Road-surface inclined-state detection method and vehicle control method

A vehicle control method, comprising:

• an acquisition step of acquiring a pitch angular velocity of a vehicle, a pitch angle of the vehicle, and a velocity in a vertical direction of a sprung mass of the vehicle;
• a count step of starting counting after the pitch angular velocity, the pitch angle, and the velocity in the vertical direction calculated in the calculation step all exceed predetermined thresholds that are each set corresponding thereto;
• a ramp-size calculation step of calculating a ramp size according to count values counted in the count step when a road surface is a ramp road surface;
• and
• a control step of controlling damping forces of at least either front suspensions or rear suspensions of the vehicle according to the ramp size calculated in the ramp-size calculation step.

A vehicle control method, comprising:

• a calculation step of calculating a pitch angular velocity of a vehicle, a pitch angle of the vehicle, and a velocity in a vertical direction of a sprung mass of the vehicle, where high-pass filter processing to decrease offset components and drift components in the pitch angular velocity, the pitch angle, and the velocity in the vertical direction is applied;
• a count step of starting counting after the pitch angular velocity, the pitch angle, and the velocity in the vertical direction calculated in the calculation step while the high-pass filter processing is applied thereto all exceed predetermined thresholds that are each set corresponding thereto;
• an inclined-state detection step of detecting an inclined state of a road surface, according to count values counted in the count step;
• and
• a control step of controlling damping forces of at least either front suspensions or rear suspensions of the vehicle according to the inclined state detected in the inclined-state detection step.