Method and apparatus for the dynamic control of the suspension system of a vehicle

A method for controlling a controllable element of a controllable suspension system of a vehicle, the method comprising:

• determining, based at least in part on a measured vehicle parameter, a first set of one or more first gain values and a second set of one or more second gain values;
• determining, using a first control loop, a first command for the controllable component, wherein the first control loop utilizes the first set of gain values;
• determining, using a second control loop, a second command for the controllable component, wherein the second control loop utilizes the second set of gain values;
• determining, based at least in part on the first command and the second command, an output command;
• outputting the output command to the controllable element;
• in response to the controllable element receiving the output command, varying a characteristic of the controllable element.

An active suspension system of a vehicle, the active suspension system comprising:

• one or more actuators configured to apply a force in response to receiving a command;
• a controller in communication with the one or more actuators, wherein the controller is configured to:
• determine, using a first control strategy, a first command for the one or more actuators;
• determine, using a second control strategy, a second command for the one or more actuators;
• determine, based at least in part on a measured vehicle parameter, a first weight for the first command and a second weight for the second command;
• determine, based at least in part on a weighted aggregate of the first command and the second command, an output command;
• and
• output the output command to the one or more actuators.

A method for controlling a controllable suspension system of a vehicle having a front axle and a rear axle, the method comprising:

• determining a desired yaw rate of the vehicle;
• measuring an actual yaw rate of the vehicle;
• comparing the desired yaw rate and the measured yaw rate;
• upon determining that the desired yaw rate exceeds the measured yaw rate, adjusting the suspension system to increase an effective roll parameter of the rear axle relative to an effective roll parameter of the front axle.

A method for controlling a controllable suspension system of a vehicle having a front axle and a rear axle, the method comprising:

• determining a desired yaw rate of the vehicle;
• measuring an actual yaw rate of the vehicle;
• comparing the desired yaw rate and the measured yaw rate;
• upon determining that the measured yaw rate exceeds the desired yaw rate, adjusting the suspension system to increase an effective roll parameter of the front axle relative to a roll parameter of the rear axle.

A method for controlling a controllable suspension system of a vehicle having a vehicle front and a vehicle rear and travelling at a speed, the method comprising:

• determining that the speed is above a threshold value;
• determining a rate of change of a steering wheel angle;
• based on the rate of change of the steering wheel angle, adjusting at least one quantity selected from the group consisting of:
• ratio of roll damping at the vehicle front to roll damping at the vehicle rear, and ratio of roll stiffness at the front of the vehicle relative to roll stiffness at the rear of the vehicle.

A method for controlling a controllable suspension system of a vehicle having a vehicle front and a vehicle, the method comprising:

• determining a measured yaw rate of the vehicle;
• determining a desired yaw rate of the vehicle;
• determining that the difference between the measured yaw rate and the desired yaw rate is greater than a threshold value;
• based on the difference, adjusting at least one quantity selected from the group consisting of:
• ratio of roll damping at the vehicle front to roll damping at the vehicle rear, and ratio of roll stiffness at the front of the vehicle relative to roll stiffness at the rear of the vehicle.