Method for controlling suspension system

1. A method for controlling a suspension system, the method comprising controlling an electronic controlled suspension device (ECS) and an active roll stabilizer (ARS) of a vehicle based on an input sensor value and a driving operation of the vehicle,

wherein the input sensor value is based on a road condition,

the driving operation is one of a straight driving, a normal turning, and an urgent turning of the vehicle, and

during the straight driving of the vehicle, when a road input signal is not generated from a road, a control mode of the ECS is a soft damping mode and a control mode of the ARS is a decouple control mode.

2. The method according to claim 1 , wherein, during the straight driving of the vehicle, when the road input signal is generated from the road, the control mode of the ECS is a sky hook control mode, and the control mode of the ARS is a roll damping control mode.

3. The method according to claim 1 , wherein, during the normal turning of the vehicle, when the road input signal is not generated from the road, each of the control mode of the ECS and the control mode of the ARS is a roll control mode.

4. The method according to claim 1 , wherein, during the normal turning of the vehicle, when the road input signal is generated from the road, the control mode of the ECS is a sky hook control mode, and the control mode of the ARS is a roll control mode.

5. The method according to claim 1 , wherein, during the urgent turning of the vehicle, when the road input signal is not generated from the road, each of the control mode of the ECS and the control mode of the ARS is a turning limit US/OS control mode.

6. The method according to claim 1 , wherein, during the urgent turning of the vehicle, when the road input signal is generated from the road, the control mode of the ECS is a sky hook control mode, and the control mode of the ARS is a turning limit US/OS control mode.

7. A method for controlling a suspension system, the method comprising:

determining whether straight driving or turning is being performed;

determining a road condition;

setting a control mode of an electronic controlled suspension device (ECS) and a control mode of an active roll stabilizer (ARS);

determining a roll control moment and a yaw control moment; and

if it is determined that straight driving is being performed and if a road input signal is detected, extracting a low frequency road and determining a roll damping force.

8. The method of claim 7 , wherein the step of determining the road condition comprises:

determining a standardized average vehicle body acceleration;

determining a standardized value of a difference between right and left vehicle body accelerations;

determining a standardized wheel acceleration;

computing an average of the standardized average vehicle body acceleration, the standardized value of the difference between the right and left vehicle body accelerations, and the standardized wheel acceleration; and

outputting a road roughness value.

9. The method of claim 7 , wherein the step of determining the roll control moment and the yaw control moment comprises:

computing a yaw moment amount M zeq using an equation, wherein the equation is

M

zeq

=

-

I

z

⁡

(

-

2

⁢

(

l

f

⁢

C

f

-

1

r

⁢

C

r

)

I

z

⁢

v

x

⁢

v

y

-

2

⁢

(

l

f

2

⁢

C

f

-

1

r

2

⁢

C

r

)

I

z

⁢

v

x

⁢

r

+

2

⁢

⁢

C

f

⁢

L

f

I

z

⁢

δ

f

)

+

I

z

,

in which l f denotes a distance to a front wheel axis from a vehicle center, l r denotes a distance to a rear wheel axis from the vehicle center, I z denotes a yaw moment of inertia, C f denotes a cornering stiffness of a front wheel tire, C r denotes a cornering stiffness of a rear wheel tire, δ f denotes a steering angle, V x denotes a longitudinal vehicle body speed, and V y denotes a lateral vehicle body speed.

10. The method of claim 7 , further comprising: before the step of determining the roll control moment and the yaw control moment, determining a suspension system integrated control mode.

11. The method of claim 7 , further comprising distributing the roll control moment and the yaw control moment to the ARS and the ECS.