Traction-dependent variation of wheel-to-surface normal force

A control system for controlling an active suspension system of a vehicle, the control system comprising at least one controller, wherein the control system is configured to:

• obtain information indicative of relative traction levels between different wheels of the vehicle, including identification of a wheel of the vehicle having a relative highest traction compared to the other wheels of the vehicle and identification of a wheel of the vehicle having a relative lowest traction compared to the other wheels of the vehicle;
• and
• in dependence on the information, control the active suspension system to increase normal force through the wheel of the vehicle having the relative highest traction, and decrease normal force through the wheel of the vehicle having the relative lowest traction.