Active suspension system

Abstract

To provide a system to provide movement control for a vehicle in an efficient manner, e.g., without requiring fully active suspension at each wheel.SOLUTION: An actuator system 10 comprises: a first actuator 14 comprising a first upper fluidic chamber 18 and a second lower fluidic chamber 20 separated by a piston 16; a second actuator 26 comprising a first upper fluidic chamber 29 and a second lower fluidic chamber 31 separated by a piston 28; a first hydraulic gallery 22 fluidly connecting the first upper fluidic chamber and one of the first and second fluidic chambers of the second actuator; a second hydraulic gallery 24 fluidly connecting the second lower fluidic chamber of the first actuator and the other of the first and second fluidic chambers of the second actuator; and at least one pump 30 configured to pump fluid between the first and second hydraulic galleries.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE This disclosure relates to active suspension systems, particularly but not exclusively to active suspension systems for passenger vehicles. [Background technology]

[0002] The wheels of a vehicle with suspension, or other ground engaging structure such as a track, can move relative to the body of the vehicle. Such a vehicle body has various degrees of freedom. The important degrees of freedom are "heave", i.e. vertical movement, and pitch and roll. For example, a vehicle body with suspension will experience a roll motion, e.g., when turning.

[0003] Active suspension systems are known that can be controlled to counter or prevent body roll, but certain active systems can be complex and expensive to implement.

[0004] Packaging a system, such as a suspension system, into a vehicle can be difficult given the physical and technological constraints to do so. Summary of the Invention [Problem to be solved by the invention]

[0005] It is an object of the present invention to address one or more of the shortcomings associated with the prior art. [Means for solving the problem]

[0006] Aspects and embodiments of the present invention provide actuator systems, vehicles, methods and computer software as set out in the accompanying claims.

[0007] According to one aspect of the present invention, an actuator system for a vehicle suspension system is provided, the actuator system including: a first actuator including a piston and a first upper fluid chamber and a second lower fluid chamber separated by the piston; a second actuator including a piston and a first upper fluid chamber and a second lower fluid chamber separated by the piston; a first hydraulic gallery 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 gallery 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 galleries. One advantage is that the system can provide motion control of the vehicle in an efficient manner, for example without requiring a fully active suspension at each wheel. Such motion control may include, by way of example, roll control, pitch control, heave control, and / or a combination of roll, pitch and / or heave control.

[0008] The system may include a single bi-directional pump configured to pump fluid between the first and second hydraulic galleries.

[0009] The first actuator may be coupled to a first wheel and the second actuator may be coupled to a second wheel, the first and second wheels sharing a common axle.

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

[0011] The actuator system may include a crossover connection fluidly connecting the first fluid chamber of the first actuator to the second fluid chamber of the second actuator and fluidly connecting the second fluid chamber of the first actuator to the first fluid chamber of the second actuator.

[0012] The crossover connection may be included in a valve block of the actuator system.

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

[0014] The actuator system may include a through connection fluidly connecting the first fluid chamber of the first actuator to the first fluid chamber of the second actuator and fluidly connecting the second fluid chamber of the first actuator to the second fluid chamber of the second actuator.

[0015] The through connection may be included in a 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 the first and second hydraulic galleries.

[0017] According to another aspect of the invention there is provided a vehicle including at least one actuator system according to any of the previous 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 second, separate actuator system associated with a second, different axle of the vehicle.

[0019] The vehicle may be an autonomous vehicle.

[0020] In some examples, the vehicle is a shared mobility vehicle.

[0021] According to another aspect of the invention, there is provided a method of operating an actuator system, the method comprising: determining a target pressure for at least one of the first and second chambers of the first and / or second actuators; controlling the at least one pump to produce the determined target pressure(s).

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

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

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

[0025] According to another aspect of the invention, a non-transitory computer readable medium is provided that includes 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 the various aspects, embodiments, examples, and alternatives described in the preceding paragraphs, the claims, and / or the following description and drawings, especially their individual features, can be interpreted independently or in any combination. That is, all embodiments and / or features of any embodiment can be combined in any manner and / or combination, except where such features are incompatible. The applicant reserves the right to modify the originally filed claims or to submit new claims accordingly. This includes the right to amend the originally filed claims to rely on other claims and / or to incorporate features of other claims, whether or not they were originally claimed in such a manner.

[0027] One or more embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings. [Brief description of the drawings]

[0028] [Figure 1] FIG. 1 is a diagram showing an example of an actuator system for a vehicle suspension system. [Diagram 2] FIG. 2 illustrates an example of a multiple actuator system for a vehicle suspension system. [Diagram 3] FIG. 3 is a diagram showing an example of an actuator system for a vehicle suspension system. [Figure 4] FIG. 4 is a diagram showing an example of a vehicle. [Diagram 5] FIG. 5 is a diagram showing an example of a method for operating the actuator system. [Figure 6] FIG. 6 illustrates an example of a controller. [Figure 7] FIG. 7 is a diagram illustrating an example of a vehicle system. [Figure 8] FIG. 8 is a diagram illustrating an example of a vehicle system. [Figure 9] FIG. 9 is a diagram showing an example of a vehicle. [Figure 10]FIG. 10 illustrates an alternative actuator system for a vehicle suspension system. [Figure 11] FIG. 11 illustrates an alternative multiple actuator system for a vehicle suspension system. [Figure 12] FIG. 12 illustrates an alternative actuator system for a vehicle suspension system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] 1 shows an example of an actuator system 10. In the example shown, the actuator system 10 is an actuator system 10 for a suspension system 12.

[0030] Referring to FIG. 1, the actuator system 10 includes a first actuator 14 including a piston 16 and a first upper fluid chamber 18 and a second lower fluid chamber 20, the first and second fluid chambers 18, 20 being separated by the piston 16.

[0031] The actuator system 10 also includes a second actuator 26 including a piston 28 and a first upper fluid chamber 29 and a second lower fluid chamber 31 , the first and second fluid chambers 29 , 31 being separated by the piston 28 .

[0032] The actuator system 10 of FIG. 1 also includes a first hydraulic gallery 22 fluidly connecting the first upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26, and a second hydraulic gallery 24 fluidly connecting the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26.

[0033] The actuator system 10 of FIG. 1 also includes at least one pump 30 configured to pump fluid between the first hydraulic gallery 22 and the second hydraulic gallery 24 .

[0034] In some examples, the actuator system 10 of FIG. 1 may include one or more additional components not shown in FIG.

[0035] 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 damper valves V2, and one or more check valves V3.

[0036] Additionally or alternatively, the actuator system 10 may, in some examples, include one or more accumulators A. See, for example, Figures 2 and 3.

[0037] One or more valves and / or one or more accumulators A may be configured to control the flow of fluid around the actuator system 10.

[0038] One or more features mentioned in connection with FIG. 1 may be found in the other figures.

[0039] The suspension system 12 may include one or more springs and / or other elements or components, such as air springs, see, for example, FIG.

[0040] In use, the first and second actuators 14 , 26 are used to improve the ride comfort of the vehicle 46 by expanding or contracting in response to forces applied to the actuator system 10 .

[0041] For example, during use, the first actuator 14 and / or the second actuator 26 may be contracted or extended by movement of the pistons 16,28.

[0042] In some examples, the actuators 14, 26 couple the body 17 of the vehicle 46 to the associated wheels 32, 34. In some embodiments, the wheels 32, 34 may be associated with a common axle 36. Alternatively, the wheels may be associated with different axles 36.

[0043] Thus, during use, the body 17 can move relative to the wheels 32,34 through extension and / or retraction of the actuators 14,26.

[0044] In the example of FIG. 1, the first hydraulic gallery 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 .

[0045] The first hydraulic gallery 22 can be considered to allow 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.

[0046] In some examples, any suitable means for providing a 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 may be used. For example, any suitable hoses, tubes, pipes, and / or the like may be used.

[0047] Additionally or alternatively, the first hydraulic gallery 22 may directly or indirectly connect the first upper and second lower chambers 18, 31 and / or may include any number of intervening elements (including no intervening elements).

[0048] In some examples, any suitable number of connections between the upper fluid chamber 18 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26 may be used.

[0049] In FIG. 1 , a second hydraulic gallery 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 .

[0050] The second hydraulic gallery 24 can be considered to allow 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.

[0051] In some examples, any suitable means for providing a 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 may be used. For example, any suitable hoses, tubes, pipes, and / or the like may be used.

[0052] Additionally or alternatively, the second hydraulic gallery 22 may directly or indirectly connect the second lower and first upper chambers 20, 29 and / or may include any number of intervening elements (including no intervening elements).

[0053] In some examples, any suitable number of connections between the second lower fluid chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26 may be used.

[0054] In some examples, the first and second hydraulic galleries may be considered as first and second hydraulic connections, links, attachments, networks, couplings, joints, and the like.

[0055] In some examples, the first and second hydraulic galleries 22, 24 can be considered to include the fluid chambers 18, 31, 20, 29 to which they are connected.

[0056] 1, at least one pump 30 is configured to pump a fluid, such as hydraulic fluid, between the first and second hydraulic galleries 22, 24. Any suitable hydraulic fluid may be used.

[0057] In examples, any suitable pump or pumps may be used.

[0058] The actuator system 10 may include any suitable number of pumps 30 in any suitable location for pumping fluid between the first hydraulic gallery 22 and the second hydraulic gallery 24 .

[0059] This is illustrated in the example of FIG.

[0060] For example, in some instances, the system 10 includes a single bi-directional pump 30 configured to pump fluid between the first and second hydraulic galleries 22, 24. See, e.g., Figures 2 and 3.

[0061] Thus, in some examples, the actuator system 10 may include a single pump 30 for each set of associated wheels 32 , 34 or for each axle 36 .

[0062] In some examples, one or more pumps 30 may be connected between the two hydraulic galleries 22, 24 in any suitable manner that enables pumping fluid between the two hydraulic galleries 22, 24.

[0063] The pumping of fluid between the first and second hydraulic galleries 22, 24 enables active motion control of the vehicle 46. In embodiments in which the actuators 14, 26 couple the body 17 of the vehicle 46 to the wheels 32, 34 on either side of the vehicle 46 (e.g., associated with a common axle), the pumping of fluid between the first hydraulic gallery 22 and the second hydraulic gallery 24 enables active roll control of the vehicle 46.

[0064] For example, when the pump 30 is controlled to pump fluid from the first hydraulic gallery 22 to the second hydraulic gallery 24, fluid is moved 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 gallery 24, 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 some examples, when the pump 30 is controlled to pump fluid from the first hydraulic gallery 22 to the second hydraulic gallery 24, the pressure in the first hydraulic gallery (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 gallery 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.

[0066] Thus, as fluid is pumped from the first hydraulic gallery 22 to the second hydraulic gallery 24, the first actuator 14 tends to expand and the second actuator 26 tends to contract, causing the body 17 of the vehicle 46 to roll to the right as viewed in FIG.

[0067] When the pump 30 is controlled to pump fluid from the second hydraulic gallery 24 to the first hydraulic gallery 22, fluid is moved from the second lower chamber 20 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26 to the first hydraulic gallery 22, the first upper fluid chamber 18 of the first actuator 14, and the second lower fluid chamber 31 of the second actuator 26.

[0068] In some examples, when the pump 30 is controlled to pump fluid from the second hydraulic gallery 24 to the second hydraulic gallery 22, the pressure in the second hydraulic gallery 24 (including the first upper fluid chamber 29 of the second actuator 26 and the second lower chamber 20 of the first actuator 14) decreases and the pressure in the first hydraulic gallery 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) increases.

[0069] In such an example, the second actuator 26 will tend to extend and the first actuator 14 will tend to contract. Thus, in such an example, the body 17 of the vehicle 46 will roll to the left as viewed in FIG.

[0070] In embodiments in which the actuators 14, 26 couple the body 17 of the vehicle 46 to wheels 32, 34 associated with different front and rear axles 36, pumping fluid between the first and second hydraulic galleries 22, 24 enables active pitch control of the vehicle 46. Pumping fluid from one hydraulic gallery to another thereby tends to pitch the body 17 of the vehicle 46 forward or backward.

[0071] In this manner, the roll and / or pitch of the body 17 of the vehicle 46 can be actively controlled through the use of the actuator system 10 .

[0072] In particular, the roll and / or pitch of the body 17 of the vehicle 46 may be controlled by controlling one or more pumps 30 .

[0073] In some instances this is accomplished through the use of simple hydraulic networks, as opposed to full active suspension for each wheel of the vehicle, etc.

[0074] Furthermore, the actuator system 10 of FIG. 1 provides active, controllable roll and / or pitch control, rather than merely passive control, which is advantageous compared to, for example, passive suspension systems.

[0075] The actuator system 10 may be used to compensate and / or correct body roll and / or pitch caused by movement of the vehicle 46 .

[0076] In the example where the actuators 14, 26 couple the body 17 of the vehicle 46 to the wheels 32, 34 on either side of the vehicle 46, when the vehicle 46 is turning left, the body 17 of the vehicle 46 will tend to roll to the right, compressing the second actuator 26 and extending the first actuator 14 in FIG. 1.

[0077] In some examples, the pump 30 can be controlled to pump fluid from the second hydraulic gallery 24 to the first hydraulic gallery 22 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 in such situations to counter roll of the body 17 of the vehicle 46.

[0078] In this manner, the roll of the body 17 of the vehicle 46 can be actively controlled.

[0079] In the example where the actuators 14, 26 couple the body 17 of the vehicle 46 to the wheels 32, 34 on either side of the vehicle 46, when the vehicle 46 is turning right, the body 17 of the vehicle 46 will tend to roll to the left, compressing the first actuator 14 and extending the second actuator 26 in FIG. 1 .

[0080] In some examples, the pump 30 can be controlled to pump fluid from the first hydraulic gallery 22 to the second hydraulic gallery 24 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 in such situations to counter roll of the body 17 of the vehicle 46.

[0081] In this manner, the roll of the vehicle 46 can be actively controlled.

[0082] However, the actuator system 10 is configured to provide active roll and / or pitch control, as desired, of the vehicle 46. For example, in certain situations it may be desirable to roll the body 17 of the vehicle 46 left or right, and in such situations at least one pump 30 may be controlled to pump fluid through the actuator system 10 to cause the body 17 to roll left or right.

[0083] FIG. 2 shows an example of a multiple actuator system 10 for a vehicle suspension system 12 .

[0084] One or more elements of the example of FIG. 2 may be as described in relation to FIG.

[0085] The example of Figure 2 is similar to the example shown in Figure 1. However, in the example of Figure 2, there is a first actuator system 10 associated with the front axle and front wheels of the vehicle 46. This is the upper actuator system 10 shown in Figure 2.

[0086] Additionally, in the example of Figure 2, there is a second actuator system 10 associated with the rear axle of the vehicle 46. This is shown as the lower actuator system 10 in the example of Figure 2.

[0087] However, in some examples, any suitable number of actuator systems 10 may be provided on any suitable number of axles of a vehicle.

[0088] Thus, FIG. 2 illustrates a first actuator system 10 associated with a first axle of the vehicle 46 and a second, separate actuator system 10 associated with a second, different axle of the vehicle 46 .

[0089] The actuator system 10 of FIG. 2 includes first and second actuators 14, 26 and first and second hydraulic galleries 22, 24, the same as or similar to those of FIG.

[0090] In the example of FIG. 2, the actuator system 10 includes a single bi-directional pump 30 configured to pump fluid between the first and second hydraulic galleries 22, 24 of the actuator system 10.

[0091] 2 also includes a number of pressure control valves V1, damper valves V2, check valves V3, and accumulators A to control the movement of fluid around the actuator system 10. The use of the valves and accumulators will not be described in detail herein.

[0092] Also, as shown in the example of FIG. 2, the actuator system 10 includes at least one controller 42 configured to control at least one pump 30 to pump fluid between the first hydraulic gallery 22 and the second hydraulic gallery 24 of each actuator system 10.

[0093] 2, a single controller 42 is shown. However, in some examples, any suitable number of controllers 42 may be used.

[0094] Moreover, any suitable controller 42 or controllers may be used, see, for example, FIG.

[0095] In the example of FIG. 2, the controller 42 is configured to control the single bi-directional pump 30 of the actuator system 10 to control the roll of the body 17 of the vehicle 46, as described with respect to FIG.

[0096] In the example of FIG. 2, the controller 42 is configured to control, either jointly or independently, the extension or contraction of the first and second actuators 14 , 26 of the actuator system 10 .

[0097] For example, the controller 42 may be configured to control the actuator systems 10, either cooperatively or independently, in some examples based on the requirements of the vehicle 46 and / or the environment and / or context.

[0098] FIG. 3 illustrates an example of an actuator system 10 for a vehicle suspension system 12 .

[0099] One or more elements of FIG. 3 may be as described with respect to FIG. 1 and / or FIG.

[0100] The actuator system 10 shown in FIG. 3 includes first and second actuators 14,26 and first and second hydraulic galleries 22,24.

[0101] The actuator system 10 of FIG.

[0102] Additionally, in the example of FIG. 3, the vehicle suspension system 12 includes springs or air springs 58 that couple the body 17 of the vehicle 46 to the associated wheels 32, 34.

[0103] The suspension system 12 also includes a top mount 60 .

[0104] In one embodiment of the example of Figure 3, the first actuator 14 is coupled to a first wheel 32 and the second actuator 26 is coupled to a second wheel 34, with the first and second wheels 32, 34 sharing a common axle 36. In such an embodiment, the actuator system 10 may control the roll of a body 17 of a vehicle 46, as described with respect to Figures 1 and / or 2.

[0105] In an alternative embodiment of the example of Figure 3, the first actuator 14 is coupled to a first wheel 32 and the second actuator 26 is coupled to a second wheel 34, with the first and second wheels 32, 34 associated with different front and rear axles 36. In such an embodiment, the actuator system 10 may control the pitch of the body 17 of the vehicle 46, as described with respect to Figures 1 and / or 2.

[0106] In the example of FIG. 3, the actuator system 10 includes a crossover connection 38 that fluidly connects the first fluid chamber 18 of the first actuator 14 to the second fluid chamber 31 of the second actuator 26, and fluidly connects the second fluid chamber 20 of the first actuator 14 to the first fluid chamber 29 of the second actuator 26.

[0107] In some examples, any suitable crossover connection may be used, for example, in some examples, the crossover connection 38 is included in a valve block of the actuator system 10.

[0108] In some instances, the crossover connection is internal to the valve block and includes double outputs per hydraulic gallery.

[0109] In some examples, the crossover connection is a separate manifold block connected to the pump 30 by any suitable hydraulic connection, such as pipes, hoses, or the like.

[0110] The system may use a combination of ports in a valve block, for example at the front axle, and ports in a separate manifold, for example at the rear axle.

[0111] In the example of FIG. 3, the actuator system 10 includes a single bi-directional pump 30 configured to pump fluid between the first and second hydraulic galleries 22, 24 to control the roll and / or pitch of the body 17 of the vehicle 46, as described in connection with FIG. 1 and / or FIG. 2.

[0112] Figure 10 shows an alternative example of the actuator system 10. In the example shown in Figure 10, the actuator system 10 is an actuator system 10 for a suspension system 12.

[0113] 10, the actuator system 10 includes a first actuator 14 including a piston 16 and a first upper fluid chamber 18 and a second lower fluid chamber 20, the first and second fluid chambers 18, 20 being separated by the piston 16. The actuator system 10 also includes a second actuator 26 including a piston 28 and a first upper fluid chamber 29 and a second lower fluid chamber 31, the first and second fluid chambers 29, 31 being separated by the piston 28. The actuator system 10 of FIG. 1 also includes a first hydraulic gallery 22 fluidly connecting the first upper fluid chamber 18 of the first actuator 14 to the first upper fluid chamber 29 of the second actuator 26, and a second hydraulic gallery 24 fluidly connecting the second lower fluid chamber 20 of the first actuator 14 to the second lower fluid chamber 31 of the second actuator 26. The actuator system 10 of FIG. 1 also includes at least one pump 30 configured to pump fluid between the first hydraulic gallery 22 and the second hydraulic gallery 24 .

[0114] In some examples, the actuator system 10 of FIG. 10 can include one or more additional components not shown in FIG. 10. For example, the actuator system 10 can include one or more valves V, such as one or more pressure control valves V1, one or more damper valves V2, one or more check valves V3, etc. Additionally or alternatively, the actuator system 10 can include one or more accumulators A, in examples. See, for example, FIGS. 11 and 12. The one or more valves and / or the one or more accumulators A can be configured to control the flow of fluid around the actuator system 10.

[0115] One or more features mentioned in connection with FIG. 10 may be found in the other figures.

[0116] The suspension system 12 may include one or more springs and / or other elements or components, such as air springs, see, for example, FIG.

[0117] In the example, the actuators 14, 26 couple the body 17 of the vehicle 46 to the associated wheels 32, 34. In some embodiments, the wheels 32, 34 may be associated with a common axle 36. Thus, during use, the body 17 may move relative to the wheels 32, 34 by extension and / or contraction of the actuators 14, 26.

[0118] 10, the first hydraulic gallery 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 gallery 22 can be thought of 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.

[0119] In some examples, any suitable means for providing a 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 may be used. For example, any suitable hoses, tubes, pipes, and / or the like may be used.

[0120] Additionally or alternatively, the first hydraulic gallery 22 may directly or indirectly connect the first upper chambers 18, 29 and / or may include any number of intervening elements (including no intervening elements). In some examples, any suitable number of connections between the upper fluid chamber 18 of the first actuator 14 and the first upper fluid chamber 29 of the second actuator 26 may be used.

[0121] 1 , the second hydraulic gallery 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 gallery 24 can be thought of 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.

[0122] In some examples, any suitable means for providing a 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 may be used. For example, any suitable hoses, tubes, pipes, and / or the like may be used.

[0123] Additionally or alternatively, the second hydraulic gallery 22 may directly or indirectly connect the second lower chambers 20, 31 and / or may include any number of intervening elements (including no intervening elements). In some examples, any suitable number of connections between the second lower fluid chamber 20 of the first actuator 14 and the second lower fluid chamber 31 of the second actuator 26 may be used.

[0124] In examples, the first and second hydraulic galleries may be considered as first and second hydraulic connections, links, attachments, networks, couplings, joints, and the like.

[0125] In some examples, the first and second hydraulic galleries 22, 24 can be considered to include the fluid chambers 18, 31, 20, 29 to which they are connected.

[0126] 1, at least one pump 30 is configured to pump a fluid, such as hydraulic oil, between the first and second hydraulic galleries 22, 24. Any suitable hydraulic oil may be used. In the example, any suitable pump or pumps may be used.

[0127] The actuator system 10 may include any suitable number of pumps 30 in any suitable location for pumping fluid between the first hydraulic gallery 22 and the second hydraulic gallery 24 .

[0128] For example, in some examples, the system 10 includes a single bi-directional pump 30 configured to pump fluid between the first and second hydraulic galleries 22, 24. See, e.g., Figures 11 and 12. Thus, in some examples, the actuator system 10 may include a single pump 30 per associated set of wheels 32, 34 or per axle 36.

[0129] In some examples, one or more pumps 30 may be connected between the first and second hydraulic galleries 22, 24 in any suitable manner that enables pumping fluid between the two hydraulic galleries 22, 24.

[0130] The pumping of fluid between the first hydraulic gallery 22 and the second hydraulic gallery 24 enables active motion control of the vehicle 46. In the embodiment of the system 10 shown in Figures 10 to 12, the actuators 14, 26 couple the body 17 of the vehicle 46 to the wheels 32, 34 on either side of the vehicle 46 (e.g., associated with a common axle), and the pumping of fluid between the first hydraulic gallery 22 and the second hydraulic gallery 24 enables active pitch and / or heave control of the vehicle 46.

[0131] For example, when the pump 30 is controlled to pump fluid from the first hydraulic gallery 22 to the second hydraulic gallery 24, fluid is moved from the first upper fluid chambers 18, 29 of the first and second actuators 14, 26 to the second hydraulic gallery 24 and the second lower fluid chambers 20, 31 of the first and second actuators 14, 26.

[0132] In some examples, when the pump 30 is controlled to pump fluid from the first hydraulic gallery 22 to the second hydraulic gallery 24, the pressure in the first hydraulic gallery (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 gallery 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.

[0133] Thus, when fluid is pumped from the first hydraulic gallery 22 to the second hydraulic gallery 24, the first and second actuators 14, 26 tend to extend, which causes the body 17 of the vehicle 46 to lift.

[0134] When the pump 30 is controlled to pump fluid from the second hydraulic gallery 24 to the first hydraulic gallery 22, fluid is moved from the second lower chambers 20, 31 of the first and second actuators 14, 26 to the first hydraulic gallery 22 and the first upper fluid chambers 18, 29 of the first and second actuators 14, 26.

[0135] In some examples, when the pump 30 is controlled to pump fluid from the second hydraulic gallery 24 to the first hydraulic gallery 22, the pressure in the second hydraulic gallery 24 (including the second lower fluid chambers 20, 31 of the first and second actuators 14, 26) decreases and the pressure in the first hydraulic gallery 22 (including the first lower fluid chambers 18, 29 of the first and second actuators 14, 26) increases.

[0136] In such an instance, the first and second actuators 14, 26 tend to retract, and therefore, in such an instance, the body 17 of the vehicle 46 lowers.

[0137] In this manner, the pitch and / or heave of the body 17 of the vehicle 46 may be actively controlled through the use of the actuator system 10. In particular, the pitch and / or heave of the body 17 of the vehicle 46 may be controlled by controlling one or more pumps 30. In some instances, this is accomplished through the use of a simple hydraulic network, as opposed to, for example, fully active suspension of each wheel of the vehicle.

[0138] Furthermore, the actuator system 10 of FIG. 10 provides active, controllable roll and / or heave control, rather than merely passive control, which is advantageous compared to, for example, passive suspension systems.

[0139] The actuator system 10 may be used to compensate and / or correct body pitch and / or heave caused by movement of the vehicle 46 .

[0140] For example, when the vehicle 46 is accelerating hard, the body 17 of the vehicle 46 will tend to pitch rearward, compressing the actuators 14, 26 associated with the rear wheels and extending the actuators 14, 26 associated with the front wheels.

[0141] In some examples, in an actuator system 10 including actuators 14, 26 associated with the front wheels, the pump 30 can be controlled to pump fluid from the second hydraulic gallery 24 to the first hydraulic gallery 22 in such circumstances to counteract the extension of the actuators 14, 26 associated with the front wheels. Additionally / alternatively, in an actuator system 10 including actuators 14, 26 associated with the rear wheels, the pump 30 can be controlled to pump fluid from the first hydraulic gallery 22 to the second hydraulic gallery 24 in such circumstances to counteract the compression of the actuators 14, 26 associated with the rear wheels. In this manner, pitching of the body 17 of the vehicle 46 can be actively controlled.

[0142] In some examples, when the vehicle 46 is decelerating severely, the body 17 of the vehicle 46 will tend to pitch forward, extending the actuators 14, 26 associated with the rear wheels and compressing the actuators 14, 26 associated with the front wheels.

[0143] In some examples, in an actuator system 10 that includes actuators 14, 26 associated with the rear wheels, the pump 30 can be controlled in such circumstances to pump fluid from the second hydraulic gallery 24 to the first hydraulic gallery 22 to counteract the extension of the actuators 14, 26 associated with the rear wheels. Additionally / alternatively, in an actuator system 10 that includes actuators 14, 26 associated with the front wheels, the pump 30 can be controlled to pump fluid from the first hydraulic gallery 22 to the second hydraulic gallery 24 to counteract the compression of the actuators 14, 26 associated with the front wheels. In this manner, pitching of the body 17 of the vehicle 46 can be actively controlled.

[0144] As will be appreciated, to provide heave control, the actuator system 10, including the actuators 14, 26 associated with the rear and front wheels, can be controlled such that the pump 30 pumps fluid between the first hydraulic gallery 22 and the second hydraulic gallery 24, thereby counteracting compression of the actuators 14, 26 associated with both the front and rear wheels, or counteracting extension of the actuators 14, 26 associated with both the front and rear wheels.

[0145] However, the actuator system 10 is configured as desired to provide active pitch and / or heave control of the vehicle 46. For example, in certain circumstances it may be desirable to facilitate pitch and / or heave of the body 17 of the vehicle 46, and in such circumstances the at least one pump 30 can be controlled to pump fluid within the actuator system 10 to induce pitch and / or heave of the body 17.

[0146] 11 illustrates an example of a multiple actuator system 10 for a vehicle suspension system 12. One or more elements in the example of FIG. 11 may be as described with respect to FIG.

[0147] The example of Figure 11 is similar to the example shown in Figure 10. However, in the example of Figure 11, there is a first actuator system 10 associated with the front axle and front wheels of the vehicle 46. This is the upper actuator system 10 shown in Figure 11.

[0148] Additionally, in the example of Figure 11, there is a second actuator system 10 associated with the rear axle of the vehicle 46. This is shown as the lower actuator system 10 in the example of Figure 11.

[0149] However, in some examples, any suitable number of actuator systems 10 may be provided on any suitable number of axles of a vehicle.

[0150] Thus, FIG. 11 illustrates a first actuator system 10 associated with a first axle of the vehicle 46 and a second, separate actuator system 10 associated with a second, different axle of the vehicle 46.

[0151] The actuator system 10 of FIG. 11 includes first and second actuators 14, 26 and first and second hydraulic galleries 22, 24, the same as or similar to those of FIG.

[0152] In the example of FIG. 11, the actuator system 10 includes a single bi-directional pump 30 configured to pump fluid between the first and second hydraulic galleries 22, 24 of the actuator system 10.

[0153] 11 also includes a number of pressure control valves V1, damper valves V2, check valves V3, and accumulators A to control the movement of fluid around the actuator system 10. The use of the valves and accumulators will not be described in detail herein.

[0154] As shown in the example of FIG. 11, the actuator system 10 also includes at least one controller 42 configured to control the at least one pump 30 to pump fluid between the first hydraulic gallery 22 and the second hydraulic gallery 24 of each actuator system 10. In the example of FIG. 11, a single controller 42 is shown. However, any suitable number of controllers 42 may be used in the example. Furthermore, any suitable controller 42 or multiple controllers 42 may be used. See, for example, FIG. 6.

[0155] In the example of FIG. 11, the controller 42 is configured to control the single bi-directional pump 30 of the actuator system 10 to control the pitch and / or heave of the body 17 of the vehicle 46 as described with respect to FIG.

[0156] In the example of FIG. 11, the controller 42 is configured to control, either jointly or independently, the extension or contraction of the first and second actuators 14 , 26 of the actuator system 10 .

[0157] For example, the controllers 42 are configured to control the actuator systems 10, eg, jointly or independently, based on the requirements of the vehicle 46 and / or the environment and / or context.

[0158] Figure 12 shows an example of an actuator system 10 for a vehicle suspension system 12. One or more elements of Figure 12 may be as described with respect to Figures 10 and / or 11.

[0159] The actuator system 10 shown in Figure 12 includes first and second actuators 14, 26 and first and second hydraulic galleries 22, 24. The actuator system 10 of Figure 12 also includes various valves V1, V2, V3 and an accumulator A.

[0160] 12, the vehicle suspension system 12 includes a spring or air spring 58 that couples the body 17 of the vehicle 46 to the associated wheels 32, 34. The suspension system 12 also includes a top mount 60.

[0161] 12, the first actuator 14 is coupled to a first wheel 32 and the second actuator 26 is coupled to a second wheel 34, with the first and second wheels 32, 34 sharing a common axle 36. In such an embodiment, the actuator system 10 may control the pitch and / or heave of the body 17 of the vehicle 46, as described with respect to FIGS.

[0162] In the example of FIG. 12, the actuator system 10 includes a through connection that fluidly connects a first fluid chamber 18 of the first actuator 14 to a first fluid chamber 29 of the second actuator 26, and a second fluid chamber 20 of the first actuator 14 to a second fluid chamber 31 of the second actuator 26.

[0163] In examples, any suitable through connection can be used. For example, the through connection can be included in a valve block of the actuator system 10. In some examples, the through connection is internal to the valve block and includes double outputs per hydraulic gallery. In some examples, the through connection can be a separate manifold block connected to the pump 30 by any suitable hydraulic connection, such as pipes, hoses, etc.

[0164] The system may use a combination of ports in a valve block, for example at the front axle, and ports in a separate manifold, for example at the rear axle.

[0165] In the example of FIG. 12, the actuator system 10 includes a single bidirectional pump 30 configured to pump fluid between the first and second hydraulic galleries 22, 24 to control the pitch and / or heave of the body 17 of the vehicle 46, as described in connection with FIG. 10 and / or FIG. 11.

[0166] FIG. 4 shows an example of a vehicle 46 .

[0167] Vehicle 46 shown in the example of Figure 4 illustrates an example of a road vehicle in which embodiments of the present invention may be implemented. In some (but not necessarily all) examples, vehicle 10 is a passenger car, also referred to as a passenger vehicle or automobile. Typically, passenger cars have a vehicle weight of less than 4000 kg. Passenger cars are typically less than 7 meters in length. In other examples, embodiments of the present invention may be implemented for other applications, such as industrial vehicles.

[0168] In the illustrated example, the vehicle 46 includes a body 17 , two actuator systems 10 , 26 and an associated vehicle suspension system 12 .

[0169] In the example of FIG. 4, a vehicle 46 includes an actuator system 10 and a vehicle suspension system 12 at the front and rear axles of the vehicle 46 .

[0170] In examples, the actuator system 10 may be as described with respect to Figures 1-3 and / or Figures 10-12.

[0171] Thus, a vehicle 46 is provided that includes a first actuator system 10 associated with a first axle of the vehicle 46 and a second, separate actuator system 10 associated with a second, different axle of the vehicle 46 .

[0172] In some examples, the vehicle 46 is an autonomous vehicle.

[0173] FIG. 5 illustrates an example of a method 500 .

[0174] Method 500 is a method of operating actuator system 10 as described with respect to Figures 1-3 and / or 10-12 described herein.

[0175] However, in some examples, any suitable method of operating the actuator system 10 described herein may be used.

[0176] In block 502, a target pressure for at least one of the first and second fluid chambers 18, 20, 29, 31 of the first and / or second actuators 14, 26 is determined.

[0177] Any suitable method may be used to determine the target pressure in at least one of the first and second fluid chambers 18, 20, 29, 31 of the first and / or second actuators 14, .

[0178] In some examples, sensors (not shown) and a controller in association with one or more algorithms / computer programs / software, etc., can determine an appropriate target pressure for one or more of the fluid chambers 18, 20, 29, 31.

[0179] At block 504, the at least one pump 30 is controlled to generate the determined target pressure or pressures.

[0180] For example, at least one pump 30 is controlled to pump fluid within actuator system 10 to achieve determined target pressures within chambers 18, 20, 29, 31 in some examples.

[0181] In some examples, controlling the at least one pump 30 includes controlling the at least one pump 30 to pump fluid from the first hydraulic gallery 22 to the second hydraulic gallery 24.

[0182] In some examples, controlling the at least one pump 30 includes controlling the at least one pump 30 to pump fluid from the second hydraulic gallery 24 to the first hydraulic gallery 22.

[0183] In the example, block 504 may be considered to control a pump to generate / control the pressure in the first and second hydraulic galleries 22,24.

[0184] In some (but not necessarily all) examples, the method 500 includes controlling at least one valve to generate the determined target pressure(s). For example, the method 500 may include controlling at least one pressure control valve V1, at least one damper valve V2, and / or at least one check valve V3 to generate the determined target pressure(s).

[0185] FIG. 6 shows an example of the controller 42.

[0186] In some examples, the controller 42 may include multiple controllers 42 and may be considered a control system.

[0187] The controller of FIG. 6 includes at least one electronic processor 54; and at least one electronic memory device 56 electrically coupled to the electronic processor 54 and having instructions (e.g., a computer program 52) stored thereon, the at least one electronic memory device 56 and the instructions 52 being configured to cause the at least one electronic processor 54 to perform any one or more of the methods described herein.

[0188] The exemplary controller 42 is an active actuator system controller for controlling actuators in an active actuator system.

[0189] FIG. 6 also illustrates a non-transitory computer readable storage medium 50 containing instructions (computer software) 52 .

[0190] The controller / control system 42 may include a higher level controller. References to the control system controlling a pump may mean providing a control signal directly to the pump or indirectly via another controller, such as a lower level controller that operates on the control signal. References to the controller / control system 42 receiving information and making decisions may mean receiving raw unprocessed data or receiving processed data from a controller external to the controller / control system 42.

[0191] Thus, there is provided computer software that is configured, when executed, to perform the methods described herein.

[0192] In an example, a non-transitory computer readable medium 50 is provided that includes computer readable instructions 52 that, when executed by a processor 54, cause the method described herein to be performed.

[0193] Containing systems within a vehicle 46, such as the actuator system 10 and vehicle suspension system 12 described in connection with Figures 1-6 and / or 10-12, can be challenging. For example, due to vehicle weight and / or size and / or layout constraints, it can be difficult to adequately package the various different components of the vehicle systems while maintaining functionality of the various vehicle systems.

[0194] For example, it can be difficult to properly position a vehicle's conduits around other components of the vehicle, such as structural components.

[0195] FIG. 7 illustrates an example of a system 62 for a vehicle 46 .

[0196] 7, the system 62 includes a hydraulic suspension actuator 64 including a piston 65 and a first upper fluid chamber 67 and a second lower fluid chamber 69, the first and second fluid chambers 67, 69 being separated by the piston 65. In some examples, the hydraulic suspension actuator 64 may be the first or second actuator 14, 26 as described with respect to Figures 1-6 and / or 10-12.

[0197] The system 62 also includes at least one actuator system module 66 mounted to a subframe 68 and laterally separated from the hydraulic suspension actuators 64, the at least one actuator system module 66 including one or more actuator system components 70.

[0198] The actuator system module 66 therefore defines a portion of the sprung mass of the vehicle 46 .

[0199] Further, the system 62 includes a longitudinal beam 72 arranged laterally 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, the at least one conduit 74 passing over the longitudinal beam 72.

[0200] In some examples, the hydraulic suspension actuator 64 may be an actuator as described with respect to Figures 1-6 and / or 10-12. That is, in some examples, the hydraulic suspension actuator 64 may be configured for use in the actuator system 10 as described with respect to Figures 1-6 and / or 10-12.

[0201] However, in some examples, any suitable hydraulic suspension actuator 64 for use with any suitable vehicle suspension system may be used.

[0202] At least one actuator system module 66 is mounted to a subframe 68 of the vehicle 46. In some examples, any suitable actuator system module 66 may be used. Additionally or alternatively, any suitable number of actuator system modules 66 may be used.

[0203] In some examples, the actuator system module 66 includes one or more actuator system components 70. Any suitable actuator system components 70 may be included in the actuator system module 66.

[0204] For example, actuator system module 66 may include any suitable component or components for use in controlling and / or directing the flow of hydraulic fluid within the actuator system.

[0205] In some examples, the actuator system components 70 may include one or more of the components described in connection with Figures 1-6 and / or 10-12, such as one or more valves V, one or more accumulators A, one or more pumps 30, etc.

[0206] In general, the actuator system component 70 may be any suitable component 70 for use in an actuator system, such as the actuator system 10 described with respect to Figures 1-6 and / or 10-12.

[0207] The longitudinal beam 72 is disposed laterally between the hydraulic suspension actuator 64 and the at least one actuator system module 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.

[0208] The longitudinal beams 72 may be considered frame rails and / or chassis beams and may be substantially straight to provide a substantially straight load path through the chassis structure of the vehicle 46 .

[0209] The longitudinal beam 72 may extend in a direction substantially parallel to the main or longitudinal axis of the chassis of the vehicle 46 .

[0210] Thus, in some examples, the longitudinal beam extends longitudinally and is disposed laterally between the hydraulic suspension actuators 64 and the at least one actuator system module 66 .

[0211] In the example of FIG. 7, the vertical direction is the direction into the page and the horizontal direction is the direction across the page.

[0212] The longitudinal beams 72 may be considered part of the chassis structure of the vehicle 46 .

[0213] In some examples, the location of the longitudinal beams 72 can be different than the location shown in the example of Figure 7. For example, the longitudinal beams 72 can be positioned above or below or to the left or right of the location shown in the example of Figure 7.

[0214] In FIG. 7, at least one conduit 74 fluidly connects the hydraulic suspension actuator 64 with at least one actuator system module 66 and passes over the longitudinal beam 72 .

[0215] In some examples, at least one conduit 74 can be considered to be routed on or above, crossing on or above, running on or above, and / or positioned on or above the longitudinal beam 72.

[0216] The at least one conduit 74 may be considered, for example, at least one hose, at least one tube, at least one pipe, and the like.

[0217] In some examples, the at least one conduit 74 can be considered to be at least one connection, a link, at least one attachment, at least one network, at least one coupling, at least one joint, or the like.

[0218] In some examples, at least one conduit 74 is configured to allow fluid to flow between the hydraulic suspension actuator 64 and the actuator system module 66, for example, during operation of the actuator system 10.

[0219] Placing or routing the at least one conduit 74 on the longitudinal beam 72 is advantageous because it provides convenient packaging of the system 62 without risking damage to the structure of the at least one conduit 74 (which may occur if the at least one conduit 74 were routed in another manner).

[0220] For example, if the at least one conduit 74 were routed under the longitudinal beam 72, there is a risk that the at least one conduit 72 would come into contact with the road surface under compression of the hydraulic suspension actuator 64, resulting in damage to the at least one conduit 74.

[0221] In some examples, the system 62 includes a first conduit 74A fluidly connecting the first upper fluid chamber 67 to at least one actuator system module 66 and a second separate conduit 74B fluidly connecting the second lower fluid chamber 69 to at least one actuator system module 66.

[0222] For example, see FIG.

[0223] 8 illustrates an example of a system 62 for a vehicle 46. One or more components of the example illustrated in FIG. 8 may be as described in connection with FIG.

[0224] In the example of FIG. 8, the system 62 includes a hydraulic suspension actuator 64, an actuator system module 66, and a longitudinal beam 72, as described in relation to FIG.

[0225] In the example of Figure 8, the system 62 includes two conduits 74A and 74B that fluidly connect upper and lower chambers 67, 69 (not shown in Figure 8) of the hydraulic suspension actuator 64 to the actuator system module 66. In the example of Figure 8, it can be seen that multiple conduits 74A, 74B pass / route through the longitudinal beam 72.

[0226] In the example of FIG. 8, actuator system module 66 includes actuator system components 70 that include accumulator A and pump 30 .

[0227] Thus, at least one actuator system module 66 includes at least one pump 30 and at least one accumulator A.

[0228] In the example of FIG. 8, the system 62 includes a second hydraulic suspension actuator 82 including a piston and a first upper fluid chamber and a second lower fluid chamber, the first and second fluid chambers being separated by the piston (not shown in the example of FIG. 8).

[0229] The system 62 of FIG. 8 also includes a second longitudinal beam 90 disposed laterally 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, the at least one conduit 88 passing over the second longitudinal beam 90.

[0230] In some examples, the second longitudinal beam 90 may be the same / similar to the longitudinal beam 72 described with respect to FIG.

[0231] In some examples, the longitudinal beam 72 and the second longitudinal beam 90 are substantially parallel and form a structural element of the chassis of the vehicle 46 .

[0232] In some examples, the hydraulic suspension actuator 64 and the second hydraulic suspension actuator 82 may be considered to be corresponding hydraulic suspension actuators, i.e., in some examples, the first and second hydraulic suspension actuators 64 are associated with a common axle 92. See, for example, FIG.

[0233] 8, the at least one second conduit 88 includes first and second conduits 88A and 88B. The routing of the conduits 88A and 88B across / over the second longitudinal beam 90 is advantageous with respect to packaging of the system 62 and maintenance / protection of the conduits 88A and 88B.

[0234] 8, the at least one second conduit 88 includes first and second conduits 88A and 88B. The routing of the conduits 88A and 88B across / over the second longitudinal beam 90 is advantageous with respect to packaging of the system 62 and maintenance / protection of the conduits 88A and 88B.

[0235] In the example of FIG. 8, it can be seen that the actuator system module 66 is substantially centrally located between the longitudinal beams 72,90 and the hydraulic suspension actuators 64,82.

[0236] 8, the subframe 68 to which the actuator system module 66 is mounted includes an opening 76. In some examples, the opening 76 may be considered a hole, void, opening, orifice, window, space, or the like.

[0237] In this example, at least one actuator system module 66 is mounted to the subframe 68 within the opening 76 via at least one mounting plate 78 that protrudes below a top surface 80 of the subframe 68 .

[0238] That is, in some examples, the actuator system module 66 can be considered to be recessed relative to the top surface 80 of the subframe 68 .

[0239] Additionally or alternatively, the mounting plate 78 may be considered to be recessed in the opening 76 in the subframe 68 .

[0240] In some examples, the at least one actuator system module 66 may be secured to the mounting plate using any suitable means, such as using one or more bolts.

[0241] Additionally or alternatively, the mounting plates 78 may be secured to the subframe 68 using any suitable means. In some examples, at least one mounting plate 78 is secured to the subframe 68 using at least one bolt.

[0242] In some examples, the mounting plate 78 may be secured to the upper surface 68 and / or the lower surface of the subframe 68 .

[0243] Mounting at least one actuator system module 66 in the opening 76 in the subframe 68 is advantageous because it allows the height of the actuator system module 66 to be reduced.

[0244] This may be advantageous, for example, in the placement of components of system 62 and other components of vehicle 46 .

[0245] In some examples, the system 62 shown in FIG. 8 may include various other elements or components of a suspension system.

[0246] FIG. 9 shows an example of a vehicle 46 .

[0247] The vehicle 46 shown in the example of Figure 9 illustrates an example of a road vehicle in which embodiments of the present invention may be implemented. In some (but not necessarily all) examples, the vehicle 46 is a passenger car, also referred to as a passenger vehicle or automobile. Typically, passenger cars have a vehicle weight of less than 4000 kg. Passenger cars are typically less than 7 meters in length. In other examples, embodiments of the present invention may be implemented for other applications, such as industrial vehicles.

[0248] In the example of FIG. 9, the vehicle 46 includes a body 17 and a system 62 as described with respect to FIGS.

[0249] Thus, FIG. 9 illustrates a vehicle 46 including at least one system 62, such as those described with respect to FIGS.

[0250] 9, the first and second hydraulic suspension actuators 64, 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.

[0251] For purposes of this disclosure, it should be understood that each of the controllers described herein may 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 different functions of the controllers may be embodied 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 perform the control techniques described herein (including the methods described). The set of instructions may be embedded in one or more electronic processors, or 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 executed on one or more electronic processors, and one or more other controllers may also be implemented in software executed on one or more electronic processors, one or more processors (optionally the same as the first controller). However, it should be understood that other configurations are useful, and thus the present disclosure is not intended to be limited to any particular configuration. In any event, the above-described instruction set may be embedded in a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium), which may include any mechanism 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-ROM); magneto-optical storage media; read-only memory (ROM); random access memory (RAM); erasable programmable memory (e.g., EPROM and EEPROM); flash memory; or an electrical or other type of medium for storing such information / instructions.

[0252] It should be understood that various changes and modifications can be made to the present invention without departing from the scope of the application.

[0253] The blocks illustrated in Figure 5 may represent steps in a method and / or sections of code in a computer program. The description of a particular order to the blocks does not necessarily imply a required or preferred order to the blocks, and the order and arrangement of the blocks may be modified. Additionally, some steps may be omitted.

[0254] Although embodiments of the present invention have been described in the preceding paragraphs with reference to various examples, it should be understood that modifications to the examples given can be made without departing from the scope of the invention as claimed.

[0255] Features set out in the above description may also be used in combinations other than those explicitly set out.

[0256] Although functionality has been described with reference to particular features, those functions may be performed by other features, whether or not described.

[0257] Although features have been described with reference to particular embodiments, these features may be present in other embodiments whether or not described.

[0258] Although the foregoing specification is intended to draw attention to features of the invention which are considered to be particularly important, it is to be understood that the applicant claims protection in respect of any patentable feature or combination of features previously referenced and / or shown in the drawings hereinbefore, whether or not specifically emphasized.

Claims

1. An actuator system (10) for a vehicle suspension system (12), comprising: a first actuator (14) including a piston (16) and a first upper fluid chamber (18) and a second lower fluid chamber (20) separated by the piston (16); a second actuator (26) including a piston (28) and a first upper fluid chamber (29) and a second lower fluid chamber (31) separated by the piston (28); a first hydraulic gallery (22) fluidly connecting the first upper fluid chamber (18) of the first actuator (14) and one of the first and second fluid chambers (29, 31) of the second actuator (26); a second hydraulic gallery (24) fluidly connecting the second lower fluid chamber (20) of the first actuator (14) with the other of the first and second fluid chambers (29, 31) of the second actuator (26); and At least one pump (30) configured to pump fluid between the first and second hydraulic galleries (22, 24). An actuator system (10).

2. 2. The actuator system (10) of claim 1, wherein the system (10) includes a single bi-directional pump (30) configured to pump fluid between the first and second hydraulic galleries (22, 24).

3. 3. The actuator system (10) of claim 1 or 2, wherein the first actuator (14) is coupled to a first wheel (32) and the second actuator (26) is coupled to a second wheel (34), the first and second wheels (32, 34) sharing a common axle (36).

4. 4. The actuator system (10) of claim 1, wherein the first hydraulic gallery fluidly connects the first upper fluid chamber of the first actuator and the second lower fluid chamber of the second actuator, and the second hydraulic gallery fluidly connects the second lower fluid chamber of the first actuator and the first upper fluid chamber of the second actuator.

5. A crossover connection (38), 5. The actuator system (10) of claim 4, wherein the crossover connection (38) fluidly connects the first fluid chamber (18) of the first actuator (14) to the second fluid chamber (31) of the second actuator (26) and fluidly connects the second fluid chamber (20) of the first actuator (14) to the first fluid chamber (29) of the second actuator (26).

6. 4. The actuator system (10) of claim 1, wherein the first hydraulic gallery fluidly connects the first upper fluid chamber of the first actuator and the first upper fluid chamber of the second actuator, and the second hydraulic gallery fluidly connects the second lower fluid chamber of the first actuator and the second lower fluid chamber of the second actuator.

7. Including the through connection, 7. The actuator system (10) of claim 6, wherein the through connection fluidly connects the first fluid chamber (18) of the first actuator (14) to the first fluid chamber (29) of the second actuator (26) and fluidly connects the second fluid chamber (20) of the first actuator (14) to the second fluid chamber (31) of the second actuator (26).

8. 8. The actuator system (10) of any one of claims 1 to 7, comprising at least one controller (42) configured to control the at least one pump (30) to pump fluid between the first and second hydraulic galleries (22, 24).

9. A vehicle (46) comprising at least one actuator system (10) according to one or more of the claims 1 to 5.

10. 10. The vehicle (46) of claim 9, including a first actuator system (10) associated with a first axle of the vehicle (46) and a second separate actuator system (10) associated with a second, different axle of the vehicle (46).

11. A method (500) for operating an actuator system (10) according to at least one of claims 1 to 6, said method (500) comprising: determining a target pressure for at least one of the first and second chambers (18, 20, 29, 31) of the first and / or second actuators (14, 26); Controlling the at least one pump (30) to generate the determined target pressure. The method (500).

12. Computer software (48) configured, when executed, to perform the method (500) of claim 11.

13. A non-transitory computer readable medium (50) comprising computer readable instructions (52) that, when executed by a processor, cause the method (500) of claim 11 to be performed.

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