Brake systems integrated into vehicle corner modules and methods of use thereof

Abstract

A Vehicle Corner Module (VCM) based brake system, which includes a brake actuator, adapted to regulate the rotation rate of the wheel assembled to the VCM, a fluid-based brake power source, fluidly connected to the brake actuator and adapted to provide pressurized brake fluid for operating the brake actuator, and a brake-control-circuit, functionally associated with the brake actuator and with the brake power source, and adapted to provide functional inputs to the brake actuator based on a target rotation rate profile desired for a wheel mounted on the VCM. All mechanical components of the VCM-based brake system are disposed within the VCM. The VCM-based brake system and the vehicle platform are not in fluid communication with each other.

What is claimed is: 
     
         1 . A Vehicle Corner Module (VCM) based brake system adapted to be between a wheel assembled to a VCM connectable to a vehicle platform, and the vehicle platform, the VCM-based brake system comprising:
 (a) a brake actuator, adapted to regulate the rotation rate of the wheel assembled to the VCM;   (b) a fluid-based brake power source, fluidly connected to the brake actuator and adapted to provide pressurized brake fluid for operating the brake actuator; and   (c) a brake-control-circuit, functionally associated with the brake actuator and with the brake power source, and adapted to provide functional inputs to the brake actuator based on a target rotation rate profile desired for the wheel,
 wherein all mechanical components of the VCM-based brake system are disposed within the VCM, and 
 wherein the VCM-based brake system and the vehicle platform are not in fluid communication with each other. 
   
     
     
         2 . The VCM-based brake system of  claim 1 , wherein the VCM-based system is airtight and fluid tight within the VCM. 
     
     
         3 . The VCM-based brake system of  claim 1  or  claim 2 , wherein the VCM-based system is mechanically decoupled from the vehicle platform. 
     
     
         4 . The VCM-based brake system of any one of  claims 1  to  3 , wherein the fluid-based brake power source is a hydraulic brake power source. 
     
     
         5 . A Vehicle Corner Module (VCM) based brake system adapted to be disposed within a VCM connectable to a vehicle platform, between a wheel assembled to the VCM and the vehicle platform, the VCM-based brake system comprising:
 (a) a brake actuator, adapted to regulate the rotation rate of the wheel assembled to the VCM;   (b) a fluid based brake power source, fluidly connected to the brake actuator and adapted to provide brake fluid for operating the brake actuator; and   (c) a brake-control-circuit, functionally associated with the brake actuator and with the brake power source, and adapted to provide functional inputs to the brake actuator based on a target rotation rate profile desired for the wheel,
 wherein all mechanical components of the VCM-based brake system are disposed within the VCM, and 
 wherein the VCM-based brake system is air-tight, and fluid-tight, within the VCM. 
   
     
     
         6 . The VCM-based brake system of  claim 5 , wherein the fluid-based brake power source is a hydraulic brake power source. 
     
     
         7 . The VCM-based brake system of  claim 5  or  claim 6 , wherein the VCM-based system is mechanically decoupled from the vehicle platform. 
     
     
         8 . A Vehicle Corner Module (VCM) based brake system adapted to be disposed within a VCM connectable to a vehicle platform, between a wheel assembled to the VCM and the vehicle platform, the VCM-based brake system comprising:
 (a) a brake actuator, adapted to regulate the rotation rate of the wheel assembled to the VCM;   (b) a fluid based brake power source, fluidly connected to the brake actuator and adapted to provide brake fluid for operating the brake actuator; and   (c) a brake-control-circuit, functionally associated with the brake actuator and with the brake power source, and adapted to provide functional inputs to the brake actuator based on a target rotation rate profile desired for the wheel,
 wherein all mechanical components of the VCM-based brake system are disposed within the VCM, and 
 wherein the VCM-based brake system is mechanically decoupled from the vehicle platform. 
   
     
     
         9 . The VCM-based brake system of  claim 8 , wherein the fluid-based brake power source is a hydraulic brake power source. 
     
     
         10 . A Vehicle Corner Module (VCM) based brake system adapted to be between a wheel assembled to a VCM connectable to a vehicle platform, and the vehicle platform, the VCM-based brake system comprising:
 (a) a brake actuator, adapted to regulate the rotation rate of the wheel assembled to the VCM;   (b) a brake power source, mechanically connected to the brake actuator and adapted to provide power for operating the brake actuator; and   (c) a brake-control-circuit, functionally associated with the brake actuator and with the brake power source, and adapted to provide functional inputs to the brake actuator based on a target rotation rate profile desired for the wheel,
 wherein the brake actuator, the brake power source, and the brake-control-circuit are disposed within the VCM. 
   
     
     
         11 . The VCM-based brake system of  claim 10 , wherein the brake power source is a fluid-based brake power source fluidly connected to the brake actuator and adapted to provide brake fluid for operating the brake actuator. 
     
     
         12 . The VCM-based brake system of any one of  claims 1  to  11 , further comprising a brake-interface-circuit, adapted to facilitate communication between the brake-control-circuit and at least one computing unit external to the VCM. 
     
     
         13 . The VCM-based brake system of  claim 12 , wherein the brake-interface-circuit is adapted to facilitate communication between the brake-control-circuit and a vehicle-control-circuit mounted onto the vehicle platform. 
     
     
         14 . The VCM-based brake system of  claim 12 , wherein the brake-interface-circuit is adapted to facilitate communication between the brake-control-circuit and another control-circuit, external to the VCM. 
     
     
         15 . The VCM-based brake system of any one of  claims 1  to  14 , further comprising a speed-control-circuit including:
 a storage circuit adapted to store the target rotation rate profile desired for the wheel; 
 a feedback loop adapted to compare a measured rotation rate profile of the wheel to the target rotation rate profile; and 
 a communication interface functionally associated with the brake-control-circuit, adapted to provide the target rotation rate profile to the brake-control-circuit. 
 
     
     
         16 . The VCM-based brake system of  claim 15 , further comprising a wheel rotation sensor functionally associated with the feedback loop, the wheel rotation sensor adapted to provide to the feedback loop inputs indicating the measured rotation rate of the wheel. 
     
     
         17 . The VCM-based brake system of any one of  claims 1  to  9  and  11  to  16 , wherein the brake power source comprises:
 a brake fluid source storing the brake fluid; and 
 a fluid pump disposed downstream of the fluid source in fluid communication with the brake fluid source and with the brake actuator, the fluid pump adapted to regulate a fluid pressure of the brake fluid delivered from the brake fluid source to the brake actuator for actuation of the brake actuator. 
 
     
     
         18 . The VCM-based brake system of  claim 17 , further comprising a brake modulator including at least one valve, wherein in at least one state of the valve, the valve is in fluid communication with the brake actuator, the brake modulator adapted to regulate flow of the brake fluid between the brake actuator, the brake fluid source, and the fluid pump. 
     
     
         19 . The VCM-based brake system of  claim 18 , wherein the at least one valve comprises:
 a fluid inlet valve having at least one operative orientation adapted to allow flow of pressurized brake fluid from the fluid pump to the brake actuator; and   a fluid release valve having at least one operative orientation adapted to allow release of brake fluid from the brake actuator toward the brake fluid source.   
     
     
         20 . The VCM-based brake system of  claim 18 , wherein the at least one valve comprises a single valve having at least a fluid inlet operative orientation and a fluid release operative orientation, wherein in the fluid inlet operative orientation the single valve is adapted to allow flow of pressurized brake fluid from the fluid pump to the brake actuator, and in the fluid release operative orientation the single valve is adapted to allow release of brake fluid from the brake actuator toward the brake fluid source. 
     
     
         21 . The VCM-based brake system of any one of  claims 18  to  20 , wherein the brake modulator is adapted to receive control inputs from the brake-control-circuit of the VCM. 
     
     
         22 . The VCM-based brake system of any one of  claims 18  to  21 , wherein the brake modulator includes a brake actuator pressure sensor, adapted to sense a pressure applied by the brake actuator, and to provide readings of the sensed brake actuator pressure to the brake-control-circuit. 
     
     
         23 . The VCM-based brake system of any one of  claims 18  to  21 , wherein the brake modulator includes an actuator fluid pressure sensor, adapted to sense a pressure of fluid provided to the brake actuator, and to provide readings of the sensed fluid pressure to the brake-control-circuit. 
     
     
         24 . The VCM-based brake system of any one of  claims 18  to  23 , wherein the brake modulator forms part of the brake-control-circuit. 
     
     
         25 . The VCM-based brake system of any one of  claims 18  to  23 , wherein the brake modulator forms part of the brake actuator. 
     
     
         26 . The VCM-based brake system of any one of  claims 18  to  25 , wherein the brake power source functions as a pressure modulator, functionally associated with the fluid pump and with the brake modulator, the pressure modulator having a pressurized fluid accumulator disposed downstream of the fluid pump, in fluid communication with the brake modulator, the fluid pump being adapted to provide pressurized brake fluid to the pressurized fluid accumulator for storage therein, and the pressurized fluid accumulator being adapted to provide pressurized fluid to the brake for actuation of the brake actuator. 
     
     
         27 . The VCM-based brake system of  claim 26 , wherein the pressure modulator is adapted to modulate pressure of brake fluid supplied to the brake actuator. 
     
     
         28 . The VCM-based brake system of  claim 26  or  claim 27 , wherein the fluid pump is adapted to provide pressurized brake fluid to the pressurized fluid accumulator independently of the brake-control-circuit providing the functional inputs to the brake actuator for actuation thereof 
     
     
         29 . The VCM based brake system of any one of  claims 26  to  28 , wherein the fluid pump is adapted to generate fluid at a target pressure, for accumulation within the pressurized fluid accumulator. 
     
     
         30 . The VCM-based brake system of any one of  claims 26  to  29 , further comprising a no-return valve disposed on a fluid line connecting the pressure modulator and the brake modulator, the no-return valve is adapted to allow fluid flow only from the pressurized fluid accumulator to the brake modulator, and not in the opposing direction. 
     
     
         31 . The VCM-based brake system of any one of  claims 26  to  30 , wherein the brake control circuit is adapted to provide control inputs to the brake modulator and to the pressure modulator. 
     
     
         32 . The VCM-based brake system of any one of  claims 26  to  31 , wherein the brake modulator includes a modulator pressure sensor, adapted to sense a pressure of fluid provided from the pressure modulator to the brake modulator, and to provide readings of the sensed fluid pressure to the brake-control-circuit. 
     
     
         33 . The VCM-based brake system of any one of  claims 1  to  32 , further comprising a brake regeneration module disposed within the VCM,
 wherein the brake-control-circuit is adapted to regulate activation of at least one of the brake regeneration module and the brake actuator. 
 
     
     
         34 . A vehicle corner module (VCM) for regulating motion of a vehicle, comprising:
 a sub-frame including a wheel hub, adapted for mounting of a wheel thereon, and a vehicle-connection interface for connection of the sub-frame to a vehicle platform;   a VCM-based brake system according to any one of  claims 1  to  33 , mounted onto the sub-frame between the wheel hub and the connection interface; and   a motor adapted to rotate the wheel,   wherein the brake-control-circuit is configured to control a rotation rate of the wheel.   
     
     
         35 . The VCM of  claim 34 , wherein a specific VCM is functionally mountable onto the vehicle platforms of at least two different vehicles, the at least two different vehicles being of two different types or of two different models. 
     
     
         36 . A vehicle, comprising:
 a vehicle platform, having at least one Vehicle Corner Module (VCM)-connection interface for mechanical connection to a VCM;   at least one VCM of  claim 34 , the vehicle-connection interface of the at least one VCM connected to the at least one VCM-connection interface.   
     
     
         37 . The vehicle of  claim 36 , wherein the VCM-based brake system is a fluid operated VCM-based brake system, and the VCM-based brake system and the vehicle platform are not in fluid communication with each other. 
     
     
         38 . The vehicle of  claim 36  or  claim 37 , wherein:
 the vehicle platform includes a first VCM-connection interface and a second VCM-connection interface; 
 the at least one VCM comprises a first VCM including a first VCM-based brake system and a first vehicle-connection interface connected to the first VCM-connection interface of the vehicle platform, and a second VCM including a second VCM-based brake system and a second vehicle-connection interface connected to the second VCM-connection interface of the vehicle platform; 
 the first VCM-based brake system is of a first type, and the second VCM-based brake system is of a second type, the second type being different from the first type. 
 
     
     
         39 . The vehicle of  claim 38 , wherein the first VCM connection interface is at a front portion of the vehicle platform, and the second VCM connection interface is at the rear portion of the vehicle platform. 
     
     
         40 . The vehicle of  claim 38 , wherein the first VCM connection interface is on the right side of the vehicle platform, and the second VCM connection interface is on the left side of the vehicle platform. 
     
     
         41 . The vehicle of any one of  claims 36  to  40 , wherein the at least one VCM comprises two VCMs, each of the two VCMs including a communication interface, adapted for intercommunication between the two VCMs. 
     
     
         42 . The vehicle of  claim 41 , wherein the intercommunication between the two VCMs comprises wireless communication. 
     
     
         43 . The vehicle of  claim 41 , wherein the intercommunication between the two VCMs comprises wired communication via a communication channel mounted onto the vehicle platform. 
     
     
         44 . The vehicle of  claim 41 , wherein the intercommunication between the two VCMs takes place via a computing device remote from the vehicle platform. 
     
     
         45 . A method of operating the VCM-based brake system of any one of  claims 1  to  33 , the method comprising:
 at the brake-control-circuit, obtaining a measured wheel rotation rate of the wheel; 
 at the brake-control-circuit, obtaining a target wheel rotation rate for the wheel; 
 comparing the measured wheel rotation rate to the target wheel rotation rate; 
 in response to identifying that the actual wheel rotation rate is higher than the target wheel rotation rate, activating the brake actuator; and 
 in response to identifying that the actual wheel rotation rate is lower than the target wheel rotation rate, deactivating the brake actuator. 
 
     
     
         46 . A method of servicing the VCM-based brake system of a vehicle including at least one VCM of  claim 34  attached to a vehicle platform, the method comprising:
 detaching the VCM from the vehicle platform; 
 while the VCM is detached from the vehicle platform, servicing the VCM-based brake system accommodated within the VCM. 
 
     
     
         47 . The method of  claim 46 , further comprising, during the servicing of the VCM-based brake system:
 attaching a replacement VCM including a replacement VCM-based brake system to the vehicle platform; and   operating the vehicle using the replacement VCM-based brake system.   
     
     
         48 . The method of  claim 46  or  claim 47 , wherein the servicing of the VCM-based brake system occurs at a location remote from the vehicle platform. 
     
     
         49 . A method of operating a Vehicle Corner Module (VCM)-based brake system including at least one control circuit, the VCM-based brake system being disposed within a VCM, the method comprising:
 at the control circuit, obtaining a measured wheel rotation rate of a wheel mounted onto the VCM;   at the control circuit, obtaining a target wheel rotation rate for the wheel;   comparing the measured wheel rotation rate to the target wheel rotation rate;   in response to identifying that the actual wheel rotation rate is higher than the target wheel rotation rate, activating a brake actuator of the VCM-based brake system; and   in response to identifying that the actual wheel rotation rate is lower than the target wheel rotation rate, deactivating the brake actuator of the VCM-based brake system.   
     
     
         50 . The method of  claim 49 , wherein the VCM-based brake system is functionally associated with a brake regeneration module, the method further comprising operating the brake regeneration module in conjunction with the brake actuator to regulate the measured rotation rate of the wheel. 
     
     
         51 . The method of  claim 49  or  claim 50 , wherein:
 the VCM-based brake system is a fluid operated VCM-based brake system including:
 a fluid pump disposed within the VCM and adapted to pump pressurized brake fluid toward the brake actuator; 
 at least one fluid line adapted to provide fluid communication between the fluid pump and the brake actuator; and 
 at least one valve disposed along the fluid line; and 
 
 activating the brake actuator comprises:
 activating the fluid pump to pump pressurized brake fluid toward the brake actuator, via the fluid line; and 
 setting the at least one valve to a position in which the fluid pump and the brake actuator are in fluid communication, allowing pressure build-up at the brake actuator. 
 
 
     
     
         52 . The method of  claim 51 , further comprising:
 measuring a fluid pressure within the brake actuator; and   based on the measured fluid pressure, operating the fluid pump to regulate the fluid pressure within the brake actuator.   
     
     
         53 . The method of  claim 51  or  claim 52 , wherein the VCM-based brake system further includes a pressurized fluid accumulator in fluid communication with the fluid pump and with the brake actuator, wherein the activating of the fluid pump comprises:
 activating the fluid pump to provide pressurized fluid to the pressurized fluid accumulator; and 
 allowing pressurized fluid to flow from the pressurized fluid accumulator toward the brake actuator. 
 
     
     
         54 . The method of  claim 53 , wherein activating of the fluid pump to provide pressurized fluid occurs independently of the activating of the brake actuator. 
     
     
         55 . A method of operating a Vehicle Corner Module (VCM)-based brake system including at least one control circuit, the VCM-based brake system including a brake modulator and a pressure modulator, the VCM-based brake system being disposed within a VCM, the method comprising:
 pressurizing brake fluid and storing the pressurized brake fluid in an accumulator of the pressure modulator;   at the control circuit, obtaining a measured brake fluid pressure in a fluid line between the pressure modulator and a brake actuator of the VCM-based brake system;   at the control circuit, obtaining a target fluid pressure required in the fluid line;   comparing the measured brake fluid pressure to the target fluid pressure;   in response to identifying that the measured brake fluid pressure rate is higher than the target fluid pressure, deactivating the brake actuator; and   in response to identifying that the the measured brake fluid pressure rate is higher than the target fluid pressure, activating the brake actuator.   
     
     
         56 . A method of servicing a VCM-based brake system disposed within a VCM mounted onto a vehicle platform of a vehicle, the VCM-based brake system being mechanically decoupled from the vehicle platform, the method comprising:
 detaching the VCM from the vehicle platform;   while the VCM is detached from the vehicle platform, servicing the VCM-based brake system accommodated within the VCM.   
     
     
         57 . The method of  claim 56 , further comprising, during the servicing of the VCM-based brake system:
 attaching a replacement VCM including a replacement VCM-based brake system to the vehicle platform; and   operating the vehicle using the replacement VCM-based brake system.   
     
     
         58 . The method of  claim 56  or  claim 57 , wherein the servicing of the VCM-based brake system occurs at a location remote from the vehicle platform. 
     
     
         59 . The method of any one of  claims 56  to  58 , wherein the VCM-based brake system is a hydraulic VCM-based brake system, which is airtight and fluid-tight within the VCM. 
     
     
         60 . The method of  claim 59 , the hydraulic VCM-based brake system and the vehicle platform are not in fluid communication with each other when the VCM is connected to the vehicle platform.