It is an object of the present invention to improve accuracy in estimation of a state of a vehicle in order to achieve excellent ride comfort. An ECU (600) includes a reference vehicle model computation section (1100), which is configured to calculate a reference output by carrying out computation with respect to at least one of a plurality of state amounts in a planar direction and at least one of a plurality of state amounts in an up-down direction in an inseparable manner.

A vehicle comprising a first leaf spring connected to a chassis so as to, while deflecting, allow relative vertical movement between the chassis and a wheel axle and thereby also between the chassis and wheels, and a control circuitry configured to: compare the signal indicative of the actual path followed by the wind-up center with a representation of a reference path that the wind-up center of the first leaf spring should follow when the first leaf spring is well-functioning and deflects as intended; determine whether a difference between the actual path and the reference path is greater than a threshold value; and, in response to the determined difference greater than the threshold, generate an alarm signal indicative of a detected or possibly detected leaf spring failure.

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 multi-degree-of-freedom active damping mechanism control method, system and a damping mechanism are provided. A skyhook active damping control algorithm is used for controlling an electric cylinder output force in a vertical damping direction, and an adaptive control algorithm with an adaptive rate is used for correcting a load moment of inertia in pitch and roll damping directions. At the same time, a predictive model is established according to a task space linearization equation near an equilibrium point, and states of the system at N future moments are predicted in advance at each moment to achieve optimal control under complex constraints and reduce the influence of system delay. At the same time, the three control methods may further improve the active damping effect of the damping device by combining road information obtained by a visual sensor in real time.

A method for controlling the damping characteristic of a shock absorber of a vehicle, particularly for compensating the variation of the operating temperature of the shock absorber, in an active or semi-active suspension system. The compensation of the variation of the operating temperature of the shock absorber takes place by: estimating a mechanical power dissipated in heat by the shock absorber; estimating a thermal power exchanged by the shock absorber with the environment; evaluating the current operating temperature of the shock absorber as a function of the dissipated mechanical power and of the thermal power exchanged with the environment; and controlling the driving current of the control valve of the shock absorber according to a shock absorber reference model indicating a relationship between the damping force of the shock absorber, the operating temperature of the shock absorber and the driving current of the control valve.

A vehicle comprising a first leaf spring connected to a chassis so as to, while deflecting, allow relative vertical movement between the chassis and a wheel axle and thereby also between the chassis and wheels, and a control circuitry configured to: compare the signal indicative of the actual path followed by the wind-up center with a representation of a reference path that the wind-up center of the first leaf spring should follow when the first leaf spring is well-functioning and deflects as intended; determine whether a difference between the actual path and the reference path is greater than a threshold value; and, in response to the determined difference greater than the threshold, generate an alarm signal indicative of a detected or possibly detected leaf spring failure.

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 multi-degree-of-freedom active damping mechanism control method, system and a damping mechanism are provided. A skyhook active damping control algorithm is used for controlling an electric cylinder output force in a vertical damping direction, and an adaptive control algorithm with an adaptive rate is used for correcting a load moment of inertia in pitch and roll damping directions. At the same time, a predictive model is established according to a task space linearization equation near an equilibrium point, and states of the system at N future moments are predicted in advance at each moment to achieve optimal control under complex constraints and reduce the influence of system delay. At the same time, the three control methods may further improve the active damping effect of the damping device by combining road information obtained by a visual sensor in real time.

A method includes calculating a predicted passing position of each wheel of a vehicle after a preview period from a current time, acquiring a parameter related to vertical motion of each wheel at the predicted passing position from a parameter map, calculating a left and right wheel in-phase input of a first wheel and a second wheel and a left and right wheel anti-phase input of the first wheel and the second wheel, and calculating each control amount of an actuator that controls suspension strokes of the first and second wheels based on the left and right wheel anti-phase input and the left and right wheel in-phase input.