Motion can be induced at a vehicle, e.g., by actuating components of an active suspension system, and first sensor data and second sensor data representing an environment of the vehicle can be captured at a first position and a second position, respectively, resulting from the induced motion. A second sensor can determine motion information associated with the first position and the second position. Calibration information about the sensor, the first sensor data, and the motion information can be used to determine an expectation of sensor data at the second position. A calibration error can be the difference between the second sensor data and the expected sensor data.

A damping force control device for controlling damping forces of shock absorbers by a control device, which is configured to extract first vibration components in a first frequency range and second vibration components in a higher frequency range than the first frequency range from vertical accelerations of a sprung mass at the positions of wheels, to calculate correction coefficients which decrease as the degree of the second vibration increases with respect to the degree of the first vibration, and to control damping coefficients of of the shock absorbers so as to be the products of target damping forces calculated based on the vertical accelerations of the sprung mass and the correction coefficients.

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 shock absorber device for a motor vehicle includes a spring support, a spring, a damping device configured to exert a damping force, a control unit, an electric motor electrically connected to the control unit and controllable by the control unit through a power supply signal emitted by the control unit, such that the electric motor provides a torque or a force corresponding to the power supply signal, and conversion means configured to control the damping device turning the torque or force outputted into a further force corresponding to the torque or force outputted and exerted by means of the damping device, wherein the control unit is configured to receive a first control signal indicative of a target value for the further force and to provide the power supply signal as a function of the first control signal, such that the power supply signal corresponds to the target value for the further force, the control unit being coupled to the spring support in a fixed position relative to the spring support.

The electromagnetic suspension apparatus includes: an electromagnetic actuator provided in parallel with a spring member between a vehicle body and a wheel of a vehicle and configured to generate driving force involving vibration damping of the vehicle body; an information acquisition unit configured to acquire, through a high-pass filter, time-series information about a stroke position of the electromagnetic actuator; and an ECU configured to calculate target driving force of the electromagnetic actuator and use the calculated target driving force to execute driving force control of the electromagnetic actuator. The ECU corrects the target driving force such that when the stroke position on the basis of the high-pass-filter-processed time-series information, from which low-frequency components (steady state deviation) have been removed, is present in a neutral region including a neutral position, spring force of the spring member is made weaker than when the stroke position is present in a non-neutral region.

One or more systems, methods and/or non-transitory, machine-readable mediums are described herein for controlling a suspension system. An active suspension control system can comprise a memory that stores executable components, and a processor, coupled to the memory, that executes or facilitates execution of the executable components comprising a dynamics model generator that generates a bioinspired dynamics model and determines nonlinear dynamics for nonlinear suppression of vibration of an active suspension system, a fuzzy disturbance observer component that determines a lumped disturbance to the active suspension system by employing fuzzy variables absent determination of exact physical parameters of the active suspension system, and a controller that applies respective outputs of the dynamics model generator and the fuzzy disturbance observer component, in combination with a non-cancelled state-coupling term, to control the active suspension system to thereby cause the nonlinear suppression of the vibration of the active suspension system.

A damping force control device for controlling damping forces of shock absorbers by a control device, which is configured to extract first vibration components in a first frequency range and second vibration components in a higher frequency range than the first frequency range from vertical accelerations of a sprung mass at the positions of wheels, to calculate correction coefficients which decrease as the degree of the second vibration increases with respect to the degree of the first vibration, and to control damping coefficients of the shock absorbers so as to be the products of target damping forces calculated based on the vertical accelerations of the sprung mass and the correction coefficients.

The electromagnetic suspension apparatus includes: an electromagnetic actuator provided in parallel with a spring member between a vehicle body and a wheel of a vehicle and configured to generate driving force involving vibration damping of the vehicle body; an information acquisition unit configured to acquire, through a high-pass filter, time-series information about a stroke position of the electromagnetic actuator; and an ECU configured to calculate target driving force of the electromagnetic actuator and use the calculated target driving force to execute driving force control of the electromagnetic actuator. The ECU corrects the target driving force such that when the stroke position on the basis of the high-pass-filter-processed time-series information, from which low-frequency components (steady state deviation) have been removed, is present in a neutral region including a neutral position, spring force of the spring member is made weaker than when the stroke position is present in a non-neutral region.

A suspension system for a heavy vehicle, the system comprising a control circuitry configured to compare signals on current vertical position obtained from left and right level sensors and determine whether a current difference in vertical position between left and right leaf springs is greater than first threshold value; if determined difference is greater than first threshold value: determine, based on timing information related to signals provided by inertial measurement unit and left and right level sensors, whether the determined difference in vertical position between left and right leaf springs is related in time with signal from inertial measurement unit indicating that the angular velocity of wheel axle is greater than a second threshold; and, if determined difference in vertical position not related in time with signal indicating angular velocity of wheel axle is greater than second threshold, generate alarm signal indicative of detected or possibly detected leaf spring failure.

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.