A wireless active suspension system with at least one wireless sensor coupled with at least one unsprung mass of a vehicle is disclosed. The system also includes at least one damper comprising an active valve, the damper being part of a vehicle suspension. The system additionally includes, at least one controller, the at least one controller in wireless communication with the at least one wireless sensor and the at least one damper, wherein the at least one controller receives the sensor data from the at least one wireless sensor and communicates an adjustment command to the active valve to modify a damping characteristic of the at least one damper.

A driving robot includes a sensor, a loading member configured to load food, a stabilizer provided at a bottom portion of the loading member, the stabilizer including a top plate, a bottom plate, and damping plates provided between the top plate and the bottom plate, the damping plates configured to adjust damping, a driving device including a suspension and a wheel, and a processor configured to control the stabilizer and the suspension based on information of at least one of information associated with the food, information obtained from a driving map or information of surrounding situation detected by the sensor.

Map data regarding a vertical motion parameter related to a vertical motion of a wheel of a vehicle are provided. The map data have a data structure for a specific area. The data structure for the specific area includes at least one of: first layer map data indicating a correspondence relationship between a first vehicle traveling direction included in a first direction range, a position, and the vertical motion parameter; and second layer map data indicating a correspondence relationship between a second vehicle traveling direction included in a second direction range not overlapping the first direction range, a position, and the vertical motion parameter.

A vehicle position estimation method includes: acquiring time-series data of a parameter related to a vertical motion of a wheel while the vehicle is traveling; acquiring the parameter around the vehicle, as a reference parameter, from a parameter map indicating a correspondence relationship between the parameter and a position; estimating a vehicle position based on a comparison between the time-series data of the parameter and time-series data of the reference parameter. Meanwhile, road surface roughness around the vehicle in a lateral direction and a lateral position of the vehicle in a road are recognized by using a recognition sensor installed on the vehicle. When the road surface roughness is less than a threshold, a lateral position component of the estimated vehicle position is replaced with the lateral position recognized by using the recognition sensor.

Map data regarding a vertical motion parameter related to a vertical motion of a wheel of a vehicle are provided. The map data have a data structure for a specific area in which a first road and a second road cross with being separated vertically. The data structure for the specific area includes at least one of: first layer map data indicating a correspondence relationship between a horizontal position, a vertical position, and the vertical motion parameter of the first road; and second layer map data indicating a correspondence relationship between a horizontal position, a vertical position, and the vertical motion parameter of the second road.

A suspension control system includes: a first electric current setting unit configured to set a first electric current based on an actual damping speed; a second electric current setting unit configured to set a second electric current based on a model damping speed; a weight coefficient setting unit configured to set a weight coefficient based on the actual damping speed; and a target electric current setting unit configured to set a sum of a first value and a second value as a target electric current of the damper, the first value being obtained by multiplying the second electric current by the weight coefficient, the second value being obtained by multiplying the first electric current by a value obtained by subtracting the weight coefficient from one. The first electric current setting unit is configured to make the first electric current smaller than the second electric current in a prescribed case.

A method for controlling vehicle motion is described. The method includes accessing a set of control signals including a measured vehicle speed value associated with a movement of a vehicle. A control signal associated with user-induced input is also accessed. The method compares the measured vehicle speed value with a predetermined vehicle speed threshold value to achieve a speed value threshold approach status, and then compares the set of values to achieve a user-induced input threshold value approach status. The method monitors a state of a valve within the vehicle suspension damper, and determines a control mode for the vehicle suspension damper. The method also regulates damping forces within the vehicle suspension damper.

A computer-implemented method for damping a vehicle, including: receiving external load data for the vehicle; receiving at least one damper velocity of a damper of the vehicle; providing an optimization model configured to describe a relation between external load data for a vehicle, at least one damper velocity of a damper of a vehicle, and at least one damper force of the at least one damper; determining at least one damper force of the damper for the vehicle by inputting the external load data and the at least one damper velocity into the optimization model; and providing the at least one damper force of the at least one damper of the vehicle.

A vehicle suspension control device includes: an actuator configured to apply a control force in a vertical direction between an unsprung structure and a sprung structure; and an electronic control unit configured to control the actuator so as to generate the control force according to a required control amount for reducing vibration of the sprung structure. The required control amount includes at least two control terms of a displacement term, a velocity term, and an acceleration term related to displacement, velocity, and acceleration of the sprung structure. The electronic control unit calculates a magnitude of a frequency component of each of a plurality of frequency bands included in road surface vibration information, and determines a control gain of each of the at least two control terms so as to change based on the magnitude of the frequency component of each of the plurality of frequency bands.

A vehicle includes a first actuator, one or more second actuators, and an electronic control unit. The first actuator is configured to control a stroke of a suspension for a control target wheel. The one or more second actuators is configured to control the stroke of the suspension and more responsive than the first actuator. The electronic control unit is configured to: execute a calculation process to calculate a required control amount for at least one of roll control and pitch control of the vehicle; and execute a command process to distribute and command the required control amount to the first actuator and the one or more second actuators.