Active Suspension With Load Detection And Adaptation

A vehicle control system configured for estimating a location of a center of gravity (CG) of a sprung mass of a vehicle, the system comprising vehicle control means configured for:

• a) determining whether the vehicle is stationary or moving;
• b) if the vehicle is moving, determining a roll acceleration of the vehicle;
• c) if the roll acceleration is effectively non-zero, determining if the vehicle is in a turn;
• and
• d) if the vehicle is in a turn, calculating an estimated z-coordinate of the CG of the vehicle sprung mass.

A method for estimating values of coordinates of a location in space of a center of gravity (CG) of a vehicle, the method comprising steps of, by a vehicle control system:

• a) determining whether the vehicle is stationary or moving;
• and
• b) responsive to the determination made in step (a), calculating values for only one of a first portion of the coordinates and a second portion of the coordinates,
• wherein coordinates in the second portion are different from coordinates in the first portion.