Camber modification for different driving surfaces

A control system configured to:

• receive surface information indicative of a surface over which a vehicle is travelling;
• in dependence on the surface information indicating a low-traction surface, control an actuator arrangement by controlling active suspension actuators of an active suspension system to dynamically control a force-displacement relationship for individual wheels of the vehicle to modify a camber angle of at least one wheel of the vehicle such that wheel-to-surface contact patches of the wheels are laterally moved relative to the vehicle as a result of camber modification, wherein the camber modifications comprise oscillating camber modifications that are different in at least one of amplitude and sign for different ones of the plurality of wheels, the active suspension actuators configured to independently vary a wheel-to-body distance at each of the wheels of the vehicle;
• enable activation of the camber modification in dependence on the surface information indicating the low-traction surface;
• not enable activation of the camber modification in dependence on the surface information indicating a high-traction surface;
• and
• control a frequency of the oscillating camber modification in dependence on at least one of the surface information and traction information indicating vehicle progress.

A method of controlling an actuator arrangement of a vehicle, the actuator arrangement being capable of modifying a camber angle of at least one wheel of the vehicle, the method comprising:

• receiving surface information indicative of a surface over which the vehicle is travelling;
• monitoring a trigger condition based on one or more criteria other than which surface is indicated by the surface information;
• in dependence on the surface information indicating a low-traction surface and on satisfaction of the trigger condition, controlling an actuator arrangement of the vehicle by controlling active suspension actuators of an active suspension system to dynamically control a force-displacement relationship for individual wheels of the vehicle to modify a camber angle of at least one wheel of the vehicle such that a wheel-to-surface contact patch of the at least one wheel is laterally moved relative to the vehicle as a result of camber modification, the camber modification comprises oscillating camber modification, the active suspension actuators configured to independently vary a wheel-to-body distance at each of the wheels of the vehicle;
• enabling activation of the camber modification in dependence on the surface information indicating the low-traction surface;
• not enabling activation of the camber modification in dependence on the surface information indicating a high-traction surface;
• and
• controlling a frequency of the oscillating camber modification in dependence on at least one of the surface information and traction information indicating vehicle progress.