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 control system for a vehicle is provided, the control system comprising one or more controllers, the control system configured to identify an upcoming speed limit change, and in dependence on the identified speed limit change, requesting modification of one or more parameters of the vehicle suspension system. This prepares the vehicle suspension to reduce pitch forwards/backwards at a time when an acceleration/deceleration can be expected, while allowing more composed vehicle suspension settings to be used at other times.

A control system (300) for controlling an active suspension system (104) of a vehicle (100) to determine relative traction levels, the control system comprising one or more controller (301), wherein the control system is configured to (908): control the active suspension system to change normal force through a first subset of one or more wheels; determine a traction-dependent variable at each of the first subset of wheels to which known torque is applied; control the active suspension system to change normal force through a second subset of one or more wheels; and determine a traction-dependent variable at each of the second subset of wheels to which known torque is applied, wherein the traction-dependent variables indicate relative traction levels.