Autonomous modular vehicle wheel assembly

An autonomous modular wheel assembly, comprising:

• a vehicle wheel, comprising a hub connectible to a tire;
• and
• an autonomous modular wheel control assembly, wherein the vehicle wheel is adapted to receive the wheel control assembly, the wheel control assembly comprising:
• an electric drive motor to the vehicle wheel, the electric drive motor adapted for controlling the operation of the vehicle wheel and for acting on commands received from a controller configured to control the electric drive motor;
• a motor mount connected to the electric drive motor;
• a steering bearing connected to the electric drive motor mount;
• a steering actuator connected to the steering bearing, the steering actuator being adapted to act on steering commands received from a controller configured to control the steering actuator;
• one or more suspension arms, connected to the steering actuator, for supporting the wheel with respect to a vehicle axle;
• and
• at least one connector for connecting the wheel via the suspension arms to the vehicle axle, the connector comprising one or more electrical connection points for providing power and information to the wheel.

An assembly for controlling an autonomous modular wheel and connecting the wheel to a vehicle chassis, comprising:

• a vehicle axle connectible to the vehicle chassis;
• at least one connector for connecting a wheel control assembly to the vehicle axle, the connector comprising one or more electrical connection points for providing power and information to the wheel control assembly;
• one or more suspension arms for supporting the wheel control assembly with respect to the vehicle axle, the suspension arms being connectable to the axle by means of the connector;
• an electric drive motor connected to a motor mount and connectable to the vehicle wheel, the electric drive motor adapted for controlling the operation of the vehicle wheel and for acting on commands received from a controller configured to control the electric drive motor;
• a steering bearing connected to the electric drive motor mount;
• and
• a steering actuator connected between the suspension arms and the steering bearing, the steering actuator being adapted to act in response to steering and drive commands received from a controller configured to control the steering actuator.