A control system (300) for controlling an active suspension system (104) of a vehicle (100), the active suspension system comprising suspension actuators (502), the control system comprising one or more controller (301), wherein the control system is configured to: in dependence on an activation signal (904), provide (908) a control signal to the active suspension system to cause the suspension actuators of the active suspension system to repetitively pulse vertical force through wheels (FR, FL, RR, RL) of the vehicle in a controlled pattern determined by the one or more controller, to vary wheel-to-surface contact patch forces, wherein the pattern comprises repetitively pulsing vertical force through at least one of the wheels at a first phase and through at least one other of the wheels at a second phase.

The weigh of a vehicle body may be shifted onto selected wheels using the adjustable suspension systems of the vehicle to induce an undulating motion sequence of the vehicle. This may aid the vehicle to regain traction when a wheel is stuck. A first wheel may be turned in a first direction and more of the vehicle weight may be shifted onto the first wheel, while spinning one or more wheels, then this may be repeated for each wheel of the vehicle sequentially. More or less torque may be applied to the wheel onto which more of the vehicle's weight is shifted. The four-wheel sequence may be done at a predefined cadence and repeated as necessary. Also, based on terrain depth sensor signaling, an optimal weight distribution of the vehicle may be determined to aid vehicle movement on a hilly or off-road terrain.

A control system (300) for controlling an active suspension system (104) of a vehicle (100), the control system comprising one or more controller (301), wherein the control system is configured to: obtain (908) information indicative of relative traction levels between different wheels (FL, FR, RL, RR) of the vehicle; and in dependence on the information, control (912) the active suspension system to increase normal force through a wheel (FR) of the vehicle having relatively high traction compared to one or more other wheels (FL, RL, RR) of the vehicle, and decrease normal force through a wheel (FL) of the vehicle having relatively low traction compared to one or more other wheels (FR, RL, RR) of the vehicle.