Active safety suspension system

A method of operating an active suspension system of a vehicle that includes the active suspension system, wherein the active suspension system includes a plurality of actuators, the method comprising:

• determining, with at least one controller, an existence of a vehicle state wherein additional normal force is needed at least at one actuator of a first pair of diagonally opposed actuators corresponding to a first pair of diagonally opposed wheels, the first pair of diagonally opposed wheels including a first wheel and a third wheel of the vehicle;
• and
• commanding, with the at least one controller, a second pair of diagonally opposed actuators corresponding to a second pair of diagonally opposed wheels of the vehicle to decrease an actuator force on the second pair of diagonally opposed wheels, wherein the second pair of diagonally opposed wheels include a second wheel and a fourth wheel of the vehicle,
• wherein the commanding further comprises holding an overall vertical force on the vehicle effectively constant by balancing an increase in a force applied to the first pair of diagonally opposed wheels with a decrease in a force applied to the second pair of diagonally opposed wheels.