System and method for determining a displacement velocity signal, and active wheel suspension

A system for determining a displacement velocity signal for controlling an active wheel suspension of a land vehicle by open-loop and/or closed-loop control, the system comprising:

• at least one Kalman filter, and
• at least one acceleration sensor, the at least one acceleration sensor being arranged on a sprung mass of the land vehicle to sense a vertical acceleration of the sprung mass and to generate a corresponding acceleration signal supplied to the Kalman filter,
• wherein the Kalman filter includes a mathematical motion model of the sprung mass, and input states of the Kalman filter include:
• a vertical acceleration of the sprung mass,
• a vertical displacement velocity of the sprung mass, and
• a vertical displacement distance of the sprung mass,
• wherein a displacement measurement signal having a value 0 is supplied continuously to the Kalman filter to determine the displacement velocity signal, and
• wherein constant noise variance values of a measurement noise covariance matrix of the Kalman filter that are assigned to the displacement measurement signal are, set at one half of a maximum vertical displacement distance of the sprung mass, and
• wherein the system controls a continuously controlled damping or the active wheel suspension of the land vehicle suspension based on the determined displacement velocity signal.