A vehicle suspension control apparatus includes a mode determination device that determines a mode of a shock absorber for a vehicle, corresponding to an identified speed bump, when the speed bump is identified in front of the vehicle, a suspension control amount calculation device that calculates an amount of suspension control for passing over the speed bump, based on the determined mode of the shock absorber, and a controller that controls a suspension of the vehicle based on the calculated amount of suspension control.

A device together with an assigned working machine for decoupling vibrations between two systems (2, 4) in the form of spring-mass oscillators, of which one system (2) is assigned to a motion machine and the other system (4) is assigned to an operator operating the motion machine. The other system (4) at least partially performs motions about a transverse axis (Q) during driving motions of the motion machine and in doing so is subject to vertical motions in the direction of a vertical axis (z) at an absolute vertical speed (v.sub.z1,1) serving as an input variable of control devices and/or regulating devices. Those devices control a damping system (8) of the one system (2) and/or the other system (4) to compensate for the vibrations. The respective pitch motion of the other system (4) is detected by at least one rotation rate sensor. The respective measured value (ω.sub.1) of the sensor, preferably amplified by only a predeterminable factor (L.sub.1), results in the absolute vertical speed (v.sub.z1,1) as input variable.

Vehicle body tilt, representing a difference between a vehicle body frame of reference and a wheel-base frame of reference, is determined by obtaining information from sensor assemblies for the vehicle body and for the wheel-base. Navigational solutions are generated for the sensor assemblies using motion sensor data from the assemblies and absolute navigational information. Correspondingly, vehicle body tilt is determined based at least in part on the vehicle body navigation solution and the wheel-base navigation solution.

A damping control apparatus includes a control device for controlling actuators that generate forces acting between a vehicle body and wheels. The control device stores a single wheel model of a vehicle including a skyhook device having a damper, a spring and an inerter. The control device calculates a product of an acceleration detected by an acceleration sensor and an equivalent mass of the inerter, a product of a once integrated value of the acceleration and a damping coefficient of the damper, a product of a twice integrated value of the acceleration and, a spring constant of the spring as target damping forces to be applied to a sprung mass, and controls the actuators based on target generative forces based on the target damping forces.

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.

A work vehicle includes a vehicle body, a plurality of traveling devices disposed on the right and left sides on the front and rear sides of the vehicle body respectively, a plurality of bending link mechanisms configured to liftably support each one of the traveling devices to the vehicle body and a plurality of drive operating devices capable of changing the posture of each one of the plurality of bending link mechanisms. The vehicle body is split into a front side body section and a rear side body section. The front side body section and the rear side body section are configured to be bendably pivotable relative to each other via a pivot interlocking mechanism.

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.z2max) and on the second tyre normal force range (F.sub.z2,min, F.sub.z2,max).

A vehicle suspension control apparatus includes a mode determination device that determines a mode of a shock absorber for a vehicle, corresponding to an identified speed bump, when the speed bump is identified in front of the vehicle, a suspension control amount calculation device that calculates an amount of suspension control for passing over the speed bump, based on the determined mode of the shock absorber, and a controller that controls a suspension of the vehicle based on the calculated amount of suspension control.

Systems and methods for determining the location of a vehicle are disclosed. In one embodiment, a method for localizing a vehicle includes driving over a first road segment, identifying by a first localization system a set of candidate road segments, obtaining vertical motion data while driving over the first road segment, comparing the obtained vertical motion data to reference vertical motion data associated with at least one candidate road segment, and identifying, based on the comparison, a location of the vehicle. The use of such localization methods and systems in coordination with various advanced vehicle systems such as, for example, active suspension systems or autonomous driving features, is contemplated.

An object of the present invention is to provide a suspension control apparatus allowing a vehicle state to be easily estimated with use of a vehicle height sensor. A controller 11 includes an external force estimation portion 31, which calculates an external force applied to a vehicle body from a displacement calculated from a vehicle height sensor 10, a vertical force calculation portion 32A, which calculates a vertical force of the vehicle body 1 from the calculated external force, a sprung acceleration calculation portion 32B, which calculates an acceleration from the calculated vertical force, a filter portion 32C, which estimates a sprung speed of the vehicle body 1 from the calculated acceleration, and a damping characteristic determination portion 14, which acquires a damping characteristic based on the estimated sprung speed.