Disclosed in the present invention are an inertial regulation method of active suspensions based on terrain ahead of a vehicle and a control system thereof. According to the scanned terrain ahead of the vehicle, a center of mass trajectory and attitude history are calculated when the vehicle passes through the terrain ahead of the vehicle with passive suspensions. After smoothing the trajectory, the active suspension is controlled to make the vehicle drives according to the smoothed trajectory. During this period, a smoothness coefficient is adjusted to make each suspension stroke be limited within a limit stroke, and according to the supporting force and stroke of each active suspension calculated from a dynamics model, the impedance control based on force-displacement is carried out on an actuator of the suspension. The present invention can significantly improve the driving comfort and handling stability of the vehicle driving on an uneven road surface.

Disclosed in the present invention are an inertial regulation method of active suspensions based on terrain ahead of a vehicle and a control system thereof. According to the scanned terrain ahead of the vehicle, a center of mass trajectory and attitude history are calculated when the vehicle passes through the terrain ahead of the vehicle with passive suspensions. After smoothing the trajectory, the active suspension is controlled to make the vehicle drives according to the smoothed trajectory. During this period, a smoothness coefficient is adjusted to make each suspension stroke be limited within a limit stroke, and according to the supporting force and stroke of each active suspension calculated from a dynamics model, the impedance control based on force-displacement is carried out on an actuator of the suspension. The present invention can significantly improve the driving comfort and handling stability of the vehicle driving on an uneven road surface.

A system for controlling the stability of a vehicle equipped with semi-active dampers includes: an actuator, a plurality of sensors, a low-level control unit, a high-level control unit and a mid-level control unit adapted to execute an algorithm for calculating a damping level (C.sub.ref).

An electrically powered suspension system includes: an actuator that is provided between a vehicle body and a wheel of a vehicle and generates a load for damping vibration of the vehicle body; an information acquisition part that acquires information on a sprung state amount and a road surface state; a target load calculation part that calculates a first target load related to skyhook control based on the sprung state amount and calculates a second target load related to preview control based on the road surface state; and a load control part. The target load calculation part calculates a third target load related to roll generation control based on a target roll angle and calculates a combined target load into which the first target load, second target load, and third target load have been combined. The load control part performs load control of the actuator using the combined target load.

An electrically powered suspension system includes: an electromagnetic actuator configured to generate a driving force related to vibration damping of the vehicle; an information acquisition unit configured to acquire information on a stroke velocity of the electromagnetic actuator; a target damping force calculation unit configured to calculate a target damping force based on the stroke velocity; a drive control unit configured to control driving of the electromagnetic actuator based on the target damping force; and a filter processing unit configured to perform a filtering process by applying a predetermined filtering characteristic to the stroke velocity. The filter processing unit has a plurality of filtering characteristics set in a second frequency region, which has a frequency higher than that of a first frequency region. The filter processing unit selectively applies, among the plurality of filtering characteristics, one filtering characteristic that is based on the stroke velocity to the stroke velocity.

System and method for improving braking efficiency by increasing the magnitude of a frictional force between a tire of a vehicle wheel and a road surface. Braking efficiency may be improved by controlling the normal force applied on the wheel, with an active suspension actuator, based on the wheel's slip ratio.

One or more systems, methods and/or non-transitory, machine-readable mediums are described herein for controlling a suspension system. An active suspension control system can comprise a memory that stores executable components, and a processor, coupled to the memory, that executes or facilitates execution of the executable components comprising a dynamics model generator that generates a bioinspired dynamics model and determines nonlinear dynamics for nonlinear suppression of vibration of an active suspension system, a fuzzy disturbance observer component that determines a lumped disturbance to the active suspension system by employing fuzzy variables absent determination of exact physical parameters of the active suspension system, and a controller that applies respective outputs of the dynamics model generator and the fuzzy disturbance observer component, in combination with a non-cancelled state-coupling term, to control the active suspension system to thereby cause the nonlinear suppression of the vibration of the active suspension system.

An electrically powered suspension system includes: an electromagnetic actuator configured to generate a driving force related to vibration damping of the vehicle; an information acquisition unit configured to acquire information on a stroke velocity of the electromagnetic actuator; a target damping force calculation unit configured to calculate a target damping force based on the stroke velocity; a drive control unit configured to control driving of the electromagnetic actuator based on the target damping force; and a filter processing unit configured to perform a filtering process by applying a predetermined filtering characteristic to the stroke velocity. The filter processing unit has a plurality of filtering characteristics set in a second frequency region, which has a frequency higher than that of a first frequency region. The filter processing unit selectively applies, among the plurality of filtering characteristics, one filtering characteristic that is based on the stroke velocity to the stroke velocity.

Provided is an electromagnetic suspension apparatus capable of achieving both of vibration isolation performance and road holding performance. The electromagnetic suspension apparatus includes an electromagnetic actuator, an information acquisition unit that acquires information on a stroke speed of the electromagnetic actuator and a state quantity of the vehicle, a plurality of filters in which individual gain characteristics are respectively set, a filter setting unit that selectively sets a filter having a gain characteristic suitable for the state quantity of the vehicle from among the plurality of filters, a filter processing unit that performs a filtering process on a stroke speed signal using the filter set by the filter setting unit, and a drive control unit that controls driving of the electromagnetic actuator based on relationship information between the stroke speed after the filtering process and a damping force corresponding to the stroke speed.

A roll control apparatus for a vehicle which comprises front wheel side and rear wheel side active stabilizer devices and a control unit that is configured to control the stabilizer devices, to calculate a target anti-roll moment, to determine optimum control gains of electric actuators of the stabilizer devices among pre-stored control gains based on a vehicle speed and a frequency of change in a roll angle of a vehicle body, and to control the electric actuators so that a sum of anti-roll moments generated by the front wheel side and rear wheel side active stabilizer devices becomes the target anti-roll moment and control gains of the electric actuators become the optimum control gains.