The present invention relates to a method for controlling wheel axle suspension of a vehicle (100), said vehicle (100) comprising a vehicle chassis (116), a prime mover (122) for propulsion of said vehicle (100), said prime mover (122) being connected to the vehicle chassis (116); and a front wheel axle (132) comprising an individually adjustable wheel axle suspension arrangement (104, 106) on a respective left and right hand side of the front wheel axle (132) as seen in the longitudinal direction of the vehicle (100), said individually adjustable wheel axle suspension arrangement (104, 106) being connected between the front wheel axle (132) and the vehicle chassis (116); the method being comprising the steps of: determining (S1) an output torque from said prime mover (122); determining (S2) a rotation (302) of said vehicle chassis (116) caused by the determined output torque from the prime mover (122); comparing (S3) said rotation (302) with a predetermined threshold limit; and controlling (S4) the individually adjustable wheel axle suspension arrangement (104, 106) on at least one of the left and right hand sides of the front wheel axle (132) such that the rotation (302) of said vehicle chassis (116) is below said predetermined threshold limit.

An oscillation control system of a vehicle includes a distribution control module configured to determine: a first front torque request for one or more front electric motors of the vehicle; and a first rear torque request for one or more rear electric motors of the vehicle; a first control module configured to: determine a second front torque request for the front electric motor(s) of the vehicle based on the first front torque request and a front wheel road profile; and control power flow to the front electric motor(s) based on the second front torque request; a second control module configured to: determine a second rear torque request for the rear electric motor(s) of the vehicle based on the first rear torque request and a rear wheel road profile; and control power flow to the rear electric motor(s) based on the second rear torque request.

A vehicle rear suspension system is provided which determines the movement of the rear wheels in relation to the chassis of the vehicle as the vehicle drives over irregular surfaces. Different components of a rear suspension act to limit or control the movement of the rear differential along specific directions or axes.

An oscillation control system of a vehicle includes a distribution control module configured to determine: a first front torque request for one or more front electric motors of the vehicle; and a first rear torque request for one or more rear electric motors of the vehicle; a first control module configured to: determine a second front torque request for the front electric motor(s) of the vehicle based on the first front torque request and a front wheel road profile; and control power flow to the front electric motor(s) based on the second front torque request; a second control module configured to: determine a second rear torque request for the rear electric motor(s) of the vehicle based on the first rear torque request and a rear wheel road profile; and control power flow to the rear electric motor(s) based on the second rear torque request.