Active suspension system

Abstract

Aspects of the invention relate to an actuator system for a vehicle suspension system, the actuator system comprising: a first actuator comprising a piston, a first upper fluid chamber and a second lower fluid chamber, the first and second fluid chambers being separated by the piston; a second actuator comprising a piston, a first upper fluid chamber and a second lower fluid chamber, the first and second fluid chambers being separated by the piston; a first hydraulic passage fluidly connecting the first upper fluid chamber of the first actuator with one of the first and second fluid chambers of the second actuator; a second hydraulic passage fluidly connecting the second lower fluid chamber of the first actuator with the other of the first and second fluid chambers of the second actuator; and at least one pump configured to pump fluid between the first and second hydraulic passages.

Description

Technical Field

[0001] This disclosure relates to active suspension systems. In particular, but not exclusively, it relates to active suspension systems for passenger vehicles. Background Technology

[0002] In a vehicle with suspension, the wheels or other ground-engaging structures, such as tracks, can move relative to the vehicle body. The vehicle body has various degrees of freedom of motion. Important degrees of freedom are "lifting," or movement in the vertical direction, pitch, and roll. For example, the body of a vehicle with suspension will experience roll motion, such as when turning.

[0003] Active suspension systems are known to be controllable to counteract or prevent body roll. However, the implementation of some active systems can be complex and expensive.

[0004] Given physical and technical limitations, it may be difficult to package systems such as suspension systems into vehicles. Summary of the Invention

[0005] The purpose of this invention is to address one or more disadvantages associated with the prior art.

[0006] The present invention provides actuator systems, vehicles, methods, and computer software as described below in various aspects and embodiments.

[0007] According to one aspect of the invention, an actuator system for a vehicle suspension system is provided, the actuator system comprising: a first actuator including a piston, a first upper fluid chamber and a second lower fluid chamber, the first and second fluid chambers being separated by the piston; a second actuator including a piston, a first upper fluid chamber and a second lower fluid chamber, the first and second fluid chambers being separated by the piston; a first hydraulic passage fluidly connecting the first upper fluid chamber of the first actuator to one of the first and second fluid chambers of the second actuator; a second hydraulic passage fluidly connecting the second lower fluid chamber of the first actuator to the other of the first and second fluid chambers of the second actuator; and at least one pump configured to pump fluid between the first and second hydraulic passages. An advantage is that the system can provide motion control for a vehicle in an efficient manner, for example, without requiring fully active suspension at each wheel. Such motion control may include, for example, roll control, pitch control, height control, and / or combinations of roll, pitch, and / or height control.

[0008] The system may include a single bidirectional pump configured to pump fluid between a first hydraulic passage and a second hydraulic passage.

[0009] The first actuator can be connected to the first wheel and the second actuator can be connected to the second wheel, wherein the first wheel and the second wheel share a common axle.

[0010] In some embodiments, a first hydraulic passage fluidly connects a first upper fluid chamber of a first actuator and a second lower fluid chamber of a second actuator, and a second hydraulic passage fluidly connects the second lower fluid chamber of a first actuator and the first upper fluid chamber of a second actuator.

[0011] The actuator system may include: a cross connection that fluidly connects a first fluid chamber of a first actuator and a second fluid chamber of a second actuator; and a cross connection that fluidly connects the second fluid chamber of a first actuator and the first fluid chamber of a second actuator.

[0012] Cross connections can be included in the valve block of the actuator system.

[0013] In some embodiments, a first hydraulic passage fluidly connects a first upper fluid chamber of a first actuator and a second upper fluid chamber of a second actuator, and a second hydraulic passage fluidly connects a second lower fluid chamber of a first actuator and a second lower fluid chamber of a second actuator.

[0014] The actuator system may include a through connection that fluidly connects a first fluid chamber of a first actuator and a first fluid chamber of a second actuator; and fluidly connects a second fluid chamber of a first actuator and a second fluid chamber of a second actuator.

[0015] A through connection can be included in the valve block of the actuator system.

[0016] The actuator system may include at least one controller configured to control the at least one pump to pump fluid between a first hydraulic passage and a second hydraulic passage.

[0017] According to another aspect of the invention, a vehicle is provided that includes at least one actuator system according to any of the foregoing paragraphs and / or as described herein.

[0018] The vehicle may include a first actuator system associated with a first axle of the vehicle and a separate second actuator system associated with a different second axle of the vehicle.

[0019] The vehicle can be an autonomous vehicle.

[0020] In some examples, the vehicles are shared mobility vehicles.

[0021] According to another aspect of the invention, a method of operating an actuator system is provided, the method comprising: determining a target pressure in at least one of a first chamber and a second chamber of a first actuator and / or a first chamber and a second chamber of a second actuator; and controlling the at least one pump to generate the determined target pressure or the determined target pressure.

[0022] Controlling the at least one pump may include: controlling the at least one pump to pump fluid from a first hydraulic channel to a second hydraulic channel.

[0023] Controlling the at least one pump may include: controlling the at least one pump to pump fluid from the second hydraulic channel to the first hydraulic channel.

[0024] According to another aspect of the invention, computer software is provided that, when executed, is configured to perform the method.

[0025] According to another aspect of the present invention, a non-transitory computer-readable medium is provided, comprising computer-readable instructions that, when executed by a processor, cause the method to be performed.

[0026] Within the scope of this application, it is expressly intended that all aspects, embodiments, examples, and alternatives set forth in the preceding paragraphs, claims, and / or the following description and drawings, and in particular their various features, may be adopted independently or in any combination. That is, all embodiments and / or features of any embodiment may be combined in any manner and / or combination, unless such features are incompatible. The applicant reserves the right to amend any originally filed claim or correspondingly file any new claim, including the right to modify any originally filed claim to be subordinate to any other claim and / or incorporated into any other claim, even though it was not initially claimed in this manner. Attached Figure Description

[0027] One or more embodiments of the invention will now be described by way of example only, with reference to the accompanying drawings, in which:

[0028] Figure 1 An example of an actuator system for a vehicle suspension system is shown.

[0029] Figure 2 Examples of multiple actuator systems for vehicle suspension systems are shown.

[0030] Figure 3 An example of an actuator system for a vehicle suspension system is shown.

[0031] Figure 4 An example of a vehicle is shown;

[0032] Figure 5 An example of a method for operating an actuator system is shown.

[0033] Figure 6 An example of a controller is shown;

[0034] Figure 7 An example of a system for vehicles is shown.

[0035] Figure 8 An example of a system for vehicles is shown.

[0036] Figure 9 An example of a vehicle is shown;

[0037] Figure 10 An example of an alternative actuator system for a vehicle suspension system is shown.

[0038] Figure 11 Examples of alternative actuator systems for vehicle suspension systems are shown; and

[0039] Figure 12 An example of an alternative actuator system for a vehicle suspension system is shown. Detailed Implementation

[0040] Figure 1 An example of actuator system 10 is shown. In the example shown, actuator system 10 is an actuator system 10 for suspension system 12.

[0041] Reference Figure 1 The actuator system 10 includes a first actuator 14, which includes a piston 16, a first upper fluid chamber 18 and a second lower fluid chamber 20, the first fluid chamber 18 and the second fluid chamber 20 being separated by the piston 16.

[0042] The actuator system 10 also includes a second actuator 26, which includes a piston 28, a first upper fluid chamber 29 and a second lower fluid chamber 31, the first fluid chamber 29 and the second fluid chamber 31 being separated by the piston 28.

[0043] Figure 1 The actuator system 10 also includes a first hydraulic channel 22 and a second hydraulic channel 24. The first hydraulic channel 22 fluidly connects the first upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26, and the second hydraulic channel 24 fluidly connects the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26.

[0044] Figure 1 The actuator system 10 also includes at least one pump 30 configured to pump fluid between the first hydraulic passage 22 and the second hydraulic passage 24.

[0045] In the example, Figure 1 The actuator system 10 may include Figure 1 One or more additional components not shown in the diagram.

[0046] For example, the actuator system 10 may include one or more valves V, such as one or more pressure control valves V1, one or more damping valves V2, one or more check valves V3, etc.

[0047] Alternatively or additionally, in this example, actuator system 10 may include one or more accumulators A. See, for example, [link to example]. Figure 2 and Figure 3 .

[0048] One or more valves and / or one or more accumulators A can be configured to control the flow of fluid around the actuator system 10.

[0049] and Figure 1 One or more of the relevant features can be found in other graphs.

[0050] The suspension system 12 includes other elements or components, such as one or more springs and / or air springs. See, for example, [link to relevant documentation]. Figure 3 .

[0051] In use, the first actuator 14 and the second actuator 26 extend or retract in response to a force applied to the actuator system 10 to improve the driving of the vehicle 46.

[0052] For example, in use, the first actuator 14 and / or the second actuator 26 can be contracted or extended by the movement of pistons 16 and 28.

[0053] In the example, actuators 14 and 26 connect the body 17 of vehicle 46 to associated wheels 32 and 34. In some embodiments, wheels 32 and 34 may be associated with a common axle 36. Alternatively, wheels may be associated with different axles 36.

[0054] Accordingly, in use, the vehicle body 17 can move relative to the wheels 32, 34 by the extension and / or retraction of the actuators 14, 26.

[0055] exist Figure 1 In the example, the first hydraulic channel 22 fluidly connects the first upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26.

[0056] The first hydraulic passage 22 can be considered as allowing fluid to move or flow between the first upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26.

[0057] In this example, any suitable means can be used to provide fluid connection between the first upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26. For example, any suitable hose, tube, and / or pipe can be used.

[0058] Alternatively or additionally, the first hydraulic passage 22 may be directly or indirectly connected to the first upper fluid chamber 18 and the second lower fluid chamber 31, and / or may include any number of intermediate elements, including no intermediate elements.

[0059] In the example, any appropriate number of connections can be used between the upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26.

[0060] exist Figure 1 In the middle, the second hydraulic channel 24 fluidly connects the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26.

[0061] The second hydraulic passage 24 can be considered as allowing fluid to move or flow between the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26.

[0062] In this example, any suitable device can be used to provide fluid connection between the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26. For example, any suitable hose, tube, and / or pipe can be used.

[0063] Alternatively or additionally, the second hydraulic passage 22 may be directly or indirectly connected to the second lower fluid chamber 20 and the first upper fluid chamber 29, and / or may include any number of intermediate elements, including no intermediate elements.

[0064] In the example, any suitable number of connections can be used between the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26.

[0065] In the example, the first hydraulic channel and the second hydraulic channel can be considered as first and second hydraulic connections, links, attachments, networks, connections, joints, etc.

[0066] In the example, the first hydraulic passage 22 and the second hydraulic passage 24 can be considered to include the fluid chambers 18, 31, 20, and 29 to which they are connected.

[0067] exist Figure 1In the example, the at least one pump 30 is configured to pump fluid, such as hydraulic fluid, between the first hydraulic passage 22 and the second hydraulic passage 24. Any suitable hydraulic fluid can be used.

[0068] In the example, any suitable one or more pumps can be used.

[0069] The actuator system 10 may include any suitable number of pumps 30 at any suitable location to pump fluid between the first hydraulic passage 22 and the second hydraulic passage 24.

[0070] This is Figure 1 The example is shown by the dashed pump 30.

[0071] For example, in this example, system 10 includes a single bidirectional pump 30 configured to pump fluid between a first hydraulic passage 22 and a second hydraulic passage 24. See, for example, [link to example]. Figure 2 and Figure 3 .

[0072] Accordingly, in the example, actuator system 10 may include a single pump 30 axle for each associated set of wheels 32, 34 or each axle 36.

[0073] In the example, one or more pumps 30 may be connected between the first hydraulic passage 22 and the second hydraulic passage 24 in any suitable manner to allow fluid to be pumped between the two hydraulic passages 22, 24.

[0074] Pumping fluid between the first hydraulic channel 22 and the second hydraulic channel 24 allows for active motion control of the vehicle 46. In embodiments where actuators 14, 26 connect the body 17 of the vehicle 46 to wheels 32, 34 on either side of the vehicle 46 (e.g., associated with a common axle), pumping fluid between the first hydraulic channel 22 and the second hydraulic channel 24 allows for active roll control of the vehicle 46.

[0075] For example, when one or more pumps 30 are controlled to pump fluid from the first hydraulic passage 22 to the second hydraulic passage 24, fluid will move from the first upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26 to the second hydraulic passage 24, the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26.

[0076] In the example, when one or more pumps 30 are controlled to pump fluid from the first hydraulic passage 22 to the second hydraulic passage 24, the pressure in the first hydraulic passage (including the first upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26) decreases, and the pressure in the second hydraulic passage 24 (including the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26) increases.

[0077] Accordingly, when fluid is pumped from the first hydraulic channel 22 to the second hydraulic channel 24, the first actuator 14 will tend to extend, and the second actuator 26 will tend to retract. This will cause the body 17 of the vehicle 46 to tilt to the right, as... Figure 1 As shown.

[0078] When one or more pumps 30 are controlled to pump fluid from the second hydraulic passage 24 to the first hydraulic passage 22, fluid will move from the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26 to the first hydraulic passage 22, the first upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26.

[0079] In the example, when one or more pumps 30 are controlled to pump fluid from the second hydraulic passage 24 to the first hydraulic passage 22, the pressure in the second hydraulic passage 24 (including the first upper fluid chamber 29 of the second actuator 26 and the second lower chamber 20 of the first actuator 14) will decrease, and the pressure in the first hydraulic passage 22 (including the second lower fluid chamber 31 of the second actuator 26 and the first upper fluid chamber 18 of the first actuator 14) will increase.

[0080] In such an example, the second actuator 26 will tend to extend, and the first actuator 14 will tend to retract. Therefore, in such an example, as... Figure 1 As shown, the body 17 of vehicle 46 will tilt to the left.

[0081] In the embodiment where actuators 14, 26 connect the body 17 of vehicle 46 to wheels 32, 34 associated with different front and rear axles 36, fluid pumping between the first hydraulic channel 22 and the second hydraulic channel 24 allows for active pitch control of vehicle 46, whereby pumping fluid from one hydraulic channel to another tends to cause the body 17 of vehicle 46 to pitch forward or backward.

[0082] In this way, the roll and / or pitch of the body 17 of vehicle 46 can be actively controlled using the actuator system 10.

[0083] Specifically, the roll and / or pitch of the vehicle body 17 of vehicle 46 can be controlled by controlling one or more pumps 30.

[0084] In the example, this is achieved by using a simple hydraulic network, compared to, for example, a fully active suspension at each wheel of a vehicle.

[0085] also, Figure 1 The actuator system 10 provides active, controllable roll and / or pitch control, rather than just passive control, which is also advantageous compared to, for example, passive suspension systems.

[0086] The actuator system 10 can be used to compensate for and / or correct body roll and / or pitch caused by the movement of the vehicle 46.

[0087] In the example where actuators 14 and 26 connect the body 17 of vehicle 46 to the wheels 32 and 34 on either side of vehicle 46, if vehicle 46 turns to the left, this will cause the body 17 of vehicle 46 to tilt to the right, tending to compress. Figure 1 The second actuator 26 in the middle and extends the first actuator 14.

[0088] In this example, one or more pumps 30 can be controlled to pump fluid from the second hydraulic passage 24 to the first hydraulic passage 22 to counteract the roll of the vehicle body 17 of the vehicle 46 by increasing the pressure in the first upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26.

[0089] In this way, the body roll of vehicle 46 can be actively controlled.

[0090] In the example where actuators 14 and 26 connect the body 17 of vehicle 46 to the wheels 32 and 34 on either side of vehicle 46, if vehicle 46 turns to the right, this will cause the body 17 of vehicle 46 to tilt to the left, tending to compress. Figure 1 The first actuator 14 in the middle and the second actuator 26 are extended.

[0091] In this example, one or more pumps 30 can be controlled to pump fluid from the first hydraulic passage 22 to the second hydraulic passage 24 to counteract the roll of the body 17 of the vehicle 46 by increasing the pressure in the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26.

[0092] In this way, the tilt of vehicle 46 can be actively controlled.

[0093] However, the actuator system 10 is configured to provide active roll and / or pitch control of the vehicle 46 as needed. For example, in some situations, it may be desirable to tilt the body 17 of the vehicle 46 to the left or right, and in such cases, the at least one pump 30 can be controlled to pump fluid in the actuator system 10 to tilt the vehicle body 17 to the left or right.

[0094] Figure 2 An example of multiple actuator systems 10 for a vehicle suspension system 12 is shown.

[0095] Figure 2 One or more elements in the example can be as described in relation to Figure 1 Described.

[0096] Figure 2 Examples and Figure 1 The example shown is similar. However, in Figure 2 In the example, there is a first actuator system 10 associated with the front axle and front wheels of vehicle 46. This is Figure 2 The upper actuator system 10 is shown in the figure.

[0097] In addition, Figure 2 In the example, there is a second actuator system 10 associated with the rear axle of vehicle 46. This is in Figure 2 The example is shown as a lower actuator system 10.

[0098] However, in the example, any suitable number of actuator systems 10 can be installed on any suitable number of axles of the vehicle.

[0099] Accordingly, Figure 2 A first actuator system 10 associated with a first axle of vehicle 46 and a separate second actuator system 10 associated with a different second axle of vehicle 46 are shown.

[0100] Figure 2 The actuator system 10 includes the actuator system 10 with Figure 1 The first actuator 14 and the second actuator 26, as well as the first hydraulic channel 22 and the second hydraulic channel 24, are similar or identical.

[0101] exist Figure 2 In one example, the actuator system 10 includes a single bidirectional pump 30 configured to pump fluid between a first hydraulic passage 22 and a second hydraulic passage 24 of the actuator system 10.

[0102] Figure 2 The actuator system 10 also includes several pressure control valves V1, damping valves V2, check valves V3, and accumulators A to control the movement of fluid around the actuator system 10. The use of these valves and accumulators is not described in detail herein.

[0103] exist Figure 2The example also shows that the actuator system 10 includes at least one controller 42 configured to control the at least one pump 30 to pump fluid between a first hydraulic passage 22 and a second hydraulic passage 24 of each actuator system 10.

[0104] exist Figure 2 The example shows a single controller 42. However, in the example, any suitable number of controllers 42 can be used.

[0105] In addition, any suitable controller 42 can be used, for example, see Figure 6 .

[0106] exist Figure 2 In the example, controller 42 is configured to control a single bidirectional pump 30 of actuator system 10 to control the roll of body 17 of vehicle 46, as per [reference to...]. Figure 1 Described.

[0107] exist Figure 2 In the example, controller 42 is configured to cooperate or independently control the extension or retraction of the first actuator 14 and the second actuator 26 of actuator system 10.

[0108] For example, in this example, controller 42 is configured to control actuator system 10 in a cooperative or independent manner based on the needs of vehicle 46 and / or environment and / or context.

[0109] Figure 3 An example of an actuator system 10 for a vehicle suspension system 12 is shown.

[0110] Figure 3 One or more elements can be as described in relation to Figure 1 and / or Figure 2 Described.

[0111] Figure 3 The actuator system 10 shown includes a first actuator 14 and a second actuator 26, as well as a first hydraulic channel 22 and a second hydraulic channel 24.

[0112] Figure 3 The actuator system 10 also includes various valves V1, V2, V3 and accumulator A.

[0113] In addition, Figure 3 In the example, the vehicle suspension system 12 includes springs or air springs 58 that connect the body 17 of the vehicle 46 to the associated wheels 32, 34.

[0114] The suspension system 12 also includes a top mount 60.

[0115] exist Figure 3In one example embodiment, a first actuator 14 is coupled to a first wheel 32, and a second actuator 26 is coupled to a second wheel 34, wherein the first wheel 32 and the second wheel 34 share a common axle 36. In such an embodiment, the actuator system 10 is capable of controlling the roll of the body 17 of the vehicle 46, as per [reference to...]. Figure 1 and / or Figure 2 Described.

[0116] exist Figure 3 In an alternative embodiment of the example, the first actuator 14 is coupled to the first wheel 32, and the second actuator 26 is coupled to the second wheel 34, wherein the first wheel 32 and the second wheel 34 are associated with different front and rear axles 36. In such an embodiment, the actuator system 10 is capable of controlling the pitch of the body 17 of the vehicle 46, as per [reference to...]. Figure 1 and / or Figure 2 Described.

[0117] exist Figure 3 In the example, actuator system 10 includes a cross connection 38 that fluidly connects the first fluid chamber 18 of the first actuator 14 and the second fluid chamber 31 of the second actuator 26, and fluidly connects the second fluid chamber 20 of the first actuator 14 and the first fluid chamber 29 of the second actuator 26.

[0118] In the example, any suitable cross connection can be used. For example, in the example, cross connection 38 is included in the valve block of actuator system 10.

[0119] In some examples, the cross-connections are inside the valve block and include dual outputs for each hydraulic channel.

[0120] In some examples, the cross connection is made by connecting to a separate manifold block of pump 30 via any suitable hydraulic connection (e.g., pipe, hose, etc.).

[0121] As a system, ports on the valve block, such as ports on the front axle, and separate manifolds, such as manifolds on the rear axle, can be used in combination.

[0122] exist Figure 3 In the example, actuator system 10 includes a single bidirectional pump 30 configured to pump fluid between a first hydraulic passage 22 and a second hydraulic passage 24 to control the roll and / or pitch of the body 17 of vehicle 46, as per [reference to...]. Figure 1 and / or Figure 2 Described.

[0123] Figure 10 An alternative example of actuator system 10 is shown. Figure 10In the example, actuator system 10 is an actuator system 10 for suspension system 12.

[0124] Reference Figure 10 The actuator system 10 includes a first actuator 14, which includes a piston 16, a first upper fluid chamber 18, and a second lower fluid chamber 20, the first fluid chamber 18 and the second fluid chamber 20 being separated by the piston 16. The actuator system 10 also includes a second actuator 26, which includes a piston 28, a first upper fluid chamber 29, and a second lower fluid chamber 31, the first fluid chamber 29 and the second fluid chamber 31 being separated by the piston 28. Figure 1 The actuator system 10 also includes a first hydraulic channel 22 and a second hydraulic channel 24. The first hydraulic channel 22 fluidly connects the first upper fluid chamber 18 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26, and the second hydraulic channel 24 fluidly connects the second lower fluid chamber 20 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26. Figure 1 The actuator system 10 also includes at least one pump 30 configured to pump fluid between the first hydraulic passage 22 and the second hydraulic passage 24.

[0125] In the example, Figure 10 The actuator system 10 may include Figure 10 One or more additional components not shown. For example, actuator system 10 may include one or more valves V, such as one or more pressure control valves V1, one or more damping valves V2, one or more check valves V3, etc. Additionally or alternatively, in this example, actuator system 10 may include one or more accumulators A. See, for example, [link to example]. Figure 11 and Figure 12 One or more valves and / or one or more accumulators A can be configured to control the flow of fluid around the actuator system 10.

[0126] and Figure 10 One or more related features can be found in other graphs.

[0127] The suspension system 12 includes other elements or components, such as one or more springs and / or air springs. See, for example, [link to relevant documentation]. Figure 12 .

[0128] In the example, actuators 14 and 26 connect the body 17 of vehicle 46 to associated wheels 32 and 34. In some embodiments, wheels 32 and 34 may be associated with a common axle 36. Alternatively, wheels may be associated with different axles 36. Accordingly, in use, the body 17 can be moved relative to wheels 32 and 34 by extending and / or retracting the actuators 14 and 26.

[0129] exist Figure 10 In the example, the first hydraulic passage 22 fluidly connects the first upper fluid chamber 18 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26. The first hydraulic passage 22 can be considered as allowing fluid to move or flow between the first upper fluid chamber 18 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26.

[0130] In this example, any suitable means can be used to provide fluid connection between the first upper fluid chamber 18 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26. For example, any suitable hose, tube, and / or pipe can be used.

[0131] Additionally or alternatively, the first hydraulic passage 22 may be directly or indirectly connected to the first upper fluid chambers 18, 29 and / or may include any number of intermediate elements, including no intermediate elements. In the example, any suitable number of connections may be used between the upper fluid chamber 18 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26.

[0132] exist Figure 1 In this configuration, the second hydraulic passage 24 fluidly connects the second lower fluid chamber 20 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26. The second hydraulic passage 24 can be considered as allowing fluid to move or flow between the second lower fluid chamber 20 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26.

[0133] In this example, any suitable device can be used to provide fluid connection between the second lower fluid chamber 20 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26. For example, any suitable hose, tube, and / or pipe can be used.

[0134] Additionally or alternatively, the second hydraulic passage 22 may be directly or indirectly connected to the second lower fluid chambers 20, 31 and / or may include any number of intermediate elements, including no intermediate elements. In the example, any suitable number of connections may be used between the second lower fluid chamber 20 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26.

[0135] In the example, the first hydraulic channel and the second hydraulic channel can be considered as first and second hydraulic connections, links, attachments, networks, connections, joints, etc.

[0136] In the example, the first hydraulic passage 22 and the second hydraulic passage 24 can be considered to include the fluid chambers 18, 31, 20, and 29 to which they are connected.

[0137] exist Figure 1In this example, the at least one pump 30 is configured to pump fluid, such as hydraulic fluid, between the first hydraulic passage 22 and the second hydraulic passage 24. Any suitable hydraulic fluid can be used. In this example, any suitable one or more pumps can be used.

[0138] The actuator system 10 may include any suitable number of pumps 30 at any suitable location to pump fluid between the first hydraulic passage 22 and the second hydraulic passage 24.

[0139] For example, in this example, system 10 includes a single bidirectional pump 30 configured to pump fluid between a first hydraulic passage 22 and a second hydraulic passage 24. See, for example, [link to example]. Figure 11 and Figure 12 Accordingly, in the example, actuator system 10 may include pump 30 for each associated set of wheels 32, 34 or each axle 36.

[0140] In the example, one or more pumps 30 may be connected between the first hydraulic passage 22 and the second hydraulic passage 24 in any suitable manner to allow fluid to be pumped between the two hydraulic passages 22, 24.

[0141] Pumping fluid between the first hydraulic channel 22 and the second hydraulic channel 24 allows for active motion control of the vehicle 46. Figures 10 to 12 In an embodiment of system 10, where actuators 14 and 26 connect the body 17 of vehicle 46 to wheels 32 and 34 on either side of vehicle 46 (e.g., associated with a common axle), fluid pumping between the first hydraulic channel 22 and the second hydraulic channel 24 allows for active pitch and / or lift control of vehicle 46.

[0142] For example, when one or more pumps 30 are controlled to pump fluid from the first hydraulic passage 22 to the second hydraulic passage 24, fluid will move from the first upper fluid chambers 18, 29 of the first actuator 14 and the second actuator 26 to the second hydraulic passage 24 and the second lower fluid chambers 20, 31 of the first actuator 14 and the second actuator 26.

[0143] In the example, when one or more pumps 30 are controlled to pump fluid from the first hydraulic passage 22 to the second hydraulic passage 24, the pressure in the first hydraulic passage (including the first upper fluid chamber 18 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26) decreases, and the pressure in the second hydraulic passage 24 (including the second lower fluid chamber 20 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26) increases.

[0144] Accordingly, when fluid is pumped from the first hydraulic channel 22 to the second hydraulic channel 24, the first actuator 14 and the second actuator 26 will tend to extend. This will cause the body 17 of the vehicle 46 to rise.

[0145] When one or more pumps 30 are controlled to pump fluid from the second hydraulic passage 24 to the first hydraulic passage 22, fluid will move from the second lower fluid chambers 20, 31 of the first actuator 14 and the second actuator 26 to the first hydraulic passage 22 and the first upper fluid chambers 18, 29 of the first actuator 14 and the second actuator 26.

[0146] In the example, when one or more pumps 30 are controlled to pump fluid from the second hydraulic passage 24 to the first hydraulic passage 22, the pressure in the second hydraulic passage 24 (including the second lower fluid chambers 20, 31 of the first actuator 14 and the second actuator 26) will decrease, and the pressure in the first hydraulic passage 22 (including the first lower fluid chambers 18, 29 of the first actuator 14 and the second actuator 26) will increase.

[0147] In such an example, the first actuator 14 and the second actuator 26 will tend to contract. Accordingly, in such an example, the body 17 of the vehicle 46 will descend.

[0148] In this way, the pitch and / or height of the body 17 of vehicle 46 can be actively controlled using the actuator system 10. Specifically, the pitch and / or height of the body 17 of vehicle 46 can be controlled by controlling one or more pumps 30. In this example, this is achieved using a simple hydraulic network, compared to, for example, a fully active suspension at each wheel of the vehicle.

[0149] also, Figure 10 The actuator system 10 provides active, controllable pitch and / or lift control, rather than just passive control, which is also advantageous compared to, for example, passive suspension systems.

[0150] Actuator system 10 can be used to compensate for and / or correct vehicle body pitch and / or rise caused by the movement of vehicle 46.

[0151] In the example, if vehicle 46 is accelerating rapidly, this will cause the body 17 of vehicle 46 to lean backward, tending to compress the actuators 14, 26 associated with the rear wheels and extend the actuators 14, 26 associated with the front wheels.

[0152] In the example, within the actuator system 10 including actuators 14, 26 associated with the front wheels, one or more pumps 30 can be controlled to pump fluid from the second fluid passage 24 to the first fluid passage 22 to counteract the extension of the actuators 14, 26 associated with the front wheels. Additionally / alternatively, within the actuator system 10 including actuators 14, 26 associated with the rear wheels, one or more pumps 30 can be controlled to pump fluid from the first hydraulic passage 22 to the second hydraulic passage 24 to counteract the compression of the actuators 14, 26 associated with the rear wheels. In this way, the pitch of the vehicle body 17 of the vehicle 46 can be actively controlled.

[0153] In the example, if vehicle 46 is decelerating rapidly, this will cause the body 17 of vehicle 46 to lean forward, tending to extend the actuators 14, 26 associated with the rear wheels and compress the actuators 14, 26 associated with the front wheels.

[0154] In the example, within the actuator system 10 including actuators 14, 26 associated with the rear wheels, one or more pumps 30 can be controlled to pump fluid from the second hydraulic passage 24 to the first hydraulic passage 22 to counteract the extension of the actuators 14, 26 associated with the rear wheels. Additionally / alternatively, within the actuator system 10 including actuators 14, 26 associated with the front wheels, one or more pumps 30 can be controlled to pump fluid from the first hydraulic passage 22 to the second hydraulic passage 24 to counteract the compression of the actuators 14, 26 associated with the front wheels. In this way, the pitch of the vehicle body 17 of the vehicle 46 can be actively controlled.

[0155] Understandably, in order to provide lifting control, the actuator system 10, including actuators 14, 26 associated with the rear and front wheels, can be controlled such that one or more pumps 30 pump fluid between the first hydraulic passage 22 and the second hydraulic passage 24 to counteract compression of the actuators 14, 26 associated with the front and rear wheels, or to counteract extension of the actuators 14, 26 associated with the front and rear wheels.

[0156] However, the actuator system 10 is configured to provide active pitch and / or lift control of the vehicle 46 as needed. For example, in some cases, it may be necessary to induce pitch and / or lift of the body 17 of the vehicle 46, and in such cases, the at least one pump 30 may be controlled to pump fluid in the actuator system 10 to induce pitch and / or lift of the body 17.

[0157] Figure 11 An example of multiple actuator systems 10 for a vehicle suspension system 12 is shown. Figure 11 One or more elements in the example can be as described in relation to Figure 10 Described.

[0158] Figure 11 Examples and Figure 10 The example shown is similar. However, in Figure 11 In the example, there is a first actuator system 10 associated with the front axle and front wheels of vehicle 46. This is Figure 11 The upper actuator system 10 is shown in the figure.

[0159] In addition, Figure 11 In the example, there is also a second actuator system 10 associated with the rear axle of vehicle 46. This is in Figure 11 The example is shown as a lower actuator system 10.

[0160] However, in the example, any suitable number of actuator systems 10 can be provided on any suitable number of axles of the vehicle.

[0161] Accordingly, Figure 11 A first actuator system 10 associated with a first axle of vehicle 46 and a separate second actuator system 10 associated with a different second axle of vehicle 46 are shown.

[0162] Figure 11 The actuator system 10 includes the actuator system 10 with Figure 10 The first actuator 14 and the second actuator 26, as well as the first hydraulic channel 22 and the second hydraulic channel 24, are similar or identical.

[0163] exist Figure 11 In one example, the actuator system 10 includes a single bidirectional pump 30 configured to pump fluid between a first hydraulic passage 22 and a second hydraulic passage 24 of the actuator system 10.

[0164] Figure 11 The actuator system 10 also includes several pressure control valves V1, damping valves V2, check valves V3, and accumulators A to control the movement of fluid around the actuator system 10. The use of these valves and accumulators will not be described in detail herein.

[0165] exist Figure 11 The example also shows that the actuator system 10 includes at least one controller 42, which is configured to control the at least one pump 30 to pump fluid between a first hydraulic passage 22 and a second hydraulic passage 24 of each actuator system 10. Figure 11 The example shows a single controller 42. However, in this example, any suitable number of controllers 42 can be used. Furthermore, any suitable one or more controllers 42 can be used, for example, see [link to example]. Figure 6 .

[0166] exist Figure 11 In the example, controller 42 is configured to control a single bidirectional pump 30 of actuator system 10 to control the pitch and / or rise of body 17 of vehicle 46, as per [reference to...]. Figure 10 Described.

[0167] exist Figure 11 In the example, controller 42 is configured to cooperate or independently control the extension or retraction of the first actuator 14 and the second actuator 26 of actuator system 10.

[0168] For example, in this example, controller 42 is configured to control actuator system 10 in a cooperative or independent manner based on the needs of vehicle 46 and / or environment and / or context.

[0169] Figure 12 An example of an actuator system 10 for a vehicle suspension system 12 is shown. Figure 12 One or more elements can be as described in relation to Figure 10 and / or Figure 11 Described.

[0170] Figure 12 The actuator system 10 shown includes a first actuator 14 and a second actuator 26, as well as a first hydraulic channel 22 and a second hydraulic channel 24. Figure 12 The actuator system 10 also includes various valves V1, V2, V3 and accumulator A.

[0171] In addition, Figure 12 In the example, the vehicle suspension system 12 includes springs or air springs 58 that connect the body 17 of the vehicle 46 to the associated wheels 32, 34. The suspension system 12 also includes a top mount 60.

[0172] exist Figure 12 In one example embodiment, a first actuator 14 is coupled to a first wheel 32, and a second actuator 26 is coupled to a second wheel 34, wherein the first wheel 32 and the second wheel 34 share a common axle 36. In such an embodiment, the actuator system 10 is capable of controlling the pitch and / or height of the body 17 of the vehicle 46, as per [reference to...]. Figure 10 and / or Figure 11 Described.

[0173] exist Figure 12 In the example, actuator system 10 includes a through connection that fluidly connects the first fluid chamber 18 of the first actuator 14 and the first fluid chamber 29 of the second actuator 26, and fluidly connects the second fluid chamber 20 of the first actuator 14 and the second fluid chamber 31 of the second actuator 26.

[0174] In the examples, any suitable through-connection can be used. For example, the through-connection can be included in the valve block of actuator system 10. In some examples, the through-connection can be inside the valve block and include dual outputs for each hydraulic passage. In some examples, the through-connection can be a separate manifold block connected to pump 30 via any suitable hydraulic connection (such as pipe, hose, etc.).

[0175] As a system, ports on the valve block, such as ports on the front axle, and separate manifolds, such as manifolds on the rear axle, can be used in combination.

[0176] exist Figure 12 In the example, actuator system 10 includes a single bidirectional pump 30 configured to pump fluid between a first hydraulic passage 22 and a second hydraulic passage 24 to control the pitch and / or rise of the body 17 of vehicle 46, as per [reference to...]. Figure 10 and / or Figure 11 Described.

[0177] Figure 4 An example of vehicle 46 is shown.

[0178] Figure 4 The vehicle 46 shown in the example illustrates an example of a road vehicle in which embodiments of the present invention or several of the inventions may be implemented. In some, but not all, examples, vehicle 10 is a passenger vehicle, also known as a passenger car or motor vehicle. The curb weight of the passenger vehicle is typically less than 4000 kg. The length of the passenger vehicle is typically less than 7 meters. In other examples, embodiments of the invention may be implemented for other applications, such as industrial vehicles.

[0179] In the example shown, vehicle 46 includes body 17 and two actuator systems 10, 26 and associated vehicle suspension system 12.

[0180] exist Figure 4 In the example, vehicle 46 includes actuator system 10 and vehicle suspension system 12 located at the front axle and rear axle of vehicle 46.

[0181] In the example, actuator system 10 can be as follows: Figures 1 to 3 and / or Figures 10 to 12 As described.

[0182] Therefore, a vehicle 46 is provided, which includes a first actuator system 10 associated with a first axle of the vehicle 46 and a separate second actuator system 10 associated with a different second axle of the vehicle 46.

[0183] In the example, vehicle 46 is an autonomous vehicle.

[0184] Figure 5 An example of method 500 is shown.

[0185] Method 500 is the operation described in this article regarding... Figures 1 to 3 and / or Figures 10 to 12 The method of describing the actuator system 10.

[0186] However, in the example, any suitable method of the operating actuator system 10 described herein can be used.

[0187] At block 502, the target pressure of at least one of the first fluid chamber 18 and the second fluid chamber 20 of the first actuator 14 and / or the first fluid chamber 29 and the second fluid chamber 31 of the second actuator 26 is determined.

[0188] The target pressure of at least one of the first fluid chamber 18 and the second fluid chamber 20 of the first actuator 14 and / or the first fluid chamber 29 and the second fluid chamber 31 of the second actuator 26 can be determined using any suitable method.

[0189] In some examples, sensors (not shown) and controllers associated with one or more algorithms / computer programs / software, etc., can determine the appropriate target pressure in one or more fluid chambers 18, 20, 29, 31.

[0190] At block 504, the at least one pump 30 is controlled to generate one or more determined target pressures.

[0191] For example, in the example, the at least one pump 30 is controlled to pump fluid in the actuator system 10 to achieve one or more defined target pressures in chambers 18, 20, 29, 31.

[0192] In the example, controlling the at least one pump 30 includes controlling the at least one pump 30 to pump fluid from the first hydraulic passage 22 to the second hydraulic passage 24.

[0193] In the example, controlling the at least one pump 30 includes controlling the at least one pump 30 to pump fluid from the second hydraulic passage 24 to the first hydraulic passage 22.

[0194] In the example, it can be assumed that the pump is controlled at box 504 to generate / control the pressure in the first hydraulic channel 22 and the second hydraulic channel 24.

[0195] In some, but not all, examples, method 500 includes controlling at least one valve to generate one or more defined target pressures. For example, method 500 may include controlling at least one pressure control valve V1, at least one damping valve V2, and / or at least one check valve V3 to generate one or more defined target pressures.

[0196] Figure 6 An example of controller 42 is shown.

[0197] In the example, controller 42 may include multiple controllers 42, and a control system may be considered.

[0198] Figure 6 The controller includes: at least one electronic processor 54; and at least one electronic storage device 56 electrically coupled to the electronic processor 54 and having instructions (e.g., computer program 52) stored therein, the at least one electronic storage device 56 and the instructions 52 being configured together with the at least one electronic processor 54 to cause the execution of any or more methods described herein.

[0199] Example controller 42 is an active actuator system controller used to control the actuators of an active actuator system.

[0200] Figure 6 Also shown is a non-transitory computer-readable storage medium 50 including instructions (computer software) 52.

[0201] The controller / control system 42 may include a higher-level controller. Referring to the control system controlling one or more pumps means providing control signals directly to one or more pumps or indirectly via other controllers (e.g., lower-level controllers acting according to control signals). Referring to the controller / control system 42 receiving information and making determinations means receiving raw, unprocessed data or receiving processed data from a controller external to the controller / control system 42.

[0202] Accordingly, computer software is provided that, when executed, is configured to perform the methods described herein.

[0203] In the example, a non-transitory computer-readable medium 50 is provided, which includes computer-readable instructions 52 that, when executed by a processor 54, cause the execution of the methods described herein.

[0204] The system (e.g., regarding) is housed in vehicle 46. Figures 1 to 6 and / or Figures 10 to 12 The described actuator system 10 and vehicle suspension system 12 may be challenging. For example, due to limitations on vehicle weight and / or size and / or layout, it may be difficult to properly package the various components of the vehicle system while maintaining the functionality of the various vehicle systems.

[0205] For example, it may be difficult to properly position the vehicle's ducts around other parts of the vehicle, such as structural components.

[0206] Figure 7 An example of system 62 of vehicle 46 is shown.

[0207] exist Figure 7 In the example, system 62 includes a hydraulic suspension actuator 64, which includes a piston 65, a first upper fluid chamber 67, and a second lower fluid chamber 69, the first fluid chamber 67 and the second fluid chamber 69 being separated by the piston 65. In the example, the hydraulic suspension actuator 64 may be a first actuator 14 or a second actuator 26, as per [reference needed]. Figures 1 to 6 and / or Figures 10 to 12 Described.

[0208] System 62 also includes at least one actuator system module 66 mounted to subframe 68 and laterally spaced from hydraulic suspension actuator 64, the at least one actuator system module 66 including one or more actuator system components 70.

[0209] Accordingly, actuator system module 66 defines a portion of the spring mass of vehicle 46.

[0210] In addition, system 62 includes a longitudinal beam 72 located transversely between the hydraulic suspension actuator 64 and the at least one actuator system module 66, and at least one conduit 74 fluidly connecting the hydraulic suspension actuator 64 and the at least one actuator system module 66, wherein the at least one conduit 74 extends beyond the longitudinal beam 72.

[0211] In the example, the hydraulic suspension actuator 64 can be as follows: Figures 1 to 6 and / or Figures 10 to 12 Describe the actuator. That is, in the example, the hydraulic suspension actuator 64 can be configured for use regarding... Figures 1 to 6 and / or Figures 10 to 12 Describe actuator system 10.

[0212] However, in the example, any suitable hydraulic suspension actuator 64 for any suitable vehicle suspension system can be used.

[0213] At least one actuator system module 66 is mounted on the subframe 68 of the vehicle 46. In this example, any suitable actuator system module 66 can be used. Alternatively or additionally, any suitable number of actuator system modules 66 can be used.

[0214] In the example, actuator system module 66 includes one or more actuator system components 70. Any suitable actuator system component 70 may be included in actuator system module 66.

[0215] For example, actuator system module 66 may include any suitable one or more components for controlling and / or inducing the flow of hydraulic fluid in the actuator system.

[0216] In the example, actuator system component 70 may include information about Figures 1 to 6 and / or Figures 10 to 12 The description includes one or more components, such as one or more valves V, one or more accumulators A, one or more pumps 30, etc.

[0217] Generally, actuator system component 70 can be used in actuator systems (such as those related to...) Figures 1 to 6 and / or Figures 10 to 12 Any suitable component 70 of the described actuator system 10).

[0218] The longitudinal beam 72 is laterally located between the hydraulic suspension actuator 64 and the at least one actuator system component 66. In the example, the longitudinal beam 72 can be considered to be between the hydraulic suspension actuator 64 and the actuator system module 66.

[0219] The longitudinal beam 72 can be considered as a frame guide and / or chassis beam, and can be substantially straight to provide a substantially straight load path through the chassis structure of the vehicle 46.

[0220] The longitudinal beam 72 may extend in a direction substantially parallel to the basic axle or longitudinal axle of the chassis of the vehicle 46.

[0221] Accordingly, in the example, the longitudinal beam extends in the longitudinal direction and is laterally located between the hydraulic suspension actuator 64 and the at least one actuator system module 66.

[0222] exist Figure 7 In the example, the vertical direction is entering / leaving the page, and the horizontal direction is crossing the page.

[0223] The longitudinal beam 72 can be considered as part of the chassis structure of vehicle 46.

[0224] In the example, the position of the longitudinal beam 72 can be related to... Figure 7 The positions shown in the examples differ. For example, the position of longitudinal beam 72 can be higher or lower. Figure 7 The location shown in the example, or in Figure 7 The position shown in the example is to the left or right.

[0225] exist Figure 7 In this configuration, at least one conduit 74 fluidly connects the hydraulic suspension actuator 64 and the at least one actuator system module 66, and extends across the longitudinal beam 72.

[0226] In the example, the at least one conduit 74 may be considered to be arranged above or across the longitudinal beam 72, extending above or across the longitudinal beam 72, and / or located above or across the longitudinal beam 72.

[0227] In the example, the at least one conduit 74 can be considered as at least one hose, at least one tube, at least one pipe, etc.

[0228] In the example, the at least one conduit 74 can be considered as at least one connection, link, attachment, network, coupling, joint, etc.

[0229] In the example, the at least one conduit 74 is configured to allow fluid to flow between the hydraulic suspension actuator 64 and the actuator system module 66 during, for example, operation of the actuator system 10.

[0230] The positioning or arrangement of the at least one conduit 74 on the longitudinal beam 72 is advantageous because it facilitates the packaging of the system 62 without the risk of damaging the structure of the at least one conduit 74, which could have been damaged if the at least one conduit 74 had been arranged in another manner.

[0231] For example, if the at least one conduit 74 is located below the longitudinal beam 72, this could cause the at least one conduit 74 to come into contact with the road surface under the compression of the hydraulic suspension actuator 64, thereby posing a risk of damage to the at least one conduit 74.

[0232] In the example, system 62 includes a first conduit 74A and a separate second conduit 74B, the first conduit 74A fluidly connecting a first upper fluid chamber 67 to the at least one actuator system module 66, and the separate second conduit 74B fluidly connecting a second lower fluid chamber 69 to the at least one actuator system module 66.

[0233] For example, see Figure 8 .

[0234] Figure 8 An example of system 62 for vehicle 46 is shown. Figure 8 One or more components shown in the example can be as described in relation to Figure 7 Described.

[0235] exist Figure 8 In the example, system 62 includes a hydraulic suspension actuator 64, an actuator system module 66, and a longitudinal beam 72, as per [reference to...]. Figure 7 Described.

[0236] exist Figure 8 In the example, system 62 includes two conduits 74A and 74B, which connect the upper fluid chamber 67 and lower fluid chamber 69 of the hydraulic suspension actuator 64 (in... Figure 8 (Not shown) Fluid connection to actuator system module 66. Figure 8As can be seen in the example, multiple conduits 74A and 74B pass through / are laid out on the longitudinal beam 72.

[0237] exist Figure 8 In the example, actuator system module 66 includes actuator system component 70, which includes accumulator A and pump 30.

[0238] Accordingly, the at least one actuator system module 66 includes at least one pump 30 and at least one accumulator A.

[0239] exist Figure 8 In the example, system 62 includes a second hydraulic suspension actuator 82, which includes a piston, a first upper fluid chamber, and a second lower fluid chamber, the first and second fluid chambers being separated by the piston (in... Figure 8 (Not shown in the example).

[0240] Figure 8 The system 62 also includes a second longitudinal beam 90 located transversely between the second hydraulic suspension actuator 82 and the at least one actuator system module 66, and at least one conduit 88 fluidly connecting the second hydraulic suspension actuator 64 and the at least one actuator system module 66, wherein the at least one conduit 88 extends beyond the second longitudinal beam 90.

[0241] In the example, the second longitudinal beam 90 can be connected with... Figure 7 The longitudinal beam 72 described is the same as / similar to the one described.

[0242] In the example, the longitudinal beam 72 and the second longitudinal beam 90 are substantially parallel and form structural elements of the chassis of the vehicle 46.

[0243] In the example, hydraulic suspension actuator 64 and the second hydraulic suspension actuator 82 can be considered as corresponding hydraulic suspension actuators. That is, in the example, the first hydraulic suspension actuator and the second hydraulic suspension actuator 64 are associated with a common axle 92. See, for example, [link to relevant documentation]. Figure 9 .

[0244] exist Figure 8 In the example, the at least one second conduit 88 includes a first conduit 88A and a second conduit 88B. The arrangement of conduits 88A and 88B across / beyond the second longitudinal beam 90 is advantageous for the packaging of system 62 and for the maintenance / protection of conduits 88A and 88B.

[0245] exist Figure 8 As can be seen in the example, the actuator system module 66 is basically located at the center between the longitudinal beams 72 and 90 and the hydraulic suspension actuators 64 and 82.

[0246] exist Figure 8In the example, the subframe 68 on which the actuator system module 66 is mounted includes a hole 76. In the example, the hole 76 can be considered as a cavity, opening, aperture, window, space, etc.

[0247] In the example, the at least one actuator system module 66 is mounted to the subframe 68 via at least one mounting plate 78 in the hole 76, the at least one mounting plate 78 protruding below the upper surface 80 of the subframe 68.

[0248] That is, in the example, the actuator system module 66 can be considered to be recessed relative to the upper surface 80 of the subframe 68.

[0249] Alternatively or additionally, the mounting plate 78 may be considered to be recessed into the hole 76 of the subframe 68.

[0250] In the example, the at least one actuator system module 66 can be secured to the mounting plate using any suitable means, such as one or more bolts.

[0251] Alternatively or concurrently, the mounting plate 78 may be secured to the subframe 68 using any suitable method. In the example, the at least one mounting plate 78 is secured to the subframe 68 using at least one bolt.

[0252] In the example, one or more mounting plates 78 may be fixed to the upper surface 68 and / or the lower surface of the subframe 68.

[0253] It is advantageous to mount the at least one actuator system module 66 into the hole 76 of the subframe 68 because it saves the height of the actuator system module 66.

[0254] This is advantageous in terms of the arrangement of components, such as system 62 and other components of vehicle 46.

[0255] In the example, Figure 8 The system 62 shown may include various other elements or components of the suspension system.

[0256] Figure 9 An example of vehicle 46 is shown.

[0257] exist Figure 9 The vehicle 46 shown in the example illustrates an example of a road vehicle in which embodiments of the present invention or multiple inventions can be implemented. In some, but not all, examples, vehicle 46 is a passenger vehicle, also known as a passenger car or motor vehicle. The curb weight of the passenger vehicle is typically less than 4000 kg. The length of the passenger vehicle is typically less than 7 meters. In other examples, embodiments of the present invention can be implemented for other applications, such as industrial vehicles.

[0258] exist Figure 9In the example, vehicle 46 includes body 17 and system 62, as per [reference to...] Figure 7 and / or Figure 8 Described.

[0259] Accordingly, Figure 9 A vehicle 46 is shown, including at least one system 62, as described above. Figure 7 and / or Figure 8 Described.

[0260] exist Figure 9 In the example, the first hydraulic suspension actuator 64 and the second hydraulic suspension actuator 82 are associated with a common axle 92 of the vehicle 46. However, in alternative examples and / or embodiments, the first and second hydraulic suspension actuators may be associated with different front and rear axles 92 of the vehicle 46.

[0261] For the purposes of this disclosure, it should be understood that one or more controllers described herein may each include a control unit or computing device having one or more electronic processors. A vehicle and / or its systems may include a single control unit or electronic controller, or alternatively, different functions of the controller may be embodied in or hosted in different control units or controllers. A set of instructions may be provided that, when executed, causes the controller or control unit to implement the control techniques (including the methods described herein). The set of instructions may be embedded in one or more electronic processors, or alternatively, the set of instructions may be provided as software executed by one or more electronic processors. For example, a first controller may be implemented in software running on one or more electronic processors, and one or more other controllers may also be implemented in software running on one or more electronic processors, optionally in software running on the same one or more processors as the first controller. However, it should be understood that other arrangements are also useful, and therefore, this disclosure is not intended to be limited to any particular arrangement. In any case, the set of instructions described above may be embedded in a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium), which may include any means for storing information in a form readable by a machine or electronic processor / computing device, including but not limited to: magnetic storage media (e.g., floppy disks), optical storage media (e.g., CD-ROMs), magneto-optical storage media, read-only memory (ROM), random access memory (RAM), erasable programmable memory (e.g., EPROMs and EEPROMs), flash memory, or electronic or other types of media for storing such information / instructions.

[0262] It should be understood that various changes and modifications can be made to this invention without departing from the scope of this application.

[0263] Figure 5 The boxes shown may represent steps in a method and / or portions of code in a computer program. The description of a specific order of boxes does not necessarily imply a required or preferred order, and the order and arrangement of boxes can vary. Furthermore, it is possible to omit some steps.

[0264] Although embodiments of the invention have been described in the preceding paragraphs with reference to various examples, it should be understood that modifications may be made to the given examples without departing from the scope of the claimed invention.

[0265] In addition to the explicitly described combinations, the features described above can be used in combination.

[0266] Although various functions have been described with reference to certain features, these functions can be performed by other features regardless of whether other features are described.

[0267] Although the features have been described with reference to certain embodiments, these features may exist in other embodiments, whether or not they have been described.

[0268] Although efforts have been made in the foregoing description to draw attention to those features that are considered particularly important to the invention, it should be understood that the applicant claims protection for any patentable features or combinations thereof mentioned above and / or shown in the drawings, whether or not they are specifically emphasized.

Claims

1. A vehicle (46) including a vehicle suspension system (12), the vehicle suspension system (12) including a first actuator system (10) associated with a first axle of the vehicle (46) and a separate second actuator system (10) associated with a different second axle of the vehicle (46), each of the first actuator system (10) and the second actuator system (10) comprising: A first actuator (14) includes a piston (16), a first upper fluid chamber (18), and a second lower fluid chamber (20), the first upper fluid chamber (18) and the second lower fluid chamber (20) being separated by the piston (16); The second actuator (26) includes a piston (28), a first upper fluid chamber (29) and a second lower fluid chamber (31), the first upper fluid chamber (29) and the second lower fluid chamber (31) being separated by the piston (28); A first hydraulic passage (22) fluidly connects the first upper fluid chamber (18) of the first actuator (14) to one of the first upper fluid chamber (29) and the second lower fluid chamber (31) of the second actuator (26); The second hydraulic passage (24) connects the second lower fluid chamber (20) of the first actuator (14) to another fluid in the first upper fluid chamber (29) and the second lower fluid chamber (31) of the second actuator (26); as well as At least one pump (30) is configured to pump fluid between the first hydraulic passage (22) and the second hydraulic passage (24). The first actuator (14) is connected to the first wheel (32) and the second actuator (26) is connected to the second wheel (34), wherein the first wheel (32) and the second wheel (34) share a common axle (36). The vehicle suspension system (12) further includes at least one controller (42) configured to control at least one pump (30) of the actuator system (10) to pump fluid between a corresponding first hydraulic passage (22) and a second hydraulic passage (24), the at least one controller (42) being configured to control the at least one pump (30) of the actuator system (10) to: pump fluid from a corresponding first hydraulic passage (22) to a corresponding second hydraulic passage (24), and / or pump fluid from a corresponding second hydraulic passage (24) to a corresponding first hydraulic passage (22).

2. The vehicle (46) according to claim 1, wherein, Each actuator system (10) includes a single bidirectional pump (30) configured to pump fluid between the first hydraulic passage (22) and the second hydraulic passage (24).

3. The vehicle (46) according to claim 1 or 2, wherein, For each actuator system (10), the first hydraulic passage (22) connects the first upper fluid chamber (18) of the first actuator (14) and the second lower fluid chamber (31) of the second actuator (26) to fluid (31), and the second hydraulic passage (24) connects the second lower fluid chamber (20) of the first actuator (14) and the first upper fluid chamber (29) of the second actuator (26) to fluid (29).

4. The vehicle (46) according to claim 3, wherein, Each actuator system (10) includes a cross connection (38) that fluidly connects the first upper fluid chamber (18) of the first actuator (14) and the second lower fluid chamber (31) of the second actuator (26); and fluidly connects the second lower fluid chamber (20) of the first actuator (14) and the first upper fluid chamber (29) of the second actuator (26).

5. The vehicle (46) according to claim 1 or 2, wherein, For each actuator system (10), the first hydraulic passage (22) fluidly connects the first upper fluid chamber (18) of the first actuator (14) and the first upper fluid chamber (29) of the second actuator (26), and the second hydraulic passage (24) fluidly connects the second lower fluid chamber (20) of the first actuator (14) and the second lower fluid chamber (31) of the second actuator (26).

6. The vehicle (46) according to claim 5, wherein, Each actuator system (10) includes a through connection that fluidly connects the first upper fluid chamber (18) of the first actuator (14) and the first upper fluid chamber (29) of the second actuator (26); and fluidly connects the second lower fluid chamber (20) of the first actuator (14) and the second lower fluid chamber (31) of the second actuator (26).

7. A method (500) for operating an actuator system (10) in a vehicle (46) according to any one of claims 1 to 6, the method (500) comprising: For each actuator system (10) in the vehicle (46), Determine the target pressure of at least one of the first chamber (18) and the second chamber (20) of the first actuator (14) and / or the first chamber (29) and the second chamber (31) of the second actuator (26); Control the at least one pump (30) to generate one or more target pressures as determined.

8. A computer software (48) which, when executed, is configured to perform the method (500) according to claim 7.

9. A non-transitory computer-readable medium (50) comprising computer-readable instructions (52) that, when executed by a processor, cause to perform the method (500) according to claim 7.

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