A suspension device includes: a hydraulic damper including a rod provided with a valve for generating a hydraulic pressure when the rod is displaced between a first liquid chamber and a second liquid chamber; and an electric damper configured to electrically displace the rod by an actuator. The electric damper includes: an outer cylinder; an inner cylinder; a piston provided on the rod and configured to stroke in the inner cylinder; and a communication passage disposed inside the inner cylinder at a central portion where the piston strokes. The communication passage establishes communication between the first liquid chamber at one axial end side of the piston and the second liquid chamber at another axial end side of the piston.

An object of the present invention is to provide a vehicle motion state estimation device capable of estimating a vertical momentum of a vehicle with high accuracy from a wheel speed sensor signal during traveling such as acceleration or deceleration, turning, or the like where wheel slips in longitudinal and lateral directions occur. The present invention estimates and removes a variation component caused by a wheel slip from variation components of a wheel speed sensor signal to extract a variation component caused by a displacement of a suspension, and estimates a vertical momentum of a vehicle from the extracted variation component caused by the displacement of the suspension.

A method for adapting a transfer function of an active suspension of a vehicle comprises the vehicle driving along a section of road for which a surface profile is stored in a control unit of the vehicle. The active suspension is activated according to a predetermined transfer function for adaptation to the surface profile by means of adjustment values in order to compensate for unevenness of the surface profile. A shock absorber sensor system and/or a tire sensor system of the vehicle is used to record vertical accelerations while driving along the section of road and transfer them to the control unit. The invention provides that the adjustment values and the vertical accelerations are transferred by the vehicle to an external central computer.

Realized is a technique for estimating a state quantity of a vehicle, which technique is applicable to estimation of a vehicle weight and allows an increase in accuracy and speed of the estimation. A state quantity estimating device includes a data storing section (101), a predictive quantity computing section (102), an obtaining section (107), a Kalman gain computing section (103), an estimated quantity computing section (104) which calculates an estimated state quantity and estimated covariance, and a process noise covariance correcting section (106) which corrects process noise covariance. The estimated state quantity, the estimated covariance, and the process noise covariance, each of which has been calculated or corrected, are written in the data storing section (101) as a state quantity, state covariance, and process noise covariance, respectively, and are used in a next computation for estimating a state quantity.

A method for detecting a slope of a road on which a vehicle is traveling in at least one spatial direction. The vehicle has a body and a chassis with a plurality of wheels. An inclination of the vehicle body in the spatial direction is determined. For at least one wheel, a vertical distance to the vehicle body is detected. The distance so determined is used to calculate an inclination of the chassis in the spatial direction. The slope of the road in the spatial direction is determined from a difference between the inclination of the vehicle body in the spatial direction and the inclination of the chassis in the spatial direction.

A suspension device includes: a hydraulic damper including a rod provided with a valve for generating a hydraulic pressure when the rod is displaced between a first liquid chamber and a second liquid chamber; and an electric damper configured to electrically displace the rod by an actuator. The electric damper includes: an outer cylinder; an inner cylinder; a piston provided on the rod and configured to stroke in the inner cylinder; and a communication passage disposed inside the inner cylinder at a central portion where the piston strokes. The communication passage establishes communication between the first liquid chamber at one axial end side of the piston and the second liquid chamber at another axial end side of the piston.

Method for correcting a height value, measured using a height sensor, of a spring-damper unit of a motor vehicle, wherein the measured height value is corrected by a correction value that is dependent on an acceleration value if the motor vehicle is accelerated in a longitudinal and/or lateral direction, the correction value being adjusted while the motor vehicle is moving.

The invention relates to a method for compensating for vertically oriented movements of a superstructure of a vehicle. The vehicle is provided with the superstructure and with an active undercarriage having a plurality of wheels which are in contact with the carriageway, wherein each wheel is connected via an actuator adjustable over its length at a wheel assigned to a suspension point with the superstructure. Vertically oriented movements of the superstructure are caused by an inclination of the carriageway and by unevennesses of the carriageway, a first change of the length of at least one actuator is carried out for frequencies in a first, lower frequency range, and a second change of the length of the at least one actuator is carried out for frequencies in a second, higher frequency range.

An object of the present invention is to provide a vehicle motion state estimation device capable of estimating a vertical momentum of a vehicle with high accuracy from a wheel speed sensor signal during traveling such as acceleration or deceleration, turning, or the like where wheel slips in longitudinal and lateral directions occur. The present invention estimates and removes a variation component caused by a wheel slip from variation components of a wheel speed sensor signal to extract a variation component caused by a displacement of a suspension, and estimates a vertical momentum of a vehicle from the extracted variation component caused by the displacement of the suspension.

A self-calibrating scanning system and method provides a novel way to eliminate errors in scanning systems, such as lidar or radar detection, using an inertial measurement unit. The system includes an energy transmission source configured to transmit an energy signal through a transmittal area. A detector receives a return energy signal of at least one target object of the energy transmitter source within the transmittal area. The system calculates at least one of the range and position of an object from information relating to at least one of the time and phase of the return energy signal relative to the transmittal energy signal. The spatial or angular displacement of the detector relative to the light source is measured using data from the inertial measurement unit, and at least one of calculated range and position of the object is adjusted based on the spatial or angular displacement of the detector.