PATENT DOCUMENT

Publication Number: US-10960723-B1
Application Number: US-201816112868-A
Country: US
Kind Code: B1

Title: Wheel-mounted suspension actuators

Abstract:
A vehicle wheel assembly includes a wheel, a tire supported by the wheel, an internal space defined by the wheel, a wheel hub that is rotatably connected to the wheel and is located in the internal space, and a mass actuator that is connected to the wheel hub and located in the internal space.

Claims:
What is claimed is: 
     
       1. A vehicle wheel assembly, comprising:
 a wheel that defines an internal space; 
 a tire supported by the wheel; 
 a wheel hub that is rotatably connected to the wheel and is located in the internal space; and 
 a support structure that is connected to the wheel hub; 
 a ring mass that extends around the wheel hub and is connected to the support structure so that it is movable with respect to the wheel hub; and 
 electromagnetic coils that are connected to the support structure and configured to attract or repel the ring mass, wherein the electromagnetic coils are located outward relative to an outer periphery of the ring mass. 
 
     
     
       2. The vehicle wheel assembly of  claim 1 , wherein the ring mass includes a ring mass aperture and the wheel hub extends through the ring mass aperture. 
     
     
       3. The vehicle wheel assembly of  claim 1 , wherein the outer periphery of the ring mass is generally circular. 
     
     
       4. The vehicle wheel assembly of  claim 1 , wherein the ring mass includes pole portions that extend outward relative to the outer periphery of the ring mass. 
     
     
       5. The vehicle wheel assembly of  claim 4 , wherein each of the electromagnetic coils is positioned adjacent to a respective one of the pole portions of the ring mass for electromagnetic interaction with the respective one of the pole portions of the ring mass. 
     
     
       6. The vehicle wheel assembly of  claim 4 , wherein the outer periphery of the ring mass is generally circular. 
     
     
       7. The vehicle wheel assembly of  claim 1 , wherein the support structure includes a support structure aperture, the wheel hub extends through the support structure aperture, and the support structure is connected to the wheel hub at the support structure aperture. 
     
     
       8. The vehicle wheel assembly of  claim 7 , wherein the support structure is rigidly connected to the wheel hub. 
     
     
       9. The vehicle wheel assembly of  claim 1 , wherein the ring mass is connected to the support structure for movement with respect to the wheel hub in a vertical direction of the vehicle wheel assembly and in a longitudinal direction of the vehicle wheel assembly. 
     
     
       10. A vehicle, comprising:
 a wheel that defines an internal space; 
 a tire supported by the wheel; 
 a wheel hub that is rotatably connected to the wheel; 
 a vehicle body; 
 a suspension linkage that connects the wheel hub to the vehicle body; 
 an inboard braking system that is located in the vehicle body; 
 a drive shaft that connects the inboard braking system to the wheel; 
 a support structure that is connected to the wheel hub; 
 a mass that is located in the internal space of the wheel and is supported by the support structure for movement with respect to the wheel hub, wherein the mass has an outer periphery; and 
 an electromagnetic coil that is connected to the support structure, located outward relative to the outer periphery of the mass, and is configured to accelerate the mass to apply active suspension control. 
 
     
     
       11. The vehicle of  claim 10 , wherein an opening is formed in the mass and the wheel hub extends through the opening. 
     
     
       12. The vehicle of  claim 10 , wherein a pole portion is formed on the mass, and the electromagnetic coil is configured to attract or repel the pole portion. 
     
     
       13. The vehicle of  claim 12 , wherein the outer periphery of the mass is generally circular, and the pole portion extends outward relative to the outer periphery of the mass. 
     
     
       14. The vehicle of  claim 10 , wherein the electromagnetic coil is configured to accelerate the mass by energization of the electromagnetic coil to attract the mass and by energization of the electromagnetic coil to repel the mass. 
     
     
       15. The vehicle of  claim 10 , wherein the mass is in the form of a ring that extends around the wheel hub. 
     
     
       16. A vehicle wheel assembly, comprising:
 a wheel that defines an internal space; 
 a tire supported by the wheel; 
 a wheel hub that is rotatably connected to the wheel; 
 a support assembly that is connected to the wheel hub; 
 a mass that is located in the internal space of the wheel and is connected to the wheel hub by the support assembly so that the mass is able to translate in a vertical direction of the vehicle wheel assembly and in a longitudinal direction of the vehicle wheel assembly; and 
 an actuator that is located in the internal space of the wheel, includes electromagnetic coils that are connected to and supported by the support assembly, and is configured to cause translation of the mass in the vertical direction of the wheel and in the longitudinal direction of the wheel to apply active suspension control, wherein the actuator includes pole portions that are formed at an outer periphery of the ring mass and the electromagnetic coils are configured to attract or repel the pole portions. 
 
     
     
       17. The vehicle wheel assembly of  claim 16 , wherein the mass is a ring mass that extends around the wheel hub. 
     
     
       18. The vehicle wheel assembly of  claim 16 , wherein the electromagnetic coils are located outward relative to the outer periphery of the ring mass. 
     
     
       19. The vehicle wheel assembly of  claim 16 , wherein at least part of the support assembly is located radially outward from the mass. 
     
     
       20. The vehicle wheel assembly of  claim 16 , wherein the outer periphery of the ring mass is generally circular.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of U.S. Provisional Application No. 62/563,233, filed on Sep. 26, 2017, the content of which is hereby incorporated by reference in its entirety for all purposes. 
    
    
     TECHNICAL FIELD 
     This disclosure relates to vehicles and, in particular, suspension systems thereof. 
     BACKGROUND 
     Active suspension actuators can respond to forces applied to the wheels of a vehicle. For example, forces can be applied in opposition to a bump or vibration to lessen the sensation associated with the bump or vibration. 
     SUMMARY 
     One aspect of the disclosure is a vehicle wheel assembly that includes a wheel, a tire supported by the wheel, an internal space defined by the wheel, a wheel hub that is rotatably connected to the wheel and is located in the internal space, and a mass actuator that is connected to the wheel hub and located in the internal space. 
     Another aspect of the disclosure is a vehicle wheel assembly that includes a wheel hub that defines a rotation axis, and a wheel that has a wheel rim portion. The wheel rim portion is connected to the wheel hub for rotation around the rotation axis, the wheel rim portion is compliantly connected to the wheel hub for translation in a plane that is generally perpendicular to the rotation axis, and the wheel rim portion is formed in part from a ferromagnetic material. The vehicle wheel assembly also includes a tire that is supported by the wheel, an internal space defined by the wheel, and electromagnetic actuators that are connected to the wheel hub, located in the internal space, and operable to apply at least one of an attractive force or a repulsive force to the wheel rim portion. 
     Another aspect of the disclosure is a vehicle wheel assembly that includes a wheel, an internal space defined by the wheel, a tire that is supported by the wheel and has internal chambers that are sealed relative to each other are pressurizable separately at differing pressures, a manifold that is located in the internal space to supply and bleed pressure from the internal chambers, and fluid passages that connect the manifold to the internal chambers. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram showing a vehicle according to an example. 
         FIG. 2  is a schematic view of the vehicle. 
         FIG. 3  is a front cross-section view showing a wheel and tire assembly of the vehicle including a mass actuator according to a first example. 
         FIG. 4  is a block diagram that shows the mass actuator of  FIG. 3 . 
         FIG. 5  is a schematic illustration showing a side view of a mass actuator according to a second example. 
         FIG. 6A  is a schematic illustration showing a side view of a mass actuator according to a third example. 
         FIG. 6B  is a schematic illustration showing a front view of the mass actuator of  FIG. 6A . 
         FIG. 7  is a schematic illustration showing a side view of a wheel and tire assembly that includes a mass actuator according to a fourth example. 
         FIG. 8  is a schematic illustration showing a side view of a wheel and tire assembly that includes a mass actuator according to a fifth example. 
         FIG. 9  is a schematic illustration showing a side view of a wheel and tire assembly that includes a first mass actuator and a second mass actuator according to a sixth example. 
         FIG. 10  is a schematic illustration showing a side view of a wheel and tire assembly that includes a mass actuator according to a seventh example. 
         FIG. 11  is a schematic illustration showing a side view of a wheel and tire assembly that includes a mass actuator according to an eighth example. 
         FIG. 12  is a schematic illustration showing a side view of a wheel and tire assembly that includes pneumatic application of reaction force. 
         FIG. 13  is a schematic view of a controller. 
     
    
    
     DETAILED DESCRIPTION 
     This disclosure is direction to suspension actuators that are mounted within vehicle wheels, which avoids the need to package these components inboard within a body of a vehicle. In some implementations mass actuators, which counter externally-applied forces by accelerating a mass, are packaged within the internal space of a wheel. These actuators may be used in vehicles that place braking components inboard in the vehicle body, which allows more space inside the wheel to be utilized, resulting in increased masses and longer stroke lengths. 
       FIG. 1  is a block diagram that shows an example of a vehicle  100 . The vehicle  100  includes a vehicle body  102  and a drive system  104  that is connected to the vehicle body  102 . The vehicle body  102  supports that drive system  104  and may define an interior space such as a passenger compartment or a cargo compartment. The drive system  104  includes various subsystems that are configured to move the vehicle  100 . The drive system  104  includes a propulsion system  106 , a braking system  108 , a steering system  110 , a suspension system  112 , a sensing system  114 , and a control system  116 . The drive system  104  may be an autonomous drive system that operates the various subsystems to move the vehicle  100  to a location, which may be selected by a user, under automated control, during which some or all of the driving tasks associated with operating a vehicle are performed by the drive system without input from a human operator. 
     Referring to  FIG. 2 , the vehicle  100  includes wheel and tire assemblies  218  (e.g., four) that are coupled to and support the vehicle body  102  (e.g., while travelling on a public roadway). The wheel and tire assemblies  218  may be coupled to the vehicle body  102  and may be operably connected to various components of the drive system  104 . 
     The propulsion system  106  may include front propulsion components  206   a  and rear propulsions components  206   b  that are each connected to a pair of the wheel and tire assemblies  218  (e.g., front wheels and rear wheels). For example, the front propulsion components  206   a  and the rear propulsion components  206   b  may include motors for providing propulsion torque, gearboxes for modifying a drive ratio, drive shafts for transmitting torque to the wheel and tire assemblies  218 , and/or other components. 
     The braking system  108  may include front left braking components  208   a , front right braking components  208   b , rear left braking components  208   c , and rear right braking components  208   d  that provide deceleration torque via friction for decelerating the vehicle  100  when moving in the forward direction and/or when moving in the rearward direction. 
     The steering system  110  may include front steering components  210   a  and rear steering components  210   b  that include, for example, steering actuators and linkages that are operatively coupled each of the wheel and tire assemblies  218  to control the pivoted positions of the wheel and tire assemblies  218  about generally vertical axes. 
     The suspension system  112  is an active suspension system that transfers energy into and absorbs energy from the wheel and tire assemblies  218  with upward and downward movement relative to the vehicle body  102 . Broadly speaking, the suspension system  112  controls vertical motion of the wheel and tire assemblies  218  relative to the vehicle body  102 , for example, to ensure contact between the wheel and tire assemblies  218  and a surface of the roadway and to limit the influence of roadway conditions on undesirable movements of the vehicle body  102 . As shown, the suspension system  112  may include front left suspension components  212   a , front right suspension components  212   b , rear left suspension components  212   c , and rear right suspension components  212   d.    
     The sensing system  114  includes sensors for observing external conditions of the vehicle  100  (e.g., location of the roadway and other objects) and conditions of the vehicle  100  (e.g., acceleration and conditions of the various subsystems and their components). The sensing system  114  may include sensors of various types, including dedicated sensors and/or functional components of the various subsystems (e.g., actuators may incorporate sensors or portions of actuators may function as sensors such as by measuring current draw of an electric motor incorporated in an actuator). 
     The control system  116  includes communication systems and components (i.e., for receiving sensor signals and sending control signals) and processing components (i.e., for processing the sensor signals and determining control operations), such as a controller. The control system  116  may include various control subsystems, for example, associated with (or as part) of one or more of the various other subsystems described herein (e.g., the propulsion system  106 , the braking system  108 , etc.). 
       FIG. 3  is a front cross-section view showing one of the wheel and tire assemblies  218  at the longitudinal midpoint of the wheel and tire assembly  218 . Also shown in  FIG. 3  are components of the propulsion system  106 , the braking system  108 , the steering system  110 , and the suspension system  112 , which are connected to the wheel and tire assembly  218  to support and control motion of the wheel and tire assembly  218 . 
     The wheel and tire assembly  218  may include a wheel  320  and a tire  322 . The wheel  320  may be a substantially rigid annular structure having a wheel disc portion  324   a  that is generally circular, a rim portion  324   b  that is generally cylindrical and is connected to the outer periphery of the wheel disc portion  324   a , and an internal space  324   c  that is defined by the wheel disc portion  324   a  and the rim portion  324   b  in the area that is radially inward from the rim portion  324   b . The tire  322  is supported by the rim portion  324   b  of the wheel  320 . As an example, the tire  322  may be a tubeless pneumatic tire. Other types of wheels and tires can be used. In an alternative implementation, the wheel and tire are integrally formed components including, for example, a resilient wheel structure formed from synthetic rubber or plastic materials. 
     The wheel  320  is connected to a wheel hub  326 . The wheel hub  326  includes a bearing to allow rotation of the wheel  320  while transferring vertical, longitudinal, and lateral forces through a suspension knuckle  327 . The suspension knuckle  327  is connected to a suspension actuator  328  and a suspension linkage  330 , which are connected to the vehicle body  102 . The suspension actuator  328  may be an active suspension component that is operable to apply forces to the wheel  320  or may be a passive component such as a shock absorber or a strut. The suspension knuckle  327  is also connected to a steering linkage  332  that is able to pivot the wheel  320  on a generally vertical axis to control a steering angle for the wheel  320 . 
     The wheel  320  is also connected to a drive shaft  334 . The drive shaft  334  transmits torque to the wheel  320  from propulsion components such as motor and gearbox assembly  336 . In the illustrated example, the motor and gearbox assembly  336  is located in the vehicle body  102 . The vehicle  100  may also include an inboard braking system including a friction brake assembly  338  that is part of the sprung mass of the vehicle  100  and is located in the vehicle body  102  in the illustrated example. 
     Since the illustrated configuration does not package the braking components inside the wheel  320 , space is available in the wheel  320  for other components. In particular, a mass actuator  340  is located in the internal space  324   c  of the wheel  320 . The mass actuator  340  is an active suspension component that can be operated by control signals that are received from an external controller, such as the control system  116  or a dedicated active suspension controller, to apply a force to the unsprung mass of the vehicle  100 . Additional components that can be packaged in the internal space  324   c  of the wheel  320  include heat sinks for active suspension components and steering actuators. 
       FIG. 4  is a block diagram that shows the mass actuator  340 . The mass actuator  340  may be connected to and supported by the wheel hub  326 . In particular, the mass actuator  340  includes an actuator  440   a  and a mass  440   b . The actuator  440   a  is a controllable component that is able to cause motion of the mass  440   b  relative to the wheel hub  326  (i.e., the actuator  440   a  accelerates the mass  440   b  in order to apply a force to the wheel hub  326 ). As an example, the actuator may be a linear actuator or an electromagnet. The mass  440   b  is supported such that it is movable over at least a small range of motion relative to the wheel hub  326 . Examples of connections include flexible connectors, linear motion stages, and two degree-of-freedom translation stages. Various structures and configurations can be utilized for the actuator  440   a  and the mass  440   b , including structures and configurations that will be described further herein. 
       FIG. 5  is a schematic illustration showing a side view of a mass actuator  540  according to a second example. The mass actuator  540  is configured such that it can be packaged in the internal space of a vehicle wheel. For example, the mass actuator  540  can be incorporated in the wheel and tire assemblies  218 , packaged in the internal space  324   c  of the wheel  320  in place of the mass actuator  340 . 
     The mass actuator  540  includes a support structure  542  and a ring mass  544 . The support structure  542  and the ring mass  544  may be generally disc-like structures that extend around the wheel hub  326 , such as by provision of a first aperture  543  through the support structure  542  and a second aperture  545  through the ring mass  544 . 
     The support structure  542  is mounted to the wheel hub, in a rigid or semi rigid fashion. The ring mass  544  is mounted to the support structure  542  in a manner that allows translation, such as two degree-of-freedom translation in the vertical and longitudinal directions of the wheel and tire assemblies  218 . As examples, structures such as rails, slides, springs, or resilient elements (bands, straps, discs, etc.) can be used to mount the ring mass  544  to the support structure  542 . 
     The mass actuator  540  includes actuators that are able to cause motion of the ring mass  544  relative to the support structure  542 . In the illustrated example, the actuators are in the form of electromagnet coils  546  that are connected to and supported by the support structure  542 . In the illustrated example, the electromagnet coils  546  are positioned near an outer periphery of the ring mass  544 . Pole portions  548  are formed at the outer periphery of the ring mass  544 , and each of the electromagnet coils  546  is positioned so that it can interact with a respective one of the pole portions. For example, the electromagnet coils  546  can be energized with positive or negative polarity to attract or repel the pole portions  548  and thereby cause motion of the ring mass  544 . Combined actuation of two or more of the electromagnet coils  546  at different relative intensities can be used to control the direction of motion of the ring mass  544 . Energization of the electromagnet coil  546  is controlled by a control system, as previously described, to apply forces to the wheel and tire assembly  218 , such as in response to external forces. 
       FIG. 6A  is a schematic illustration showing a side view of a mass actuator  640  according to a third example.  FIG. 6B  is a schematic illustration showing a front view of the mass actuator  640  according to the third example. The mass actuator  640  is configured such that it can be packaged in the internal space of a vehicle wheel. For example, the mass actuator  640  can be incorporated in the wheel and tire assemblies  218 , packaged in the internal space  324   c  of the wheel  320  in place of the mass actuator  340 . 
     The mass actuator  640  includes first supports  642   a , second supports  642   b , a first mass  644   a , a second mass  644   b , and a motor assembly  646 . The motor assembly  646  is connected to the wheel hub  326  and is operable to cause rotation of the first mass  644   a  and the second mass  644   b  around a rotation axis of the wheel hub  326 . The motor assembly  646  may include, for example, two independent electric motors that are each connected to one of the first mass  644   a  or the second mass  644   b . Optionally, the motor assembly  646  could also include a lateral translation stage that causes translation along the rotation axis of the wheel hub  326  in order to cause lateral motion of the first mass  644   a  and the second mass  644   b  to thereby apply forces in the lateral direction. 
     The first mass  644   a  is positioned radially outward from the motor assembly  646  and is connected to it by first supports  642   a . The first supports  642   a  may be, for example, rods that extend from the motor assembly  646  to the first mass  644   a . The second mass  644   b  is positioned radially outward from the motor assembly  646  and is connected to it by second supports  642   b . The second supports  642   b  may be, for example, rods that extend from the motor assembly  646  to the second mass  644   b . As best seen in  FIG. 6B , the first supports  642   a  and the first mass  644   a  are laterally offset from the second supports  642   b  and the second mass  644   b  to allow pivotal motion of each around a circular arc without interference. 
       FIG. 7  is a schematic illustration showing a side view of a wheel and tire assembly  718  that includes a mass actuator  740  according to a fourth example. The wheel and tire assembly  718  is similar to the wheel and tire assembly  218  except as described and may include components of the wheel and tire assembly  218  that are not explicitly described here. The wheel and tire assembly  718  includes a wheel  720  and a tire  722 . The wheel  720  has a wheel disc portion  724   a , a wheel rim portion  724   b , and an internal space  724   c  in which the mass actuator  740  is disposed. The wheel  720  is supported by a wheel hub  726 , which is similar to the wheel hub  326 , but is mounted such that the wheel rim portion  724   b  is compliantly related to the wheel hub  326 , to allow translation (e.g., in the longitudinal and vertical directions of the wheel  720 ) of the wheel rim portion  724   b  relative to the wheel hub  726 . Thus, the wheel rim portion  724   b  may be connected to the wheel hub  726  for rotation around the rotation axis of the wheel hub  726  and nay be compliantly connected to the wheel hub  726  for translation in a plane that is generally perpendicular to the rotation axis of the wheel hub  726 . 
     As an example, the wheel disc portion  724   a  may be formed from compliant members (e.g., deformable spokes made of synthetic rubber) to allow translational motion of the wheel rim portion  724   b  and the tire  722  relative to the wheel hub  726 . The wheel rim portion  724   b  is formed from a ferromagnetic material or has a ferromagnetic material embedded in it (e.g., rubber having an embedded ferromagnetic belt). 
     The mass actuator  740  includes a support structure  742  that is connected to the wheel hub  726 . The support structure  742  may be rigidly connected to the wheel hub  726  and may be mounted such that it does not rotate. One or more electromagnetic coils  746  are disposed on the support structure  742 . In the illustrated example, one of the electromagnetic coils  746  is oriented in the longitudinal direction of the wheel and tire assembly  718 , and another of the electromagnetic coils  746  is oriented in the vertical direction of the wheel and tire assembly  718 . When activated (e.g., by supply of electrical current from a control system), the electromagnetic coils  746  exert an attractive or repulsive force that acts upon the ferromagnetic material of the wheel rim portion  724   b  to move the wheel rim portion  724   b  relative to the wheel hub  726 , with the relative motion being allowed by the compliant nature of the wheel disc portion  724   a.    
     In one implementation, the electromagnetic coils  746  are incorporated in a hub motor that is used to propel the wheel and tire assembly  718  relative to the wheel hub  726  (i.e., by inducing rotation of the wheel and tire assembly  718  on axis of the wheel hub  726  to cause motion of the vehicle). Radially balanced forces are applied during generation of propulsion torque, and imbalanced forces are applied by the electromagnetic coils  746  in order to apply reaction forces as part of active suspension control. 
       FIG. 8  is a schematic illustration showing a side view of a wheel and tire assembly  818  that includes a mass actuator  840  according to a fifth example. As will be described, the components of the mass actuator  840  are also portions of a steering actuator that is connected to the wheel and tire assembly  818  as part of the unsprung mass. 
     The wheel and tire assembly  818  is similar to the wheel and tire assembly  218  except as described and may include components of the wheel and tire assembly  218  that are not explicitly described here. The wheel and tire assembly  818  includes a wheel  820  and a tire  822 . The wheel  820  has a wheel disc portion  824   a , a wheel rim portion  824   b , and an internal space  824   c  in which the mass actuator  840  is disposed. The wheel  820  is supported by a wheel hub (not shown in  FIG. 8 ), which is similar to the wheel hub  326 . 
     The mass actuator  840  includes a housing  850 , a stator  851 , a rotor  852 , a shaft  853 , springs  854 , and a damper  855  (e.g., a dashpot). The housing  850  and the stator  851  serve as mass for the mass actuator  840 . The housing  850  may be connected to a steering linkage  832 . The stator  851  and the rotor  852  are located in the housing  850  and define a rotational actuator. Electromagnetic interaction of the stator  851  and the rotor  852  is operable to pivot the wheel and tire assembly  818  to achieve a desired steering angle. The stator  851  and rotor  852  may further be configured for linear actuation (i.e., as a linear-rotary motor), to cause motion of the housing  850  and the stator  851  relative to a suspension knuckle  827  in order to apply a reaction force as part of active suspension control. 
     The springs  854  and the damper  855  are suspension components that regulate linear motion of the housing  850  toward and away from the suspension knuckle  827 . The springs  854  may be connected to a suspension knuckle  827  and to the housing  850  to bias the housing  850  and the stator  851  to a neutral position relative to the suspension knuckle  827 . For example, the springs  854  may bias the housing  850 , the stator  851 , and the rotor  852  toward the suspension knuckle  827 . The damper  855  regulates motion of the housing  850  and the stator  851  such that they define a tuned mass damper to further regulate motion of the wheel  820 . 
       FIG. 9  is a schematic illustration showing a side view of a wheel and tire assembly  918  that includes a first mass actuator  940   a  and a second mass actuator  940   b  according to a sixth example. 
     The wheel and tire assembly  918  is similar to the wheel and tire assembly  218  except as described and may include components of the wheel and tire assembly  218  that are not explicitly described here. The wheel and tire assembly  918  includes a wheel  920  and a tire  922 . The wheel  920  has a wheel disc portion  924   a , a wheel rim portion  924   b , and an internal space  924   c  in which the first mass actuator  940   a  and the second mass actuator  940   b  are disposed. The wheel  920  is supported by a wheel hub  926 , which is similar to the wheel hub  326 . 
     This implementation utilizes space in the wheel and tire assembly  918  to package two mass actuators on opposite sides of the wheel hub  926  from one another. In the illustrated example, the first mass actuator  940   a  and the second mass actuator  940   b  each act in a generally vertical direction and are located adjacent to the wheel hub  926 , with the first mass actuator  940   a  being located on a first longitudinal side of the wheel hub  926  and with the second mass actuator  940   b  being located on a second longitudinal side of the wheel hub  926 . The first mass actuator  940   a  and the second mass actuator  940   b  are each supported by and connected to the wheel hub  926  and are illustrated as acting in a vertical direction but could be oriented otherwise. 
     The first mass actuator  940   a  and the second mass actuator  940   b  each include a housing  950 , a linear motor  951 , a mass  952 , and springs  954 . The linear motor  951  is operable to move (i.e., accelerate) the mass  952  within the housing  950  against the springs  954 , which bias the mass  952  to a neutral position. The linear motor  951  is operated to cause motion of the mass  952  in order to apply a reaction force as part of active suspension control. 
       FIG. 10  is a schematic illustration showing a side view of a wheel and tire assembly  1018  that includes a mass actuator  1040  according to a seventh example. 
     The wheel and tire assembly  1018  is similar to the wheel and tire assembly  218  except as described and may include components of the wheel and tire assembly  218  that are not explicitly described here. The wheel and tire assembly  1018  includes a wheel  1020  and a tire  1022 . The wheel  1020  has a wheel disc portion  1024   a , a wheel rim portion  1024   b , and an internal space  1024   c  in which the mass actuator  1040  is disposed. The wheel  1020  is supported by a wheel hub  1026 , which is similar to the wheel hub  326 . 
     This implementation packages a mass actuator along a radius of the wheel  1020  to utilize nearly all of the radial dimension of the internal space  1024   c . The mass actuator  1040  is supported by and connected to the wheel hub  1026  and are illustrated as acting in a vertical direction but could be oriented otherwise. The mass actuator  1040  includes a housing  1050 , a linear motor  1051 , a mass  1052 , and springs  1054 . The linear motor  1051  is operable to move (i.e., accelerate) the mass  1052  within the housing  1050  against the springs  1054 , which bias the mass  1052  to a neutral position. The linear motor  1051  is operated to cause motion of the mass  1052  in order to apply a reaction force as part of active suspension control. 
     The mass actuator  1040  is positioned such that the wheel hub  1026  extends through the housing  1050  and the mass  1052 . This allows the stroke of the mass to be maximized by utilizing as much of the radial dimension of the internal space  1024   c  of the wheel  1020  as possible. In order to allow movement of the mass  1052  relative to the wheel hub  1026 , a slot  1056  is formed through the mass  1052 . The wheel hub  1026  passes through the slot  1056 , and the slot  1056  is elongate in the direction of the stroke of the mass  1052  to allow relative motion. 
       FIG. 11  is a schematic illustration showing a side view of a wheel and tire assembly  1118  that includes a mass actuator  1140  according to an eighth example. 
     The wheel and tire assembly  1118  is similar to the wheel and tire assembly  218  except as described and may include components of the wheel and tire assembly  218  that are not explicitly described here. The wheel and tire assembly  1118  includes a wheel  1120  and a tire  1122 . The wheel  1120  has a wheel disc portion  1124   a , a wheel rim portion  1124   b , and an internal space  1124   c  in which the mass actuator  1140  is disposed. The wheel  1120  is supported by a wheel hub  1126 , which is similar to the wheel hub  326 . 
     This implementation packages a mass actuator in in the internal space of the wheel  1120  and accommodates a relatively large mass and stroke by rotationally actuating the mass along an axis that is generally parallel to the rotation axis of the wheel  1120  and at a location that is offset from the wheel hub  1126 . The mass actuator  1140  is supported by and connected to the wheel hub  1126  and are illustrated as acting in a vertical direction but could be oriented otherwise. The mass actuator  1140  includes a housing  1150 , a motor assembly such as a rotary motor  1151 , and a mass  1152 . The mass actuator  1140  may also include springs (not shown) to bias the mass  1152  to a neutral position. The rotary motor  1151  is operable to move (i.e., accelerate) the mass  1152  by rotating it around an axis that is generally parallel to the rotation axis of the wheel  1120  and at a location that is offset from the wheel hub  1126 . The rotary motor  1151  is operated to cause motion of the mass  1152  in order to apply a reaction force as part of active suspension control. 
     The mass actuator  1140  is positioned such that the wheel hub  1126  extends through the mass  1152 . This allows the size and stroke of the mass to be maximized. In order to allow movement of the mass  1152  relative to the wheel hub  1126 , a slot  1156  is formed through the mass  1152 . The wheel hub  1126  passes through the slot  1156 . The slot  1156  is arcuate along an arc having its radial center on the axis of the rotary motor  1151  so that the slot  1156  provides clearance for the wheel hub  1126  as the mass  1152  rotates. A first position of the mass  1152  is shown in solid lines, and a second position of the mass  1152  is shown in broken lines to illustrate rotation relative to the first position. 
     Although the mass actuator  1140  is shown in an implementation including only one mass actuator, additional mass actuators similar to the mass actuator  1140  could be included and packaged in a laterally offset manner and with their rotation axes at differing locations to allow control of the direction of the reaction force applied by simultaneous actuation of multiple mass actuators. 
       FIG. 12  is a schematic illustration showing a side view of a wheel and tire assembly that includes pneumatic application of reaction force. 
     The wheel and tire assembly  1218  is similar to the wheel and tire assembly  218  except as described and may include components of the wheel and tire assembly  218  that are not explicitly described here. The wheel and tire assembly  1218  includes a wheel  1220  and a tire  1222 . The wheel  1220  has a wheel disc portion  1224   a , a wheel rim portion  1224   b , and an internal space  1224   c . The wheel  1220  is supported by a wheel hub  1226 , which is similar to the wheel hub  326 . 
     The tire  1222  includes internal chambers  1258 . Eight of the internal chambers  1258  are included in the illustrated implementation, but other numbers of internal chambers can be included. The internal chambers  1258  are sealed relative to each other and can be pressurized separately at differing pressures. The internal chambers  1258  are positioned in series around the periphery of the tire  1222  and may be separated from one another by internal walls of the tire  1222 , which extend laterally in the illustrated implementation. In alternative implementations, the internal walls may be canted laterally and/or radially. 
     The internal chambers  1258  are connected to a manifold  1260  by fluid passages  1262  (e.g., conduits). The manifold  1260  includes valves to supply and bleed air from the internal chambers  1258  and may be connected to a pressurized air source. 
     During operation of the vehicle, the pressures in the internal chambers  1258  may be modulated uniformly or differentially to adapt to driving conditions or to apply reaction forces. As an example, air pressure may be bled from internal chambers  1258  at portions of the tire  1222  that are not in contact with the road and supplied to internal chambers  1258  that are in contact with the road on a continually varying basis, based in part on the rotational position of the tire  1222 . 
       FIG. 13  is a schematic view of a controller  1300  that may be used to implement the control system  116  and/or other control systems of the vehicle  130 . The controller  1300  may include a processor  1301 , a memory  1302 , a storage device  1303 , one or more input devices  1304 , and one or more output devices  1305 . The controller  1300  may include a bus  1306  or a similar device to interconnect the components for communication. The processor  1301  is operable to execute computer program instructions and perform operations described by the computer program instructions. As an example, the processor  1301  may be a conventional device such as a central processing unit. The memory  1302  may be a volatile, high-speed, short-term information storage device such as a random-access memory module. The storage device  1303  may be a non-volatile information storage device such as a hard drive or a solid-state drive. The input devices  1304  may include any type of human-machine interface such as buttons, switches, a keyboard, a mouse, a touchscreen input device, a gestural input device, or an audio input device. The output devices  1305  may include any type of device operable to provide an indication to a user regarding an operating state, such as a display screen or an audio output, or any other functional output or control. 
     As used in the claims, phrases in the form of “at least one of A, B, or C” should be interpreted to encompass only A, or only B, or only C, or any combination of A, B and C.

Metadata:
Filing Date: 20180827
Publication Date: 20210330
Grant Date: 20210330
Priority Date: 20170926
Inventors: HALL, JONATHAN L.
Augensberg, Peteris K.
TOROK, MATTHEW M.
SHAWKI, ISLAM MOHSEN
CARTER, TROY A.
Smith, Roland R.
Assignee: APPLE INC
CPC Classifications: [{"code": "F16F15/005", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G17/0195", "inventive": true, "first": true, "tree": "[]"}, {"code": "B60G13/18", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G13/16", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2204/30", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/40", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G3/202", "inventive": true, "first": true, "tree": "[]"}, {"code": "B60G7/001", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G17/015", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G7/001", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2204/40", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/015", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G3/202", "inventive": true, "first": true, "tree": "[]"}]
Family ID: 75164390