US Patent 9975391 Vehicle handling dynamics control using fully active suspension

Arrangements (e.g., method, apparatus, computer-readable non-transitory media embodying a program) for compensating for understeer or oversteer behavior in a vehicle having a fully active suspension, including: determining whether an understeer or oversteer condition exists; determining a compensation torque needed to correct the understeer or oversteer condition; and generating the compensation torque by using the fully active suspension to shift tire loads between tires.