Wheel-to-ground contact surface force variation

A control system (300) for controlling an active suspension system (104) of a vehicle (100), the active suspension system comprising a suspension actuator (502), the control system comprising one or more controllers (301), where the control system is configured to: provide (908) a control signal to the active suspension system in accordance with an activation signal (904), the active suspension system is controlled by one or more controllers to cause a suspension actuator of the active suspension system to repeatedly pulse a vertical force through a wheel (FR, FL, RR, RL) of the vehicle in a controlled pattern determined by the one or more controllers to vary a contact surface force of the wheel with the ground, the pattern includes repeatedly pulsing a vertical force through at least one of the wheels at a first phase and repeatedly pulsing a vertical force through at least another of the wheels at a second phase. 一种用于对车辆(100)的主动悬架系统(104)进行控制的控制系统(300)，该主动悬架系统包括悬架致动器(502)，该控制系统包括一个或更多个控制器(301)，其中，该控制系统配置成：根据