Force arbitration in active suspension systems

A vehicle comprising:

• a chassis;
• a plurality of wheels;
• an active suspension system operatively coupled to the plurality of wheels and the chassis, wherein the active suspension system comprises at least one actuator configured to apply active forces to at least one of the plurality of wheels in at least one mode of operation;
• and
• at least one processor configured to control the active suspension system, wherein the at least one processor is configured to:
• obtain a force capacity of the at least one actuator,
• receive a first force request for force from the at least one actuator to alter a first motion characteristic of the chassis,
• allocate a first force allocation to the first force request based at least partly on the force capacity,
• receive a second force request for force from the at least one actuator to alter a second motion characteristic of the chassis,
• allocate a second force allocation to the second force request based at least partly on the first force allocation and the force capacity, and
• command the at least one actuator to apply force between at least one of the plurality of wheels and the chassis based at least partly on the first force allocation and the second force allocation.

A method of controlling a vehicle including a chassis, a plurality of wheels, and an active suspension system, wherein the active suspension system is operatively coupled to the plurality of wheels, and wherein the active suspension system comprises at least one actuator configured to apply active forces to at least one of the plurality of wheels in at least one mode of operation, the method comprising:

• obtaining a force capacity of the at least one actuator;
• receiving a first force request for force from the at least one actuator to alter a first motion characteristic of the chassis;
• allocating a first force allocation to the first force request based at least partly on the force capacity;
• receiving a second force request for force from the at least one actuator to alter a second motion characteristic of the chassis;
• allocating a second force allocation to the second force request based at least partly on the first force allocation and the force capacity;
• and
• commanding the at least one actuator to apply force between at least one of the plurality of wheels and the chassis based at least partly on the first force allocation and the second force allocation.