Abstract: A vehicle suspension control includes a vehicle body control responsive to body/wheel velocity at the corners of the vehicle body to derive a demand force command for dampers at each corner of the vehicle body for vehicle body control and applies each of the derived demand force commands to its respective damper only when a comparison of the direction of the demand force command with the sensed relative velocity of the damper indicates that a force corresponding to the demand force command can be effectively exerted by the damper. But the suspension control also includes a vehicle stability control responsive to an indicated vehicle lateral acceleration in a turn to determine, independently of the vehicle body control, a stability compression damping command for the suspension dampers on the side of the vehicle opposite the direction of the lateral acceleration and a stability rebound damping command for the suspension dampers on the side of the vehicle in the direction of the lateral acceleration.

Abstract: In a vehicle with four corner suspensions, wherein during a transient turning maneuver, a body of the vehicle tends to compress two of the corner suspensions on a first side of the vehicle and expand two of the corner suspensions on a second side of the vehicle, wherein road inputs cause random compression and rebound of the four corner suspensions, a suspension control method comprising the steps of: sensing vehicle speed; monitoring steering wheel velocity; responsive to the vehicle speed and the steering wheel velocity, determining a signal indicative of a transient turning maneuver of the vehicle; responsive to the signal, determining compression damping commands for the two corner suspensions on the first side of the vehicle; responsive to the signal, determining rebound damping commands for the two corner suspensions on the second side of the vehicle; monitoring relative velocity of each corner suspension; applying the compression damping commands for the two corner suspensions on the first side of the

Abstract: A chassis system control method comprising the steps of measuring rotational speed of a plurality of vehicle wheels; estimating, responsive to each wheel rotational velocity, a relative velocity between the wheel and a corresponding corner of a vehicle body; determining a chassis system control command responsive to the estimations; and applying the chassis system control command to control the chassis system responsive to the estimations, wherein need for body to wheel relative position and/or relative velocity sensors is eliminated.

Abstract: A vehicle chassis system control according to the steps of: determining relative velocity between a corner of a vehicle body and a vehicle wheel responsive to a sensor signal from one of: (i) a relative position sensor mounted between the vehicle body corner and the vehicle wheel and (ii) a wheel rotational velocity sensor mounted to the wheel; estimating, responsive to the sensor signal, a body acceleration signal indicative of a vertical acceleration of the corner of the vehicle body; estimating, responsive to the sensor signal, a wheel acceleration signal indicative of a vertical acceleration of the vehicle wheel; estimating a dynamic normal force between the wheel and a road surface responsive to the estimated body and wheel accelerations; and providing the estimated normal dynamic force to a chassis system controller, wherein a chassis system actuator is controlled by a control command determined responsive to the estimated dynamic normal force.

Abstract: A vehicle chassis system control for use in a vehicle with a first suspension that induces a phase shift on body motion components of wheel speed sensor signals from a first set of wheel speed sensors connected to a first set of wheels mounted to the first suspension, comprising the steps of: sensing first rotational velocities of the first set of wheels using the first set of wheel speed sensors; sensing second rotational velocities of a second set of wheels mounted to a second suspension using a second set of wheel speed sensors; estimating at least one modal velocity of a body of the vehicle responsive to the first and second rotational velocities, wherein the step of estimating comprises the sub-steps of: (a) imposing a relative phase shift between the first and second rotational velocities to compensate for the phase shift induced by the first suspension, (b) transforming the relative phase shifted first and second rotational velocities to a signal indicative of a modal velocity of the body of the vehicl