Full vehicle suspension control with non-vertical acceleration correction

Claim 1

A suspension control for a wheeled vehicle having a body suspended by suspension springs at a plurality of corners thereof on unsprung, road contacting wheels with a suspension actuator connected to exert a variable force between each of the wheels and the corresponding corner, the plurality of corners being sufficient to define heave, roll and pitch parameters for the body, the suspension comprising, in combination: an absolute acceleration sensors mounted on the body at selected corners thereof to generate nominally vertical acceleration signals which may at times include non-vertical errors; means for deriving vehicle body roll and pitch acceleration signals from the nominally vertical acceleration signals; a bounded integrator for integrating the vehicle body roll and pitch acceleration signals to generate vehicle body roll and pitch velocity signals; and means for varying the force of each of the actuators in response to the vehicle body roll and pitch velocity signals, whereby the non-vertical error is reduced by cancellation in the derivation of vehicle body roll and pitch accelerations before the integration thereof to reduce saturation of the bounded integrator.