Abstract: An apparatus for diagnosing failures in a plurality of control units is provided in a control system. The apparatus has a detection device provided outside of the control units for comparing output data representing processing results of the control units to detect disparity of the output data of the control units, and a device for determining that a failure has occurred in at least one of the control units when the detection device detects the disparity of the output data.

Abstract: A suspension control apparatus for a vehicle having hydraulic cylinders which are arranged respectively between a member of the vehicle side and members of each wheel side. A flow control valve controls the supply/drain of hydraulic fluid to/from an operation chamber of the hydraulic cylinders. The suspension control apparatus includes a lateral acceleration detection device which detects lateral acceleration G of the vehicle. A high-pass filter circuit performs high-pass processing on the lateral acceleration signal G. A rate of change G' of the lateral acceleration G is then calculated by a rate of change calculation unit, and the supply/drain of hydraulic fluid is regulated by a regulating unit which controls a flow control valve based on the rate of change G' of the lateral acceleration G.