Electromechanical steering, suspension, drive and brake modules

Qualified chassis control is enabled by utilizing the modular alignment, load and torque concept described in this paper. The most advanced vehicle design incorporates mechanically identical wheel corners, each with individually powered and computer regulated propulsion, braking, steering, spring and damper functions. The suspension arms are mechanically attached to the body; all other interfaces are by-wire. In-wheel motors, actuators and a simple suspension geometry with no dive or lift suppression replace state-of-the-art powertrain, steering and suspension. Most actions and reactions between hub carrier and body is software controlled. If in-wheel drive is found inadequate, the modular build-up allows the addition of or conversion to conventional drivetrains. Algorithms regulating torque, vertical force and alignment determine the handling characteristics. Body leveling, pitch and roll control facilitates required ride comfort. Tyre rolling resistance and tyre wear is minimized by continuously optimizing wheel alignment and torque. This paper does not cover the electric power source, sensors or processing systems needed to run a vehicle equipped with described wheel corners.