In some examples, a vehicle suspension for supporting, at least in part, a sprung mass, includes a damper connected to the sprung mass, the damper including a movable piston. The vehicle suspension further includes an actuator and a controller. The controller may be configured to determine a frequency of motion associated with the sprung mass. When the frequency of motion is below a first frequency threshold, the controller may send a control signal to cause the actuator to apply a deceleration force to the sprung mass. Further, when the frequency of motion associated with the sprung mass exceeds the first frequency threshold, the controller may send a control signal to cause the actuator to apply a compensatory force to the sprung mass. For instance, a magnitude of the compensatory force may be based on a friction force determined for the damper.

The invention concerns a method and a system for recognizing the presence of any irregularities of any road pavement.

In some examples, a vehicle suspension for supporting, at least in part, a sprung mass, includes a damper connected to the sprung mass, the damper including a movable piston. The vehicle suspension further includes an actuator and a controller. The controller may be configured to determine a frequency of motion associated with the sprung mass. When the frequency of motion is below a first frequency threshold, the controller may send a control signal to cause the actuator to apply a deceleration force to the sprung mass. Further, when the frequency of motion associated with the sprung mass exceeds the first frequency threshold, the controller may send a control signal to cause the actuator to apply a compensatory force to the sprung mass. For instance, a magnitude of the compensatory force may be based on a friction force determined for the damper.

An exemplary method for detecting a rough road includes the steps of providing a vehicle sensor, the vehicle sensor configured to measure a steering torque of a vehicle, receiving a steering torque data signal from the vehicle sensor, generating a road condition data signal from the steering torque data signal, evaluating the road condition data signal over a specified time interval, comparing the road condition data signal with one or more thresholds, and determining whether rough road conditions exist based on the comparison of the road condition data signal with the one or more thresholds over the specified time interval.

Provided is a vehicle state estimation device (10) having a calculation unit (28) that calculates state quantities of at least a sprung of a vehicle based on wheel speeds of front left and right wheels and rear left and right wheels detected by detection devices. The calculation unit (28) calculates in-phase and reverse phase components of wheel speeds of left and right wheels for the front and rear wheels and calculates a pitch angular speed and a yaw angular speed of the sprung based on the in-phase and reverse phase components of the wheel speeds, respectively. The calculation unit (28) calculates in-phase and reverse phase components of vertical strokes of left and right suspensions for the front and rear wheels and calculates a vertical speed and a roll angular speed of the sprung based on the in-phase and reverse phase components of vertical strokes of the suspensions, respectively.

The utility vehicle includes a body; a travel device provided for the body; a driving source configured to drive the travel device; an acceleration operating member configured to receive an operation for adjusting a travel speed of the utility vehicle; a drive controller configured to generate a driving signal for the driving source; and an acceleration detector configured to detect a vertical acceleration of the body relative to ground, and the drive controller is configured to generate the driving signal based on (i) an amount of the operation that the acceleration operating member receives and (ii) the acceleration.

A method of controlling driving force of a vehicle, includes providing a first filter for removing or reducing a natural frequency component of the vehicle suspension pitch motion, and a second filter for extracting or increasing the natural frequency component of the vehicle suspension pitch motion to a controller of the vehicle, determining a required driving force command based on vehicle driving information collected during driving of the vehicle, determining a driving force command after filter application through a processing process by the first filter taking the determined required driving force command as input thereof, determining a driving force correction amount through a processing process by the second filter taking feedback driving force as input thereof, and correcting the driving force command after filter application using the driving force correction amount and controlling driving force applied to a driving wheel of the vehicle by a driving device of the vehicle using the driving force command after the correction.

A method, an apparatus, a controller, a vehicle, and a computer program product for driving a vehicle are disclosed. The method includes (i) controlling the vibration of the vehicle through an active suspension of the vehicle according to a control instruction, (ii) applying a compensation torque to the vehicle in response to the vehicle being vibrated, and (iii) driving the vehicle based at least on the compensation torque. In this way, the vibration effect of the active suspension can help enhance the friction between the vehicle and the ground. During the vibration process, a torque can be appliedfor example, a compensation torque when the vehicle vibrates to its lowest point. This approach aids the vehicle in traversing challenging road surfaces, such as slippery slopes or mud pits.