and a bumper of the vehicle platform.

[0252] <Aspect 34> A VCM as described in Aspect 33, wherein the clamp can be slid onto the rod prior to installation of the bumper such that installation of the bumper strengthens the connection of the VCM to the vehicle platform.

[0253] <Embodiment 35> A VCM described in any one of embodiments 23 to 34, wherein the subframe is adapted to be attached to a flat reference frame, and the flat reference frame does not include a raised connection portion that is located above an upper surface of the reference frame or below a lower surface of the reference frame.

[0254] <Aspect 36> A VCM described in any one of aspects 23 to 35, wherein the subframe includes a second connection interface adapted to connect to a vehicle assembly coupled to the reference frame.

[0255] <Aspect 37> A VCM as described in aspect 36, wherein the vehicle assembly includes a top hat frame of the vehicle adapted to encase the wheel.

[0256] <Aspect 38> A VCM described in any one of aspects 23 to 37, wherein the vehicle connection interface includes a plurality of fasteners corresponding to holes forming part of the VCM connection interface of the reference frame and adapted to tighten the VCM into the holes.

[0257] <Aspect 39> A VCM according to any one of aspects 23 to 38, wherein the vehicle connection interface is adapted for snap-fit ​​engagement with the VCM connection interface of the reference frame.

[0258] <Aspect 40> A VCM described in any one of aspects 23 to 39, wherein the at least one subsystem includes a suspension subsystem disposed between the wheel hub assembly and the vehicle connection interface.

[0259] <Aspect 41> A VCM according to any one of aspects 23 to 40, wherein the VCM does not include a steering subsystem and includes a drive subsystem.

[0260] <Aspect 42> A VCM according to any one of aspects 23 to 40, wherein the VCM does not include a drive subsystem and includes a steering subsystem.

[0261] <Aspect 43> A VCM described in any one of aspects 23 to 42, wherein when the VCM is connected to the vehicle platform, at least one of the camber angle, caster angle, and toe angle of the wheel is adjustable by adjusting the engagement between the vehicle connection interface and the VCM connection interface.

[0262] <Aspect 44> The VCM according to any one of Aspects 23 to 43, further comprising a VCM portion of a multi-interface connection element mounted on the subframe and adapted to connect to a vehicle platform portion of the multi-interface connection element; the vehicle platform portion is mounted on the reference frame of the vehicle platform and connected to a plurality of electronic or flow subsystems of the vehicle; the VCM portion of the multi-interface connection element including a plurality of connection interfaces for connecting the VCM portion to the vehicle platform portion, thereby connecting the VCM to each of the plurality of electronic subsystems of the vehicle; Each of the plurality of electronic or flow subsystems is selected from the group including a power source of the vehicle, a control circuit of the vehicle, a computerized controller of the vehicle, a network bus of the vehicle, a network interface of the vehicle, a coolant flow subsystem of the vehicle, an oil flow subsystem of the vehicle, and a brake fluid flow subsystem of the vehicle, a VCM.

[0263] A vehicle platform for a vehicle, the vehicle platform adapted to connect to at least one vehicle corner module (VCM) adapted to adjust movement of the vehicle, the vehicle platform includes a reference frame; The reference frame includes an upper surface and a lower surface, and The vehicle platform includes at least one bar forming a VCM connection interface adapted to receive a clamp of the VCM for reversibly mechanically connecting the VCM to the reference frame.

[0264] <Aspect 46> A vehicle platform as described in aspect 45, wherein the rod is dimensioned and configured to allow the VCM to be slidably mounted onto the rod.

[0265] <Aspect 47> A vehicle platform as described in aspect 45 or 46, further comprising at least one bumper attached to the reference frame distal to the rod.

[0266] <Aspect 48> A vehicle platform as described in Aspect 47, wherein the rod engages with both the reference frame and the bumper.

[0267] <Aspect 49> A vehicle platform as described in Aspect 47, wherein the rod engages with the reference frame and extends from the reference frame toward the bumper without engaging with the bumper.

[0268] <Aspect 50> The vehicle platform according to any one of aspects 45 to 49, wherein the vehicle platform further includes a vehicle platform portion of a multi-interface connection element attached to the reference frame and connected to a plurality of electronic subsystems or flow subsystems of the vehicle; the vehicle platform portion is adapted to connect to a VCM portion of the multi-interface connection element, the VCM portion being attached to a subframe of the VCM; the vehicle platform portion of the multi-interface connection element including a plurality of connection interfaces for connecting the vehicle platform portion to the VCM portion, thereby connecting the VCM to each of the plurality of electronic subsystems of the vehicle; A vehicle platform, wherein each of the plurality of electronic or flow subsystems is selected from the group including a power source of the vehicle, a control circuit of the vehicle, a computerized controller of the vehicle, a network bus of the vehicle, a network interface of the vehicle, a coolant flow subsystem of the vehicle, an oil flow subsystem of the vehicle, and a brake fluid flow subsystem of the vehicle.

[0269] <Aspect 51> A vehicle, a vehicle platform including a reference frame having an upper surface and a lower surface, the reference frame including at least one VCM connection interface; at least one Vehicle Corner Module (VCM) connected to a VCM connection interface of the reference frame, the at least one VCM including a subframe adapted to accommodate movement of the vehicle and including a vehicle connection interface that reversibly mechanically engages with the VCM connection interface of the reference frame; a wheel hub assembly including a wheel hub adapted to mount a wheel; at least one subsystem of the vehicle mounted on the subframe, the at least one subsystem being selected from the group of subsystems consisting of a drive subsystem, a steering subsystem, a suspension subsystem, and a braking subsystem; wherein the vehicle connection interface and the VCM connection interface are contained within a cylindrical footprint of the wheel when the wheel is attached to the wheel hub assembly.

[0270] <Aspect 52> A vehicle as described in aspect 51, wherein the vehicle connection interface of the subframe is reversibly and mechanically connected to the VCM connection interface of the reference frame.

[0271] <Aspect 53> A vehicle as described in aspect 51 or 52, wherein the vehicle connection interface and the VCM connection interface are positioned at a height between the heights of the upper surface and the lower surface of the reference frame.

[0272] <Aspect 54> A vehicle described in any one of aspects 51 to 53, wherein at least one of the at least one subsystem is housed between the wheel hub assembly and the vehicle connection interface.

[0273] <Aspect 55> A vehicle described in any one of aspects 51 to 54, wherein the vehicle connection interface is positioned between the wheel and the reference frame.

[0274] <Aspect 56> A vehicle described in any one of aspects 51 to 55, further comprising at least one power source, the VCM being connected to the at least one power source such that the at least one power source supplies power to the at least one subsystem.

[0275] <Aspect 57> The vehicle according to any one of aspects 51 to 56, wherein the at least one subsystem comprises: a subsystem disposed between the wheel hub assembly and the vehicle connection interface; and a subsystem mounted to a portion of the subframe and disposed within the reference frame between an upper surface and a lower surface of the reference frame; A vehicle including at least one of the following:

[0276] <Aspect 58> A vehicle described in any one of aspects 51 to 56, wherein all subsystems in the plurality of subsystems are positioned between the wheel hub assembly and the vehicle connection interface.

[0277] <Aspect 59> A vehicle described in any one of aspects 51 to 58, wherein the subframe is connected to the reference frame when the vehicle connection interface of the VCM is positioned at the height of the reference frame.

[0278] <Aspect 60> A vehicle described in any one of aspects 51 to 59, wherein the VCM connection interface includes a rod extending from the reference frame parallel to the longitudinal axis of the reference frame, and the vehicle connection interface includes a clamp fastened to the rod, thereby connecting the VCM to the reference frame.

[0279] <Aspect 61> A vehicle as described in aspect 60, wherein the tightening of the clamp to the rod is adapted to be reinforced by at least one fastener.

[0280] <Aspect 62> A vehicle as described in aspect 60 or 61, wherein the clamp is capable of sliding onto the rod.

[0281] <Aspect 63> A vehicle described in any one of aspects 60 to 62, wherein the vehicle platform further includes a bumper, and the rod extends between the reference frame and the bumper.

[0282] <Aspect 64> A vehicle as described in aspect 63, wherein the clamp can be slid onto the rod prior to installation of the bumper, such that installation of the bumper strengthens the connection of the VCM to the vehicle platform.

[0283] <Aspect 65> A vehicle described in any one of aspects 51 to 64, wherein the reference frame is flat and does not include a raised connection portion located above the upper surface of the reference frame or below the lower surface of the reference frame.

[0284] <Aspect 66> A vehicle described in any one of aspects 51 to 65, wherein the vehicle platform includes a vehicle assembly coupled to the reference frame, and the subframe includes a second connection interface connected to the vehicle assembly.

[0285] <Aspect 67> A vehicle as described in Aspect 66, wherein the vehicle assembly includes a top hat frame surrounding the wheel.

[0286] <Aspect 68> A vehicle described in any one of aspects 51 to 67, wherein the vehicle connection interface includes a plurality of fasteners that secure the VCM to corresponding holes that form part of the VCM connection interface of the reference frame.

[0287] <Aspect 69> A vehicle described in any one of aspects 51 to 68, wherein the vehicle connection interface engages with the VCM connection interface of the reference frame by a snap-fit ​​engagement.

[0288] <Aspect 70> A vehicle described in any one of aspects 51 to 69, wherein the at least one subsystem includes a suspension subsystem disposed between the wheel hub assembly and the vehicle connection interface.

[0289] <Aspect 71> A vehicle described in any one of aspects 51 to 70, wherein the VCM does not include a steering subsystem but includes a drive subsystem.

[0290] <Aspect 72> A vehicle described in any one of aspects 51 to 70, wherein the VCM does not include a drive subsystem but includes a steering subsystem.

[0291] <Aspect 73> A vehicle described in any one of aspects 51 to 72, wherein at least one of the camber angle, caster angle, and toe angle of the wheel is adjustable by adjusting the engagement between the vehicle connection interface and the VCM connection interface.

[0292] A vehicle according to any one of Aspects 51 to 73, comprising: a plurality of electronic or flow subsystems selected from the group of subsystems consisting of a power supply, a control circuit, a computerized controller, a network bus, a network interface, a coolant flow subsystem, an oil flow subsystem, and a brake fluid flow subsystem; and a multi-interface connection element including a VCM portion mounted on the subframe reversibly connected to a corresponding vehicle platform portion mounted on the reference frame and connected to the plurality of electronic or flow subsystems, the multi-interface connection element including a plurality of connection interfaces for connecting the VCM portion to the vehicle platform portion and the vehicle platform portion to the VCM portion, respectively; wherein, upon connecting the VCM portion to the vehicle platform portion of the multi-interface connection element, the VCM is connected to the plurality of electronic or flow subsystems.

[0293] <Aspect 75> A vehicle as described in aspect 74, wherein, for each electronic subsystem or flow subsystem of the plurality of electronic subsystems or flow subsystems, one of the VCM portion and the vehicle platform portion of the multi-interface connection element includes a port, and the other of the VCM portion and the vehicle platform portion of the multi-interface connection element includes a corresponding plug, and when the VCM portion and the vehicle platform portion of the multi-interface connection element are connected, the plug is received in the port, thereby connecting the VCM to the electronic subsystem or flow subsystem.

[0294] <Aspect 76> A vehicle corner module (VCM) connectable to a VCM connection interface of a reference frame of a vehicle platform, the reference frame being attached to a vehicle platform portion of a multi-interface connection element, the vehicle platform portion including a plurality of connection interfaces, each of the plurality of connection interfaces being connected to one of a plurality of electronic or flow subsystems of the vehicle, the VCM comprising: a subframe including a vehicle connection interface for reversibly mechanically connecting the VCM to the VCM connection interface of the reference frame; a wheel hub assembly including a wheel hub adapted to mount a wheel; At least one subsystem of the vehicle, the subsystem being mounted to the subframe and selected from the group of subsystems consisting of a drive subsystem, a steering subsystem, a suspension subsystem, and a braking subsystem; and a VCM portion of the multi-interface connection element attached to the subframe, the VCM portion of the multi-interface connection element connectable to the vehicle platform portion of the multi-interface connection element and including a plurality of corresponding connection interfaces for connecting to connection interfaces of the vehicle platform portion; wherein when the VCM portion is connected to the vehicle platform portion of the multi-interface connection element, the VCM is connected to the plurality of electronic or flow subsystems.

[0295] <Aspect 77> A VCM as described in aspect 76, wherein each of the multiple corresponding connection interfaces is adapted to connect the VCM to one of the multiple electronic subsystems or flow subsystems, each of the multiple electronic subsystems or flow subsystems selected from a subsystem group consisting of a power supply for the vehicle, a control circuit for the vehicle, a computer control device for the vehicle, a network bus for the vehicle, a network interface for the vehicle, a coolant flow subsystem for the vehicle, an oil flow subsystem for the vehicle, and a brake fluid flow subsystem for the vehicle.

[0296] <Aspect 78> A VCM as described in aspect 76 or 77, wherein each of the multiple corresponding connector interfaces of the VCM portion includes a plug adapted to be inserted into a port of the vehicle platform portion, or a port adapted to receive a plug of the vehicle platform portion.

[0297] <Aspect 79> A VCM described in any one of aspects 76 to 78, wherein the vehicle connection interface is positioned within a cylindrical footprint of the wheel when the wheel is attached to the wheel hub assembly.

[0298] <Aspect 80> A VCM described in any one of aspects 76 to 79, wherein at least one of the at least one subsystem is housed between the wheel hub assembly and the vehicle connection interface.

[0299] <Aspect 81> A VCM described in any one of aspects 76 to 80, wherein when the subframe is connected to the reference frame by engagement between the vehicle connection interface and the VCM connection interface, the vehicle connection interface is positioned between the wheel and the reference frame.

[0300] <Aspect 82> A VCM described in any one of aspects 76 to 81, wherein when the subframe is connected to the reference frame by engagement between the vehicle connection interface and the VCM connection interface, the vehicle connection interface is positioned at a height between the upper and lower surfaces of the reference frame.

[0301] <Aspect 83> A VCM described in any one of aspects 76 to 82, wherein the vehicle further includes at least one power source, and the VCM further includes at least one connector for connecting to the at least one power source, so that the at least one power source supplies power to the at least one subsystem when the VCM is connected to the vehicle.

[0302] <Aspect 84> In the VCM according to any one of aspects 76 to 83, the at least one subsystem comprises: a subsystem disposed between the wheel hub assembly and the vehicle connection interface; and a subsystem mounted to a portion of the subframe and adapted to be disposed within the reference frame and between an upper surface and a lower surface of the reference frame when the subframe is connected to the reference frame; VCM, including at least one of the following:

[0303] <Aspect 85> A VCM described in any one of aspects 76 to 83, wherein all subsystems in the plurality of subsystems are disposed between the wheel hub assembly and the vehicle connection interface.

[0304] <Aspect 86> A VCM described in any one of aspects 76 to 85, wherein when a vehicle connection interface of the VCM is positioned at the height of the reference frame, connection of the subframe to the reference frame is performed by engagement between the vehicle connection interface and the VCM connection interface.

[0305] <Aspect 87> A VCM described in any one of aspects 76 to 86, wherein the VCM connection interface includes a rod extending from the reference frame parallel to the longitudinal axis of the reference frame, and the vehicle connection interface includes a clamp adapted to fasten to the rod, thereby connecting the VCM to the vehicle.

[0306] <Aspect 88> A VCM as described in Aspect 87, wherein the tightening of the clamp to the rod is adapted to be reinforced by at least one fastener.

[0307] <Aspect 89> A VCM according to aspect 87 or 88, wherein the clamp is capable of sliding onto the rod.

[0308] <Aspect 90> A VCM described in any one of aspects 87 to 89, wherein the rod extends between the reference frame and a bumper of the vehicle platform.

[0309] <Aspect 91> A VCM described in any one of aspects 76 to 90, wherein the subframe is adapted to be attached to a flat reference frame, and the flat reference frame does not include a raised connection portion that is located above an upper surface of the reference frame or below a lower surface of the reference frame.

[0310] <Aspect 92> A VCM described in any one of aspects 76 to 91, wherein the subframe includes a second connection interface adapted to connect to a vehicle assembly coupled to the reference frame.

[0311] <Aspect 93> A VCM as described in Aspect 92, wherein the vehicle assembly includes a top hat frame of the vehicle adapted to encase the wheel.

[0312] <Aspect 94> A VCM described in any one of aspects 76 to 93, wherein the vehicle connection interface includes a plurality of fasteners corresponding to holes forming part of the VCM connection interface of the reference frame and adapted to tighten the VCM into the holes.

[0313] <Aspect 95> A VCM described in any one of aspects 76 to 94, wherein the vehicle connection interface is adapted for snap-fit ​​engagement with the VCM connection interface of the reference frame.

[0314] <Aspect 96> A VCM described in any one of aspects 76 to 95, wherein the at least one subsystem includes a suspension subsystem disposed between the wheel hub assembly and the vehicle connection interface.

[0315] <Aspect 97> A VCM described in any one of aspects 76 to 96, wherein the VCM does not include a steering subsystem and includes a drive subsystem.

[0316] <Aspect 98> A VCM described in any one of aspects 76 to 96, wherein the VCM does not include a drive subsystem and includes a steering subsystem.

[0317] <Aspect 99> A VCM described in any one of aspects 76 to 98, wherein when the VCM is connected to the vehicle platform, at least one of the camber angle, caster angle, and toe angle of the wheel is adjustable by adjusting the engagement between the vehicle connection interface and the VCM connection interface.

[0318] A method for mounting a vehicle corner module (VCM) to a vehicle platform of a vehicle, the method comprising: aligning a vehicle connection interface of a subframe of the VCM with a reference frame of the vehicle platform such that the vehicle connection interface is disposed between an upper surface and a lower surface of the reference frame; and mechanically connecting the at least one VCM to the reference frame by engaging the vehicle connection interface with a VCM connection interface of the reference frame without changing a height alignment between the vehicle connection interface of the VCM and the reference frame; A method comprising:

[0319] A method according to aspect 100, comprising: A VCM portion of a multi-interface connection element attached to the subframe, by connecting to a vehicle platform portion of the multi-interface connection element forming a portion of the vehicle platform; connecting the VCM to a plurality of electronic or flow subsystems of the vehicle; A method comprising:

[0320] <Aspect 102> A method as described in aspect 101, wherein each of the plurality of electronic subsystems or flow subsystems is selected from a subsystem group consisting of a power supply, a control circuit, a computerized controller, a network bus, a network interface, a coolant flow subsystem, an oil flow subsystem, and a brake fluid flow subsystem.

[0321] <Aspect 103> A method according to any one of aspects 100 to 102, wherein the mechanically connecting includes pushing the VCM in a direction perpendicular to a longitudinal axis of the reference frame so that the vehicle connection interface engages with the VCM connection interface.

[0322] <Aspect 104> A method according to any one of aspects 100 to 102, wherein the mechanically connecting includes pushing the VCM in a direction parallel to a longitudinal axis of the reference frame so that the vehicle connection interface engages with the VCM connection interface.

[0323] <Example 105> A method according to any one of Examples 100 to 104, wherein the mechanically connecting includes disposing fasteners that engage the vehicle connection interface and the VCM connection interface.

[0324] <Aspect 106> A method according to any one of aspects 100 to 105, wherein the VCM connection interface includes a rod extending from the reference frame in a direction parallel to a longitudinal axis of the reference frame, the vehicle connection interface includes a clamp including an opening, the clamp adapted to be fastened to the rod, and the mechanically connecting includes attaching the clamp to the rod.

[0325] <Example 107> A method according to Example 106, wherein attaching the clamp to the rod includes sliding the clamp onto the rod.

[0326] <Embodiment 108> A method according to embodiment 107, further comprising connecting at least one bumper to the reference frame.

[0327] <Example 109> A method according to Example 108, wherein the connection of the bumper is performed after the sliding of the clamp.

[0328] <Example 110> A method according to Example 108, wherein the connection of the bumper is performed before the sliding of the clamp.

[0329] A multi-interface connection element for connecting a plurality of electronic or flow vehicle subsystems of a vehicle to a vehicle corner module (VCM) mounted to a reference frame of a vehicle platform of the vehicle and adapted to coordinate movement of the vehicle, the multi-interface connection element comprising: a vehicle platform portion mountable on the reference frame of the vehicle, the vehicle platform portion including a plurality of connection interfaces, each of the plurality of connection interfaces adapted to be associated with one of the plurality of electronic or flow vehicle subsystems; a VCM portion mountable on a subframe of the VCM, the VCM portion including a plurality of corresponding connection interfaces adapted to connect to the plurality of connection interfaces of the vehicle platform portion; a multi-interface connection element for connecting the connection interfaces of the vehicle platform portion to the corresponding connection interfaces of the VCM portion, thereby connecting the VCM to the plurality of electronic subsystems or flow subsystems.

[0330] <Aspect 112> A multi-interface connection element as described in aspect 111, wherein each of the multiple electronic subsystems or flow subsystems is selected from a subsystem group consisting of a power supply of the vehicle, a control circuit of the vehicle, a computerized controller of the vehicle, a network bus of the vehicle, a network interface of the vehicle, a coolant flow subsystem of the vehicle, an oil flow subsystem of the vehicle, and a brake fluid flow subsystem of the vehicle.

[0331] <Aspect 113> A multi-interface connection element as described in aspect 111 or 112, wherein when the connection interface of the vehicle platform portion is connected to the multiple corresponding connection interfaces of the VCM portion, at least one VCM subsystem is connected to at least one of the multiple electronic subsystems or flow subsystems.

[0332] <Aspect 114> A multi-interface connection element as described in aspect 113, wherein the at least one VCM subsystem includes at least one of a drive subsystem, a steering subsystem, a braking subsystem, a suspension subsystem, a VCM controller, and a cooling subsystem.

[0333] <Aspect 115> A multi-interface connection element described in any one of aspects 111 to 114, wherein the multi-interface connection element further includes a motion actuator extending between the front and rear of the VCM, the motion actuator being adapted to move the VCM portion relative to the vehicle platform portion for connection between the vehicle platform portion and the VCM portion.

[0334] <Embodiment 116> A multi-interface connection element as described in embodiment 115, wherein the motion actuator is positioned in a VCM part different from the VCM part so that the VCM part can be moved even if the VCM part is inaccessible.

[0335] <Aspect 117> A multi-interface connection element as described in aspect 115 or 116, wherein the motion actuator includes a fastener connected to the VCM portion by a connector cable, and the VCM portion is actuated by manipulating the fastener to transmit an actuation force from the fastener to the VCM portion.

[0336] <Aspect 118> A multi-interface connection element as described in Aspect 115 or 116, wherein the motion actuator includes a fastener connected to the VCM portion by a fluid flow conduit, and the VCM portion is actuated by sending fluid from the fastener to the VCM portion through the fluid flow conduit.

[0337] <Aspect 119> A multi-interface connection element described in any one of aspects 115 to 118, wherein the motion actuator includes an electric motor adapted to be remotely operated by a remote controller.

[0338] <Aspect 120> A multi-interface connection element described in any one of aspects 111 to 119, wherein a connection assembly connecting the VCM portion to the VCM subframe includes at least one spring adapted to apply a force to the VCM portion toward the vehicle platform portion.

[0339] A method for connecting at least one Vehicle Corner Module (VCM) subsystem mounted to a VCM to at least one electronic or flow subsystem mounted to a vehicle platform of a vehicle, the method comprising: connecting a VCM portion of a multi-interface connection element attached to a subframe of the VCM and connected to the at least one VCM subsystem to a vehicle platform portion of the multi-interface connection element forming part of the vehicle platform and connected to the at least one vehicle subsystem; thereby forming a connection between the at least one VCM subsystem and the at least one electronic subsystem or flow subsystem; wherein each of the VCM portion and the vehicle platform portion of the multi-interface connection element includes a plurality of connection interfaces, each of the plurality of connection interfaces being associated with one of a plurality of electronic subsystems or flow subsystems.

[0340] <Aspect 122> A method as described in aspect 121, wherein each of the plurality of electronic subsystems or flow subsystems is selected from a subsystem group consisting of a power supply, a control circuit, a computerized controller, a network bus, a network interface, a coolant flow subsystem, an oil flow subsystem, and a brake fluid flow subsystem.

[0341] <Aspect 123> A method as described in aspect 121 or 122, wherein the connecting of the VCM portion and the vehicle platform portion includes moving the VCM portion relative to both vehicle platform portions until the VCM portion and the vehicle platform portion are connected.

[0342] <Example 124> A method according to Example 123, wherein only one of the VCM portion and the vehicle platform portion is movable, and the other is fixed.

[0343] <Example 125> A method as described in Example 123 or 124, wherein moving the VCM portion relative to the vehicle platform portion includes an operation of actuating the VCM portion by a mechanical mechanism extending between the front and rear of the VCM.

[0344] <Embodiment 126> A method according to embodiment 125, wherein the mechanical mechanism that actuates movement of the VCM portion is located at a position away from the position of the VCM portion.

[0345] <Aspect 127> A method described in aspect 125 or 126, wherein the mechanical mechanism includes a fastener connected to the VCM portion by a connector cable, and the actuating action includes manipulating the connected fastener to transmit a force that actuates movement from the fastener to the VCM portion.

[0346] <Aspect 128> A method as described in aspect 125 or 126, wherein the mechanical mechanism includes a fastener connected to the VCM portion, and the actuating action includes manipulating the fastener so that a force actuating movement is transmitted to the VCM portion by fluid communication via the conduit.

[0347] <Example 129> A method according to any one of Examples 121 to 124, wherein actuating the movement of at least one of the VCM portion and the vehicle platform portion is performed by an electric motor.

[0348] <Aspect 130> A method according to aspect 129, wherein the electric motor is adapted to be remotely operated by a remote controller.

[0349] <Aspect 131> A method according to any one of aspects 121 to 130, wherein the connection is performed from the front side of the VCM, regardless of the position of the VCM connector within the VCM.

[0350] Concluding remarks

[0351] All references cited herein are incorporated by reference in their entirety. The citation of a reference is not an admission that the reference is prior art.

[0352] It should be further noted that any of the above-described embodiments may further include receiving, transmitting, or storing instructions and / or data on a computer-readable medium to perform the operations described above in conjunction with the above-described figures. Generally speaking, a computer-readable medium (e.g., a non-transitory medium) may include a storage medium or storage media (e.g., a disk or CD-ROM, or a volatile or non-volatile medium such as a RAM or ROM), such as a magnetic medium, a flash medium, an optical medium, or the like.

[0353] Although the above exemplary embodiments have been described, it will be apparent to those skilled in the art that there may be various equivalents, modifications, alterations, and improvements of the above exemplary embodiments without departing from the scope and spirit of the claims described below. In particular, different embodiments may include combinations of features other than those described herein. Therefore, the claims may not be limited to the description of the above embodiments.

Claims

[Claim 1] A vehicle corner module (VCM) connectable to a VCM connection interface of a reference frame of a vehicle platform for coordinating vehicle motion, the VCM comprising: a subframe including a vehicle connection interface for reversibly mechanically connecting the VCM to the VCM connection interface of the reference frame; a wheel hub assembly including a wheel hub adapted to mount a wheel; At least one subsystem of the vehicle, the at least one subsystem being mounted to the subframe and selected from the group of subsystems consisting of a drive subsystem, a steering subsystem, a suspension subsystem, and a braking subsystem; when a wheel is attached to the wheel hub assembly, the vehicle connection interface is disposed within a cylindrical footprint of the wheel; At least one of the at least one subsystem is housed between the wheel hub assembly and the vehicle connection interface.

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