Abstract: A vehicle includes: a body, a plurality of driving wheels arranged along a front-rear direction of the body to be rotatable and movable with respect to the body, a wheel position moving device for moving a rotation shaft of the driving wheel while preventing the driving wheel from contacting a stair vertical plane, and a driving source installed to supply driving force to the driving wheel.

Abstract: A universal driving device includes a sun gear rotatably provided; a ring gear disposed on a rotation plane coplanar to a rotation plane of the sun gear and provided so that a rotation shaft of the ring gear is movable relative to a rotation shaft of the sun gear; and a gear train engaging the sun gear to the ring gear and configured to allow a relative motion between the rotation shaft of the sun gear and the rotation shaft of the ring gear and define a continuous power transmission state between the sun gear and the ring gear.

Abstract: A powertrain for an electric vehicle includes: a planetary gear having a first rotating element, a second rotating element, and a third rotating element, wherein a first rotating element is connected to a first shaft and the second rotating element is connected to a second shaft; a first motor configured to selectively supply power to the first shaft at two or more gear ratios; a first shift assembly configured to transfer power of the first motor to the first shaft through one of two or more external engagement gear trains having different gear ratios; and a second motor configured to selectively supply power to the first shaft and the second shaft. The third shaft is fixedly disposed on a transmission housing, and any two shafts among the first, second and third shafts restrain each other.

Abstract: A powertrain for an electric vehicle includes: a planetary gear including a first rotating element, a second rotating element, and a third rotating element, where the first rotating element is connected to a first shaft, the second rotating element is connected to a second shaft, and the third rotating element is selectively connected to a transmission housing; a first motor supplying power to the first shaft at all times; and a second motor selectively supplying power to the first shaft and the second shaft. Two rotating elements among the first, second, third rotating elements of the planetary gear are selectively connected to integrally rotate the entire planetary gear.

Abstract: A powertrain for an electric vehicle includes: a planetary gear including a first rotating element, a second rotating element, and a third rotating element, where the first rotating element is connected to a first shaft, the second rotating element is connected to a second shaft, and the third rotating element is selectively connected to a transmission housing; a first motor supplying power to the first shaft at all times; and a second motor selectively supplying power to the first shaft and the second shaft. Two rotating elements among the first, second, third rotating elements of the planetary gear are selectively connected to integrally rotate the entire planetary gear.

Abstract: A universal wheel driving system includes a sun gear provided to receive power from a power source, a ring gear provided so that a rotation axis thereof is moved relative to a rotation axis of the sun gear and a wheel is concentrically connected to the ring gear, at least one gear train engaged to the sun gear and the ring gear and configured to allow relative motion between the rotation axes of the sun gear and the ring gear and to form a continuous power transmission state therebetween, a carrier constantly supporting a position of a rotation axis of a final pinion of the at least one gear train with respect to a position of the rotation axis of the ring gear, and a suspension portion configured to support the carrier to be movable upward and downward with respect to a vehicle body.

Abstract: A universal wheel driving system includes a sun gear provided to receive power from a power source mounted in a vehicle body, a ring gear to which a wheel is concentrically connected, a gear train engaged to the sun gear and the ring gear and configured to transfer the power between the sun gear and the ring gear while allowing relative motion between the rotation shafts of the sun gear and the ring gear, a carrier supporting a final pinion of the gear train and gear-meshing with the ring gear so that a position of the rotation shaft of the final pinion remains unchanged with respect to a position of the rotation shaft of the ring gear, and a suspension portion provided to support the carrier against the sun gear so that the ring gear and the carrier move up and down with respect to the vehicle body.

Abstract: A powertrain for an electric vehicle includes: a planetary gear including a first rotating element, a second rotating element, and a third rotating element, where the first rotating element is connected to a first shaft, the second rotating element is connected to a second shaft, and the third rotating element is connected to a third shaft; a first motor supplying power to the first shaft at all times; and a second motor selectively supplying power to the first shaft and the second shaft. The third shaft is fixedly connected to a transmission housing, and any two shafts among the first, second and third shafts restrain each other.

Abstract: A universal wheel driving system includes a sun gear receiving power from a power source, a ring gear, of which a rotation axis moves relatively to a rotation axis of the sun gear on a rotation plane parallel to a rotation plane of the sun gear, the ring gear being concentrically connected to a wheel, a gear train allowing relative movement between the rotational axes of the sun and ring gears, and to generate a continuous power transmission between the sun and ring gears, a carrier forming the gear train, and supporting in position a rotation axis of a final pinion engaged with the ring gear constant with respect to the rotation axis of the ring gear, and a plurality of suspension modules providing shock-absorbing and damping during relative movements of the ring gear and carrier with respect to the sun gear.

Abstract: A shift control method for an automated manual transmission (AMT) of a vehicle includes: when a shift operation is started, a torque of the second motor is increased so that a change in an output torque of the output shaft due to a change in a torque of the first motor is minimized while the torque of the first motor is being decreased. According to the shift control method, the increased torque of the second motor is maintained to be constant while controlling transmission release, speed synchronization, and transmission coupling. After the control over the transmission coupling is completed, the torque of the second motor is controlled so that the output torque of the output shaft follows a predetermined target torque while the torque of the first motor is controlled to be increased.

Abstract: A universal driving device includes a sun gear rotatably provided, a ring gear, wherein a rotation axis of the ring gear is moved relative to a rotation axis of the sun gear in a plane of rotation parallel to a plane of rotation of the sun gear, at least one gear train configured to allow relative motion between the rotation axes of the sun gear and the ring gear and to form a continuous power transmission state between the sun gear and the ring gear, and at least one balance gear engaged with the ring gear.

Abstract: A universal driving device includes a sun gear rotatably provided; a ring gear disposed on a rotation plane coplanar to a rotation plane of the sun gear and provided so that a rotation shaft of the ring gear is movable relative to a rotation shaft of the sun gear; and a gear train engaging the sun gear to the ring gear and configured to allow a relative motion between the rotation shaft of the sun gear and the rotation shaft of the ring gear and define a continuous power transmission state between the sun gear and the ring gear.

Abstract: A power train for an electric vehicle may include a planetary gear set including three rotation elements having a first rotation element, a second rotation element and a third rotation element, wherein the first rotation element is connected to a first shaft, the second rotation element is connected to a second shaft, and the third rotation element is connected to a third shaft; a first motor mounted to selectively supply power to the first shaft in two or more gear ratios; and a second motor mounted to selectively supply power to the first shaft in two or more gear ratios. The third shaft is configured to be fixed to a transmission housing, and any two of the first shaft, the second shaft, and the third shaft are configured to be coupled to each other.

Abstract: A shift control method for an automated manual transmission (AMT) of a vehicle includes: when a shift operation is started, a torque of the second motor is increased so that a change in an output torque of the output shaft due to a change in a torque of the first motor is minimized while the torque of the first motor is being decreased. According to the shift control method, the increased torque of the second motor is maintained to be constant while controlling transmission release, speed synchronization, and transmission coupling. After the control over the transmission coupling is completed, the torque of the second motor is controlled so that the output torque of the output shaft follows a predetermined target torque while the torque of the first motor is controlled to be increased.

Abstract: An apparatus and a method for controlling driving of a vehicle may include a first sensor that detects whether an accelerator pedal is pressed, a second sensor that detects a number of RPM of an engine, and a controller that determines whether the vehicle coasts based on whether the accelerator pedal is pressed, and determines whether to change a gear ratio of a transmission based on the number of RPM of the engine so that the coasting distance is increased in the coasting deceleration section, improving the fuel efficiency.

Abstract: A transmission for an electric vehicle may include a first planetary gear set; a first motor configured to input power to a first rotation element of the first planetary gear set; a differential configured to receive power output from a second rotation element of the first planetary gear set; a second motor configured to selectively provide power to a third rotation element of the first planetary gear set; a second planetary gear set including a first rotation element which is directly connected to the differential, and a second rotation element which is configured to selectively receive power from the second motor; and a third planetary gear set including a third rotation element which is directly connected to a third rotation element of the second planetary gear set, a second rotation element which is fixed, and a first rotation element which is directly connected to a selected output shaft of the differential.

Abstract: A powertrain for an electric vehicle includes: a planetary gear having a first rotating element, a second rotating element, and a third rotating element, wherein a first rotating element is connected to a first shaft and the second rotating element is connected to a second shaft; a first motor configured to selectively supply power to the first shaft at two or more gear ratios; a first shift assembly configured to transfer power of the first motor to the first shaft through one of two or more external engagement gear trains having different gear ratios; and a second motor configured to selectively supply power to the first shaft and the second shaft. The third shaft is fixedly disposed on a transmission housing, and any two shafts among the first, second and third shafts restrain each other.

Abstract: A powertrain for an electric vehicle includes: a planetary gear including a first rotating element, a second rotating element, and a third rotating element, where the first rotating element is connected to a first shaft, the second rotating element is connected to a second shaft, and the third rotating element is connected to a third shaft; a first motor supplying power to the first shaft at all times; and a second motor selectively supplying power to the first shaft and the second shaft. The third shaft is fixedly connected to a transmission housing, and any two shafts among the first, second and third shafts restrain each other.

Abstract: A powertrain for an electric vehicle includes: a planetary gear including a first rotating element, a second rotating element, and a third rotating element, where the first rotating element is connected to a first shaft, the second rotating element is connected to a second shaft, and the third rotating element is selectively connected to a transmission housing; a first motor supplying power to the first shaft at all times; and a second motor selectively supplying power to the first shaft and the second shaft. Two rotating elements among the first, second, third rotating elements of the planetary gear are selectively connected to integrally rotate the entire planetary gear.

Abstract: A planetary gear set may include a first rotation element fixedly connected to a first shaft, a second rotation element fixedly connected to a second shaft, and a third rotation element fixedly connected to a third shaft; a first motor which is mounted to supply power to the first shaft continuously; and a second motor which is mounted to supply power to the second shaft continuously, and the third shaft is connected to be selectively connectable to a transmission housing, and any two shafts of the first shaft, the second shaft, and the third shaft are configured to constrain rotations thereof to each other.