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.

The present invention achieves suspension control that allows for synchronization of the roll and the pitch of a vehicle. This suspension control device that controls the damping force of a suspension comprises: a target pitch angle calculation unit that calculates a target pitch angle with reference to a roll angle signal; and a target control amount computation unit that calculates the roll posture target control amount referred to for controlling the damping force of the suspension by referring to a steering torque signal and the target pitch angle.

A vehicle control device includes a vertical VSE, a riding comfort control logic, a planar VSE, a steering stability control logic, a command limiting unit, a control command selection unit. The command limiting unit acquires specifications related to a traveling of a vehicle such as, for example, a slip rate and a four-wheel independent braking/driving force control flag through a CAN. The command limiting unit limits a variable range of a damping force generated by a suspension device provided between a vehicle body and wheels of the vehicle based on the specifications related to the traveling of the vehicle to obtain a first command value. The command limiting unit outputs the obtained first command value to the control command selection unit.

A suspension system and associated control methods for improving the effectiveness of driver assistance systems is disclosed where the driver assistance systems can generate and send requests to a suspension control unit (SCU) of the suspension system to actuate (e.g., close) one or more comfort valves in the suspension system to increase the roll stiffness and/or pitch stiffness of the suspension system when the driver assistance systems are taking corrective action. As part of a two-way communication between the suspension control unit (SCU) and the driver assistance systems, the suspension control unit (SCU) communicates target stiffnesses and/or calculated effective stiffnesses to the driver assistance systems, which is used to update the vehicle stability models used by the driver assistance systems.

Provided are a vehicle, a vehicle motion state estimation apparatus, and a method for estimating a vehicle motion state capable of highly accurately estimating a state quantity of a bounce motion of a vehicle having a non-linear suspension characteristic. The vehicle motion state estimation apparatus in a vehicle, in which wheels and a vehicle body are coupled via a suspension, includes a bounce motion estimation unit that estimates and outputs a state quantity of a bounce motion of the vehicle based on traveling state information of the vehicle, and a correction value estimation unit that calculates a correction value to correct an output the bounce motion estimation unit. The correction value estimation unit calculates the correction value in consideration of a non-linear characteristic of the suspension.

A method and device for the combined determining of a momentary vehicle roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle is disclosed. The momentary vehicle roll angle and momentary roadway cross slope are determined from chassis data and transverse dynamics data of the motor vehicle.

A method for reducing the rollover risk of an automotive vehicle includes: a first step of calculating, on the basis of a plurality of signals delivered by sensors (28, 29) of the controllable suspension system, a measured quantity (TCm) as an active value (TC) of a load transfer; a second step of calculating an estimated quantity (TCe), on the basis of signals delivered by kinematic sensors (50-58) placed onboard the vehicle and a dynamic model of the vehicle, the estimated quantity being taken as an active value of the load transfer when the measured quantity is not available; a step of evaluating the rollover risk on the basis of the active value (TC) of the load transfer; and, in the event of increased rollover risk; and a step of the emission of a safety signal (S).

A damping force control device for controlling damping forces of shock absorbers by a control device, which is configured to extract first vibration components in a first frequency range and second vibration components in a higher frequency range than the first frequency range from vertical accelerations of a sprung mass at the positions of wheels, to calculate correction coefficients which decrease as the degree of the second vibration increases with respect to the degree of the first vibration, and to control damping coefficients of of the shock absorbers so as to be the products of target damping forces calculated based on the vertical accelerations of the sprung mass and the correction coefficients.

A method for determining an axle load and a suspension system are configured for a vehicle having at least one leaf spring connected at its ends in spring holders of a vehicle body and connected in its central region to a chassis of the vehicle. The following steps are performed: measuring a measurement distance of the vehicle body relative to the chassis; determining whether there is currently a loading or unloading process of the vehicle, determining a relevant hysteresis curve of a pre-stored hysteresis field depending on the determination of a loading or unloading process, and determining a current axle load projection value from the measurement distance and the relevant hysteresis curve. A loading process criterion and an unloading process criterion may be considered. The determined axle load projection value thus serves as a projected or estimated axle load. Furthermore, the hysteresis field can be updated.

A vehicle height control apparatus considering a strong wind traveling situation may include: a strong wind zone determining unit for obtaining wind speed information of a current position by using map information to which the wind speed information is corresponded and current position information of a vehicle, and generating strong wind zone information by comparing the obtained wind speed information with a predetermined reference wind speed to determine a strong wind zone; a strong wind traveling situation determining unit for generating strong wind traveling situation information by determining the strong wind traveling situation based on the strong wind zone information and the vehicle speed information of the current position; and a control signal generating unit for generating a control signal of a vehicle height adjusting device according to the strong wind traveling situation information.