A suspension system capable of improving maneuverability and stability, the suspension system including a force generation mechanism and a controller. The controller, which controls each of shock absorbers, includes a main control calculation unit, a longitudinal force reaction force calculation unit, a lateral force reaction force calculation unit, an addition unit, and a suspension reaction force consideration unit. The controller subtracts an output from a vertical force calculation unit including the longitudinal force reaction force calculation unit, the lateral force reaction force calculation unit, and the addition unit from an output from the main control calculation unit by the suspension reaction force consideration unit, thereby succeeding in calculating a vertical force applied between a vehicle body and each wheel as a value in consistency with an actual behavior of a vehicle.

A suspension system for a vehicle, includes (a) a shock absorber disposed between a sprung portion and an unsprung portion and having a damping-force changing mechanism, the shock absorber being configured to generate a damping force with respect to a relative movement of the sprung portion and the unsprung portion such that the magnitude of the damping force is changeable, and (b) a controller configured to control the damping-force changing mechanism. The controller includes a target sprung-speed determining portion configured to determine, as a target sprung speed, a speed of the sprung portion in a behavior of a body of the vehicle that matches an operation input to the vehicle by a driver, for permitting the behavior to match the operation input, the controller being configured to control the damping force such that the speed of the sprung portion becomes equal to the target sprung speed.

System, method, and assembly for controlling a vehicle. In one example, the system includes a first suspension system and a first controller. The first controller is configured to receive an input signal representing vehicle operating parameters. The first controller is also configured to receive a first target displacement determined by a second controller for a second suspension system of the vehicle. The first controller is further configured to determine a second target displacement for the first suspension system of the vehicle based on the first target displacement and the input signal. The first controller is also configured to set a height of the first suspension system based on the second target displacement.

Disclosed is a vehicle and a control method thereof. The vehicle includes: a sensor unit for detecting driving information of a vehicle; a front wheel suspension and a rear wheel suspension, each provided on a front wheel and a rear wheel of the vehicle, respectively, and each including a spring and a damper; and a control unit for, when a driving mode of the vehicle is an autonomous driving mode or a semi-autonomous driving mode, setting the degree of sensitivity for controlling damping force of the front wheel suspension and rear wheel suspension based on a distance to a vehicle ahead detected by the sensor unit, and adjusting the damping force of the front wheel suspension and rear wheel suspension according to a state of a change in distance to the vehicle ahead and a state of acceleration and deceleration of the vehicle.

An electric vehicle includes electric motors imparting driving forces to the corresponding driving wheels, a brake device imparting braking forces to the driving wheels, a control unit which calculates final target braking-driving forces (Tti) of the driving wheels and controls the electric motors and the brake device so that braking-driving forces of the driving wheels conform to the corresponding final target braking-driving forces. The control unit calculates longitudinal speeds (Vi) of the wheels relative to a vehicle body; calculates target correction amounts (Tt2i) of the target braking-driving forces for reducing in magnitude longitudinal speeds of the driving wheels relative to the vehicle body based on the relative longitudinal speeds; and corrects the target braking-driving forces (Tt1i) with the target correction amounts (Tt2i) to calculate final target braking-driving forces (Tti) of the driving wheels.

A method is described for determining multiplicative faults of a sensor installed in a system comprising a plurality of sensors, comprising the steps of:detecting an effective target signal (s) from a target sensor, representative of a target quantity of the system;detecting one or more auxiliary signals respectively from one or more auxiliary sensors of the system besides the target sensor, representative of auxiliary quantities of the system;determining an estimated target signal (s*) representative of the target quantity from the one or more auxiliary signals;determining a first quadratic difference (r+) between the effective target signal (s) multiplied by a multiplicative positive factor (cr+) greater than 1, and the estimated target signal (s*);determining a second quadratic difference (r) between the effective target signal (s) and estimated target signal (s*);determining a third quadratic difference (r) between the effective target signal (s) multiplied by a positive multiplicative factor (c) smaller than 1, and the estimated target signal (s*);determining a first ratio (r/r+) between the second (r) and lirst quadratic differences (r+);determining a second ratio (r/r) between the second (r) and third quadratic differences (r);comparing the first (r/r+) and second ratios (r/r) with a first comparison factor (Kf);determining the square of the effective target signal (s); determining the square of the estimated target signal (s*); comparing the square of the effective target signal (s) and square of estimated target signatl (s*) with a second comparison factor (Ke); establishing the presence of multiplicative faults of target sensor if at least one between the first (r/r+) and second ratios (r/r) is greater than the first comparison factor (Kf), and at least one between the square of the effective target signal (s) and square of the estimated target signal (s*) is greater than said second comparison factor (Ke).

A method for determining a tyre normal force range (F.sub.z,min, F.sub.z,max) of a tyre force (F.sub.z) acting on a vehicle (100), the method comprising; obtaining (S1) suspension data (310) associated with a suspension system of the vehicle (100); obtaining (S2) inertial measurement unit, IMU, data (320) associated with the vehicle (100); estimating (S3), by a suspension-based estimator (330) a first tyre normal force range (F.sub.z1,min, F.sub.z1,max) based on the suspension data (310); estimating (S4), by an inertial force-based estimator (340), a second tyre normal force range (F.sub.z2,min, F.sub.z2,max) based on the IMU data (320); and determining (S5) the tyre normal force range (F.sub.z,min, F.sub.z,max) based on the first tyre normal force range (F.sub.z1,min, F.sub.z2,max) and on the second tyre normal force range (F.sub.z2,min, F.sub.z2,max).

Systems and techniques for operating an active suspension system are discussed herein. The active suspension system can include a first suspension couple to a first wheel and a second suspension coupled to a second wheel, each suspension can include a first valve, a second valve, and an actuator. While a vehicle is traversing an environment, the vehicle can receive sensor data indicating an uneven surface is within a trajectory of at least the first wheel. A vehicle controller can determine a target position for the actuator of the first suspension, a target current to be generated at the first valve or the second valve and associated with moving the actuator from its current position to the target position, and a target voltage to be apply at the first valve or the second valve to generate the target current to compensate for a change in pitch and/or roll of a vehicle induced by the uneven surface. The vehicle controller can further determine a modified input voltage that causes the target current to be generated at a faster time than the input voltage.

A vehicle control device includes an analysis unit configured to analyze a road surface condition based on a captured image that is captured by an imaging device that captures an image of a road surface in a traveling direction of a vehicle, a switching unit configured to switch a control mode indicating a level of control related to traveling of the vehicle based on the road surface condition and a vehicle characteristic that is based on detection information from an on-board sensor, and a control unit configured to control the vehicle in the control mode selected by switching.

Aspects relate to control systems (100), air spring systems (300), vehicle suspension systems, vehicles (700), methods (600) and computer software for a multi-chamber air spring (200, 250) for a vehicle (700). The multi-chamber air spring (200, 250) comprises at least a first chamber (204, 254) and a second chamber (206, 256) and a valve (210, 260, 262) therebetween. The control system (100) comprises one or more controllers (110). An example control system (100) is configured to: receive a signal indicative of one or more vehicle parameters, the one or more vehicle parameters indicative of one or more vehicle driving conditions; determine a valve switching mode in dependence on the one or more vehicle parameters, wherein the valve switching mode is indicative of a current profile (400, 440) to operate the valve (210, 260, 262); and output a valve control signal to operate the valve (210, 260, 262) in accordance with the determined valve switching mode.