A loading amount accumulation device includes a loading amount storage section 403 storing a loading amount, a loading amount calculation section 402 accumulating load weight data about a transport object in a working front to the loading amount, and updating the loading amount by the value after being accumulated, a difference calculation section 404 calculating a difference between a loaded amount of a vessel and the loading amount, an accumulation success/failure determination section 405 comparing an absolute value of the difference and a value Dth, determining that accumulation has failed when the absolute value is larger than the value Dth, and outputting a result, a loading amount correction section 406, when the failure is output as the result, performing correction so as to set the loaded amount data as the loading amount, and updating the loading amount by the corrected loading amount, and an output section outputting the loading amount.

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.

The present disclosure discloses a preview vehicle height control system and a method of controlling the same. The system includes a monitoring device configured to detect the road surface condition of a driving path of a vehicle, an active suspension configured to adjust a vehicle height, a memory configured to store a plurality of data maps distinguished based on a type of bump, each data map having a vehicle dynamic characteristic as an input and a tuning factor as an output, and a controller configured to derive the tuning factor based on a data map, among the plurality of data maps of the memory, corresponding to the bump detected by the monitoring device, derive a target vehicle height in a form of a Gaussian distribution by substituting the tuning factor, and control the active suspension to follow the derived target vehicle height.

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.

Methods and apparatus to compensate for body roll in vehicle weight calculations are disclosed. An example method includes receiving sensor data from sensors of a vehicle, determining a weight of the vehicle and determining a body roll of the vehicle. The example method further includes comparing the body roll to a threshold and, if the body roll satisfies the threshold, adjusting the determined weight of the vehicle based on the determined body roll and properties of a suspension system of the vehicle.

The invention relates to a method for determining a parameter indicative of a road capability of a road segment supporting a vehicle. The vehicle comprises a plurality of ground engaging members. The method comprises: for each ground engaging member in a sub-set of the plurality of ground engaging members, setting a contact force between the ground engaging member and the road segment; determining a target global load vector to be imparted to the vehicle, the target global load vector comprising at least a vertical load and an inclining moment, determining contact forces for the ground engaging members of the plurality of ground engaging members which are not in the sub-set such that the contact forces for the plurality of ground engaging members together result in a resulting global load vector, a difference measure between the resulting global load vector and the target global load vector being equal to or lower than a predetermined difference measure threshold, applying the contact force to each ground engaging member of the plurality of ground engaging members, for at least one ground engaging member in the sub-set, determining a parameter indicative of the road capability of the road segment associated with the ground engaging member.

A method for estimating damping characteristics of shock absorbers in an active or semi-active suspension involves providing a reference model of a nominal relation between a road severity index related to vertical acceleration values, and the mean driving current of the control valves of the shock absorbers, acquiring respective relative acceleration or speed data of at least the front wheels of the vehicle with respect to the vehicle body, determining a value of the road severity index starting from relative acceleration or speed data of the front wheels of the vehicle with respect to the vehicle body, acquiring values representative of the mean driving current of the control valve of each shock absorber, comparing acquired value of the mean driving current with an expected value of the nominal mean driving current determined as a function of the road severity index according to the reference model, and determining a degradation condition if the acquired value does not correspond to the expected value.

Provided is an electronically controlled suspension system for estimating a rear wheel acceleration, which includes: a sensor unit measuring an acceleration value of a front wheel; a storage unit storing the acceleration value of the front wheel; and a control unit electrically connected to the sensor unit and the storage unit, and storing the acceleration value of the front wheel in the storage unit, and estimating the acceleration value of a rear wheel by using the acceleration value of the front wheel, wherein the storage unit has a front wheel acceleration buffer, the front wheel acceleration buffer is constituted by several cells, and the several cells are distinguished by a distance index, and the control unit stores the acceleration value of the front wheel corresponding to the distance index in each of the several cells, and the acceleration value of the rear wheel is estimated as the acceleration value of the front wheel, which is stored in a cell positioned behind a location of the front wheel by a wheelbase distance.

A method for controlling a suspension system of a vehicle, as well as suspension systems, and a vehicle including a suspension system is provided. The suspension system may include at least one adjustable damping device that is controlled via a control signal, such as from a controller of the suspension system, in order to dynamically adjust the damping characteristic of the damping device. The control signal may be generated on the basis of at least one of current driving dynamics data and optically recorded information about an area of a ground surface.

An object of the present invention is to provide a vehicle motion state estimation device capable of estimating a vertical momentum of a vehicle with high accuracy from a wheel speed sensor signal during traveling such as acceleration or deceleration, turning, or the like where wheel slips in longitudinal and lateral directions occur. The present invention estimates and removes a variation component caused by a wheel slip from variation components of a wheel speed sensor signal to extract a variation component caused by a displacement of a suspension, and estimates a vertical momentum of a vehicle from the extracted variation component caused by the displacement of the suspension.