Abstract: A wheel device for a motor vehicle includes a rim having an axis and an outer surface defining a seat for mounting a tire, a wheel hub arranged about the axis inside the rim and suitable to be coupled to a suspension of the motor vehicle, an electric motor comprising a stator arranged coaxially with the wheel hub in a fixed position with respect to the wheel hub and a rotor configured to magnetically interact with the stator, a radial bearing supporting the rotor rotatably about said axis with respect to the wheel and to the stator, wherein the rim is fitted on the rotor with interference, whereby the rim is fixed with respect to the rotor.

Abstract: A control method of the toe and camber angles of rear active suspensions of a vehicle; the control method includes the steps of: detecting when the vehicle follows a curved trajectory; conferring negative toe angles combined with zero camber angles to the rear active suspensions, when starting the curved trajectory and when the vehicle enters the curved trajectory; and conferring positive camber angles combined with negative toe angles to the rear active suspensions, while following the curved trajectory and when the vehicle is inscribed in the curved trajectory.

Abstract: A control method for an active suspension of a vehicle, wherein the determination of an optimal camber angle of the active suspension includes the steps of: estimating the slip angle of the wheel of the active suspension; estimating the vertical force which weighs on the wheel of the active suspension; estimating the transverse force which is transferred to the ground by the wheel of the active suspension as a function of the slip angle of the wheel of the active suspension and as a function of the vertical force which weighs on the wheel of the active suspension; and determines the optimal camber angle as a function of the transverse force which is transferred to the ground by the wheel of the active suspension.