Anti-roll bar torque estimation

A control system for a vehicle suspension system in a vehicle, the control system comprising one or more controllers, the control system configured to:

• receive a disturbance angle of a roll bar of the vehicle suspension system, the disturbance angle indicative of a determined relative angular displacement between ends of the roll bar caused by the vehicle interacting with a driving surface;
• receive a displacement value of an actuator motor of the actuator of the vehicle suspension system, the displacement value of the actuator motor indicative of a sensed displacement of the actuator motor caused by the vehicle interacting with the driving surface;
• determine, in dependence on the disturbance angle of the roll bar and the displacement value of the actuator motor, a torque estimation, the torque estimation representing an expected torque provided by the actuator motor to the roll bar connected to the actuator motor;
• and
• output the torque estimation to a further vehicle system.

A system, comprising:

• the control system according to claim 1;
• at least one sensor configured to measure data relating to a vehicle travelling on a driving surface;
• and
• an actuator of a vehicle suspension system in a vehicle, the actuator comprising at least one actuator motor functionally connected to at least one roll bar, the actuator motor configured to apply a torsional force on the at least one roll bar.

A method, comprising:

• receiving a disturbance angle of a roll bar of a vehicle suspension system in a vehicle, the disturbance angle indicative of a determined relative angular displacement between ends of the roll bar caused by the vehicle interacting with a driving surface;
• receiving a displacement value of an actuator motor of the actuator of the vehicle suspension system, the displacement value of the actuator motor indicative of a sensed displacement of the actuator motor caused by the vehicle interacting with the driving surface;
• calculating, using the disturbance angle of the roll bar and the displacement value of the actuator motor, a torque estimation, the torque estimation representing an expected torque provided by the actuator motor to a roll bar connected to the actuator motor;
• and
• outputting the torque estimation.