Patent Publication Number: US-2022234412-A1

Title: Vehicle attitude control system and method for traction management

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of U.S. Provisional Application No. 63/142,321, filed Jan. 27, 2021, the contents of which are incorporated herein by reference thereto. 
    
    
     FIELD 
     The present application relates generally vehicle suspension systems and, more particularly, systems for controlling vehicle suspension to adjust an attitude of the vehicle independent of the surface the tires are on. 
     BACKGROUND 
     Off-roading in vehicles has increased in popularity. However, vehicle geometry and traction limitations often limit off-road performance or make some objects or terrain impassable. For example, when climbing a steep grade, the attitude of the vehicle is at a steep angle and the weight over the front axle can decrease, thereby potentially reducing traction. This can negatively impact driver confidence because the front of the vehicle may feel like it is lifting off the ground. The same situation may occur with the rear axle when descending down a steep grade. While air spring systems exist for ride height adjustment, and bumper mounted winches can be used to pull the front of the vehicle down to improve traction, neither allows for independent driver control. Accordingly, there is a desire for improvement in the relevant art. 
     SUMMARY 
     In accordance with one example aspect of the invention, a vehicle is provided. In the example embodiment, the vehicle includes a chassis, an axle, and a sway bar assembly coupled between the chassis and the axle. At least one actuator is configured to move the sway bar assembly relative to the axle to thereby move at least a portion of the chassis toward or away from the axle to adjust an attitude of the vehicle. 
     In addition the foregoing, the described vehicle may include one or more of the following features: wherein the at least one actuator is coupled to the sway bar assembly; a disconnect mechanism configured to disconnect left and right sides of the sway bar assembly such that the left and right sides of the sway bar assembly are independently adjustable by the at least one actuator relative to the axle; and wherein the sway bar assembly includes a lateral bar extending in a generally cross-car direction, a pair of opposed lateral arms rotatably coupled to opposite ends of the lateral bar, and a pair of opposed coupler links each rotatably coupled between one of the lateral arms and the axle, wherein the at least one actuator is configured to rotate the lateral arms relative to the lateral bar to adjust the vehicle attitude. 
     In addition the foregoing, the described vehicle may include one or more of the following features: wherein the sway bar assembly further includes a pair of opposed end plates disposed at each end of the lateral bar and coupled to the chassis; wherein the axle comprises a front axle and a rear axle, and wherein the sway bar assembly includes a front sway bar assembly coupled between the front axle and the chassis, and a rear sway bar assembly coupled between the rear axle and the chassis; and wherein the at least one actuator includes a front left actuator configured to selectively move a front left of the chassis relative to the front axle to adjust the vehicle attitude, a front right actuator configured to selectively move a front right of the chassis relative to the front axle to adjust the vehicle attitude, a rear left actuator configured to selectively move a rear left of the chassis relative to the rear axle to adjust the vehicle attitude, and a rear right actuator configured to selectively move a rear right of the chassis relative to the rear axle to adjust the vehicle attitude. 
     In addition the foregoing, the described vehicle may include one or more of the following features: a vehicle attitude adjustment system having a controller in signal communication with the at least one actuator and programmed to operate, based on user input, the at least one actuator to adjust the attitude of the vehicle; wherein user input is received via at least one switch disposed on at least one of an instrument panel and a steering wheel; and wherein user input is received via at least one soft button displayed on a touchscreen disposed within a passenger compartment of the vehicle. 
     In addition the foregoing, the described vehicle may include one or more of the following features: wherein the controller is further programmed to operate in an autonomous mode, including disconnect left and right sides of the sway bar assembly, receive, from a central database, terrain mapping/GPS track data uploaded to the central database, receive input from one or more sensors indicative of vehicle component locations, and adjust the one or more actuators to position wheels of the vehicle in locations corresponding to predetermined locations in the terrain mapping/GPS track data; and wherein the controller is further programmed to operate in an automatic mode, including disconnecting left and right sides of the sway bar assembly, receive input from one or more sensors indicative of vehicle component locations, and automatically adjust the one or more actuators to position a body of the vehicle as close to horizontal as possible. 
     In addition the foregoing, the described vehicle may include one or more of the following features: wherein the axle includes a front axle and a rear axle, wherein the sway bar assembly includes a front sway bar assembly and a rear sway bar assembly, wherein each of the front and rear sway bar assemblies includes a disconnect mechanism to selectively operably disconnect left and right sides of the sway bar assembly, and wherein the controller is further programmed to operate in a front/rear mode, including provide user selectable options to adjust the attitude of a front of the vehicle and a rear of the vehicle, connect the disconnect mechanism of each of the front and rear sway bar assemblies, and adjust the one or more actuators to adjust the attitude of the front and/or rear of the vehicle based on the user selected options. 
     In addition the foregoing, the described vehicle may include one or more of the following features: wherein the axle includes a front axle and a rear axle, wherein the sway bar assembly includes a front sway bar assembly and a rear sway bar assembly, and wherein the controller is further programmed to operate in a left/right mode, including provide user selectable options to adjust the attitude of a left side of the vehicle and a right side of the vehicle, disconnect left and right sides of each of the front and rear sway bar assemblies, and adjust the one or more actuators to adjust the attitude of the left and/or right side of the vehicle based on the user selected options. 
     In addition the foregoing, the described vehicle may include one or more of the following features: wherein the axle includes a front axle and a rear axle, wherein the sway bar assembly includes a front sway bar assembly and a rear sway bar assembly, and wherein the controller is further programmed to operate in a four corners mode, including provide user selectable options to adjust the attitude of a front left corner of the vehicle, a front right corner of the vehicle, a rear left corner of the vehicle, and a rear right corner of the vehicle, disconnect left and right sides of each of the front and rear sway bar assemblies, and adjust the one or more actuators to adjust the attitude of the front left, front right, rear left, and/or rear right corner of the vehicle based on the user selected options. 
     In addition the foregoing, the described vehicle may include one or more of the following features: wherein the axle includes a front axle and a rear axle, wherein the sway bar assembly includes a front sway bar assembly and a rear sway bar assembly, wherein each of the front and rear sway bar assemblies includes a disconnect mechanism to selectively operably disconnect left and right sides of the sway bar assembly, and wherein the controller is further programmed to operate in an all up mode, including provide a user selectable option to adjust the attitude of the vehicle to a fully raised position, connect the disconnect mechanism of each of the front and rear sway bar assemblies, and adjust the one or more actuators to adjust the attitude of the vehicle to the fully raised position based on the user selected option. 
     In addition the foregoing, the described vehicle may include one or more of the following features: wherein the axle includes a front axle and a rear axle, wherein the sway bar assembly includes a front sway bar assembly and a rear sway bar assembly, wherein each of the front and rear sway bar assemblies includes a disconnect mechanism to selectively operably disconnect left and right sides of the sway bar assembly, and wherein the controller is further programmed to operate in an all down mode, including provide a user selectable option to adjust the attitude of the vehicle to a fully lowered position, connect the disconnect mechanism of each of the front and rear sway bar assemblies, and adjust the one or more actuators to adjust the attitude of the vehicle to the fully lowered position based on the user selected option. 
     In accordance with another example aspect of the invention, a method of performing a method of adjusting the attitude of a vehicle having a chassis, front and rear axles, a front sway bar assembly coupled between the front axle and the chassis, a rear sway bar assembly coupled between the rear axle and the chassis, a disconnect mechanism operably associated with and configured to selectively disconnect left and right sides of each of the front and rear sway bar assemblies, a plurality of actuators operably associated with each of the front and rear sway bar assemblies and configured to move the associated front and rear sway bar assemblies relative to the respective front and rear axles to selectively adjust an attitude of the vehicle is provided. The method includes providing at least one user selectable option to adjust the attitude of the vehicle, determining a user selected option of the provided at least one user selectable option, actuating the disconnect mechanism to connect or disconnect the front and rear sway bar assemblies based on the user selected option, and adjusting, based on the user selected option, one or more actuators of the plurality of actuators to adjust the attitude of the vehicle. 
     In addition the foregoing, the described method may include one or more of the following features: wherein the vehicle further includes a touchscreen display, and wherein the step of providing at least one user selectable option includes displaying a soft button on the touchscreen display for each user selectable option; and wherein the at least one user selectable option comprises: an autonomous mode configured to adjust the one or more actuators to position wheels of the vehicle in locations corresponding to predetermined locations in terrain mapping/GPS track data received from a central database, an automatic mode configured to automatically adjust the one or more actuators to position a body of the vehicle as close to horizontal as possible, a front/rear mode configured to adjust the one or more actuators to adjust the attitude of a front and rear of the vehicle, a left/right mode configured to adjust the one or more actuators to adjust the attitude of a left side and a right side of the vehicle, a four corners mode configured to adjust the one or more actuators to adjust the attitude of a front left, a front right, a rear left, and a rear right corner of the vehicle, an all up mode configured to adjust the one or more actuators to adjust the attitude of the vehicle to a fully raised position, and an all down mode configured to adjust the one or more actuators to adjust the attitude of the vehicle to a fully lowered position. 
     Further areas of applicability of the teachings of the present disclosure will become apparent from the detailed description, claims and the drawings provided hereinafter, wherein like reference numerals refer to like features throughout the several views of the drawings. It should be understood that the detailed description, including disclosed embodiments and drawings references therein, are merely exemplary in nature intended for purposes of illustration only and are not intended to limit the scope of the present disclosure, its application or uses. Thus, variations that do not depart from the gist of the present disclosure are intended to be within the scope of the present disclosure. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic illustration of an example vehicle drivetrain in accordance with the principles of the present application; 
         FIG. 2  is a schematic diagram of an example vehicle attitude adjustment system of the vehicle shown in  FIG. 1 , in accordance with the principles of the present application; 
         FIG. 3  is a perspective view of an example sway bar assembly that may be utilized with the vehicle of  FIG. 1 , in accordance with the principles of the present application; 
         FIG. 4A  is a side view of an example sway bar assembly in a first position attached to a portion of the vehicle, in accordance with the principles of the present application; 
         FIG. 4B  is a side view of the sway bar assembly shown in  FIG. 4A  and in a second position, in accordance with the principles of the present application; 
         FIG. 4C  is a side view of the sway bar assembly shown in  FIG. 4A  and in a third position, in accordance with the principles of the present application; 
         FIG. 5  is a flow diagram of an example method of operating the vehicle attitude adjustment system, in accordance with the principles of the present application; 
         FIG. 6  is a flow diagram of an example method of operating the vehicle attitude adjustment system in an autonomous adjustment mode, in accordance with the principles of the present application; 
         FIG. 7  is a flow diagram of an example method of operating the vehicle attitude adjustment system in an automatic adjustment mode, in accordance with the principles of the present application; 
         FIG. 8  is a flow diagram of an example method of operating the vehicle attitude adjustment system in a front/rear adjustment mode, in accordance with the principles of the present application; 
         FIG. 9  is a flow diagram of an example method of operating the vehicle attitude adjustment system in a left/right adjustment mode, in accordance with the principles of the present application; 
         FIGS. 10A-10B  illustrate a flow diagram of an example method of operating the vehicle attitude adjustment system in a four corners adjustment mode, in accordance with the principles of the present application; 
         FIG. 11  is a flow diagram of an example method of operating the vehicle attitude adjustment system in an all up adjustment mode, in accordance with the principles of the present application; 
         FIG. 12  is a flow diagram of an example method of operating the vehicle attitude adjustment system in an all down adjustment mode, in accordance with the principles of the present application; and 
         FIG. 13  is a flow diagram of an example method of data control when operating the vehicle attitude adjustment system, in accordance with the principles of the present application. 
     
    
    
     DETAILED DESCRIPTION 
     According to the principles of the present application, systems and methods are described for performing a vehicle attitude adjustment operation to manage traction, for example, on off-road courses. In the example embodiments, the system allows a driver to independently adjust a height of the vehicle suspension at all four corners, thereby enabling the driver to adjust the attitude of the vehicle for improved weight balance and driver comfort while ascending, descending, or traversing uneven grades. The system also allows the driver to raise or lower the vehicle independent front-to-rear and left-to-right. This control enables the driver to optimize approach angles when ascending steep grades and/or when descending steep grades, and provide side to side stability and traction, particularly for off camber obstacles. 
     In some examples, the system includes a user interface (UI) within driver reach to send signals to an electronic control module. The UI provides selection options including an autonomous/automatic mode and a user selectable manual mode. In the autonomous mode, the vehicle receives data (e.g., accelerometer and height sensor data) and automatically positions the vehicle (e.g., in a predetermined position or as close to neutral attitude possible). In the user selectable mode, the UI provides the driver with one or more additional modes. In the example embodiment, a first additional mode provides independent controls for all four corners of the vehicle. A second mode provides the driver with independent front and rear control of the vehicle attitude, a third mode provides the driver with independent side to side control of the vehicle attitude, and fourth/fifth modes provide the driver with independent control for fully raised and fully lowered positions. 
     In the example system, the electronic control module is in signal communication with one or more actuators disposed on the front and rear sway bars of the vehicle. The actuators can be utilized independently to rotate the front and rear sway bars, which are coupled to the vehicle chassis, to thereby adjust the vehicle attitude. A sway bar disconnecting feature enables independent and simultaneous control of all four corners of the vehicle. When the sway bar is disconnected, the driver is provided with independent front to rear and/or side to side control. As such, the system enables driver control for changing the attitude of the vehicle independent of the surface the tires are on, thereby improving weight transfer and driver confidence, and without an air suspension. However, the systems and methods described herein can be applied to air suspension vehicles by individually controlling the air bags of the vehicle instead of or in addition to using the sway bars. 
     With initial reference to  FIG. 1 , a vehicle  10  in accordance with the principles of the present disclosure is illustrated. In the example embodiment, vehicle  10  includes a propulsion system  12  that generally includes an internal combustion engine  14 , a clutch or torque converter  16 , and a transmission  18 . Reciprocating motion of the engine  14  is converted into rotational motion via torque converter  16  and transmitted to a drive shaft  20  via the transmission  18 . Rotational motion of the drive shaft  20  is transferred to rear wheels  22  via a rear differential  24  and rear drive axles  26 . A transfer case  28  is configured to transfer rotational motion to front wheels  30  via a front drive shaft  32 , front differential  34 , and front drive axles  36 . In some examples, the transfer case  28  includes a shifting mechanism (e.g., shift fork) configured to selectively disengage the rear axles  26  and/or the front axles  36  from the propulsion system  12 . 
     In the example embodiment, vehicle  10  also includes a suspension system  38  having front and rear sway bars  40  (only rear shown) coupled between a vehicle chassis/frame  42  (see  FIG. 4A ) and respective front axles  36  and rear axles  26 . As described herein in more detail, the suspension system  38  is configured to facilitate independent adjustment of the attitude or positioning of the frame  42  relative to the axles  26 ,  36  and the ground, to thereby improve vehicle weight transfer and driver confidence when traversing difficult terrain. As shown in  FIG. 3 , each sway bar assembly  40  includes a sway bar disconnect mechanism  44  configured to selectively separate opposite sides of the sway bar assembly  40 . Further, each side of the sway bar assembly  40  includes an axle actuator  46  configured to move the vehicle frame  42  toward or away from the associated axle  26 ,  36 , as described herein in more detail. It will be appreciated that the disconnect mechanism  44  and axle actuators  46  may have various structural configurations including electro-mechanical, pneumatic, hydraulic, magnetic, or other suitable configuration that enables suspension system  38  to function as described herein. 
     With additional reference to  FIG. 2 , vehicle  10  further includes a vehicle attitude adjustment system  50  having a Ground Control Module (GCM) or controller  52  configured to enable vehicle  10  to adjust a position of the vehicle frame  42  relative to and independent of the axles  26 ,  36  and/or the ground surface. Such attitude adjustment helps to improve vehicle weight transfer and driver confidence when traversing difficult terrain such as steep grades. In the illustrated example, GCM  52  is in signal communication with a plurality of vehicle systems/components including: the disconnect mechanisms  44 , the axle actuators  46 , an instrument panel  54  having one or more buttons or switches  56 , a steering wheel  58  with one or more button or switches  60 , an instrument panel cluster  62 , a display  64 , sensors such as accelerometers  66  and ride height sensors  68 , a GPS/mapping system  70 , and a communications hub  72  (e.g., RF hub). 
     In the example embodiment, the instrument panel  54  provides one or more switches  56  configured to assist the user in operating the vehicle attitude adjustment system  50 . For example, switch  56  may enable an off-road mode configured to switch vehicle  10  between an on-road mode and an off-road mode. Activation of the off-road mode may be required to activate and/or initiate the attitude adjustment operation described herein. In other examples, switches  56  may enable the user to manually adjust the vehicle attitude as described herein. Additionally or alternatively, the steering wheel  58  may include one or more buttons or switches  60  for attitude adjustment activation/operation. 
     In the example embodiment, the instrument panel cluster  62  includes a display  74  configured to display a status and/or diagnostic message from the vehicle attitude adjustment system  50 . The display  64  includes a user interface or touch screen  76  configured to display one or more soft buttons  78  to enable a user to activate/operate the attitude adjustment operation, as described below. As noted above, switches  56 ,  60  may also be utilized for activation and/or operation of the vehicle attitude adjustment system  50  and its function. One or more accelerometers  66  are coupled to vehicle  10  and configured to provide accelerometer signals indicative of the measured acceleration of vehicle  10  in various directions. Ride height sensors  68  are coupled to the vehicle  10  in various locations (e.g., all four corners) and are configured to provide signals indicative of a distance of the separation between the vehicle frame  42  and the axles  26 ,  36  (or some other distance to determine vehicle attitude). 
     In the example implementation, the GPS/mapping system  70  is configured to communicate with one or more satellites or databases to guide and/or determine a location of the vehicle. The communications hub  72  is a vehicle communication system or device (e.g., transceiver) configured to communicate with a central database or server  80  via radio frequency, cellular network, satellite network, etc. Using one of these network connections, the vehicle  10  is able to access the secure server or network  80 . The terms “secure server” and “secure network” as used herein refers to one or more remote servers that is/are only accessible to authorized users, such as a particular type or brand of vehicle. 
     With reference now to  FIG. 3 , the sway bar assembly  40  will be described in more detail. As previously noted, the sway bar assembly  40  is utilized to adjust the attitude of the vehicle. In the example embodiment, the sway bar assembly  40  generally includes a lateral bar  82 , a pair of opposed end members or plates  84 , a pair of opposed later members or arms  86 , and a pair of opposed coupler bars or links  88 . The lateral bar  82  extends in a general cross-car direction and the end plates  84  are coupled at opposite ends of the lateral bar  82 . The end plates  84  are configured to couple to the frame  42 . Each lateral arm  86  includes a first end  90  and an opposite second end  92 . The first end  90  is rotatably coupled to one end of the lateral bar  82 , and the second end  92  is rotatably coupled to one end of the coupler link  88 . The opposite end of the coupler link  88  is configured to rotatably couple to the axle  26 ,  36  or other component coupled thereto (e.g., see joint  94  shown in  FIG. 4A ). 
     In the example embodiment, the previously described disconnect mechanism  44  is operably coupled to the lateral bar  82  and configured to operatively separate left and right sides of the sway bar assembly  40 . Axle actuators  46  are coupled to the ends of lateral bar  82  and configured to rotate the associated lateral arm  86  in a clockwise or counter-clockwise direction relative to the end of the lateral bar  82 . In this way, the axle actuators  46  (e.g., electric motors) are utilized to raise and lower the vehicle frame  42  relative to the solid axle  26 ,  36 . 
     Referring now to  FIGS. 4A-4C , an example operation of the sway bar assembly  40  at one corner of the vehicle  10  is shown.  FIG. 4A  illustrates the sway bar assembly  40  in a fully lowered position with vehicle frame  42  in its closest position to the axle  26 ,  36 .  FIG. 4B  illustrates the sway bar assembly  40  in an intermediate position after the axle actuator  46  rotates lateral arm  86  clockwise (as shown in  FIG. 4B ). In this position, the vehicle frame  42  is raised away from the axle  26 ,  36  compared to the fully lowered position.  FIG. 4C  illustrates the sway bar assembly  40  in a fully or nearly fully raised position with the vehicle frame  42  in its farthest position away from the axle  26 ,  36 . In this position, the axle actuator  46  further rotates lateral arm  86  clockwise such that the lateral arm  86  and coupler link  88  are parallel or substantially parallel. Operating the axle actuator  46  to rotate lateral arm  86  counter-clockwise lowers the frame  42  to the fully lowered position or any position therebetween. 
     As noted above, the vehicle attitude adjustment system  50  is configured to selectively adjust the vehicle attitude. In the example embodiment, the vehicle attitude adjustment can be initiated and performed automatically or manually. As such, in the example embodiment, touch screen  76  is configured to display a first soft button  78   a  for autonomous/automatic operation, and a second soft button  78   b  for manual operation. For automatic operation, the first soft button  78   a  allows a user to activate an automatic adjustment of vehicle attitude (as opposed to manual adjustment). Soft button  78   a  enables the user to command the GCM  52  to automatically adjust the vehicle attitude to a position based on predetermined data or as close to neutral (i.e., horizontal) as possible without surpassing predefined thresholds (e.g., mechanical limits, safety limits, etc.). 
     If manual control of the attitude adjustment operation is desired, the driver can press the second soft button  78   b . Such action may then activate or display soft buttons  79  for specific manual adjustment options. In the example embodiment, manual adjust includes five additional modes. The first mode, selected by soft button  79   a , enables independent control of all four corners of the vehicle  10 . The second mode, selected by soft button  79   b , enables independent control of the front and rear of the vehicle  10 . The third mode, selected by soft button  79   c , enables independent side-to-side control of the vehicle. The fourth mode, selected by soft button  79   d , enables all up control to lift the chassis  42  to a fully raised position. The fifth mode, selected by soft button  79   e , enables all down control to lower the chassis  42  to a fully lowered position. Example operations are described below. 
       FIG. 5  illustrates an example method  100  of operating the vehicle attitude adjustment system  50 . In the example embodiment, the method begins at step  102  and controller  52  determines if vehicle  10  is in a predetermined gear such as, for example, four-wheel-drive LO. If no, control proceeds to step  104  and the operation ends. If yes, control proceeds to step  106  and controller  52  determines if ground control attitude adjustment is enabled, for example, via switches  56 ,  60 . If no, control proceeds to step  104 . If yes, control proceeds to step  108  and controller  52  determines which vehicle attitude adjustment mode is selected. If no adjustment mode is selected, control proceeds to step  104 . If an adjustment mode is selected, control determines which adjustment mode is selected from: Autonomous Mode  110 , Automatic Mode  112 , Front/Rear Mode  114 , Right/Left Mode  116 , Four Corners Mode  118 , All Up Mode  120 , and All Down Mode  122 . Each mode is described in further detail below. 
       FIG. 6  illustrates an example method  200  of operating the vehicle attitude adjustment system  50  in the Autonomous Mode  110 . In the example embodiment, the method begins at step  202  and controller  52  determines if Autonomous Mode is selected, for example, via touch screen  76 . If no, control returns to step  108 . If yes, control proceeds to step  204  and control determines if there is an autonomous track available in the central database  80 . For example, a predefined/prerecorded track or route may be available for a particular location of the vehicle  10 . If an autonomous track is not available, control returns to step  108  for user selection of a new/different mode. If an autonomous track is available, controller  52  unlocks the front and rear sway bars  40  via disconnect mechanisms  44  at step  206 . At step  208 , controller  52  receives terrain mapping/GPS tracks uploaded by other users from the central database  80 . At step  210 , controller  52  receives sensor input from vehicles sensors (e.g., wheel, chassis, and axle location). 
     At step  212 , controller  52  adjusts actuators  46  to position the right front tire  30  to the predetermined location(s) in the track data. At step  214 , control adjusts actuators  46  to position the right rear tire  22  to the predetermined location(s) in the track data. At step  216 , control adjusts actuators  46  to position the left front tire  30  to the predetermined location(s) in the track data. At step  218 , control adjusts actuators  46  to position the left rear tire  22  to the predetermined location(s) in the track data. Steps  212 - 218  may be performed simultaneously or in any desired sequence. At step  220 , control provides notifications to the driver of relevant system information through messaging screens (e.g., displays  64 ,  74 ). Example messages could indicate the vehicle attitude adjustment is pending or complete, orientation of the vehicle chassis, adjustment duration, etc. Control can then proceed to optional system data operations shown in  FIG. 13 . 
       FIG. 7  illustrates an example method  300  of operating the vehicle attitude adjustment system  50  in the Automatic Mode  112 . In the example embodiment, the method begins at step  302  and controller  52  determines if Automatic Mode is selected, for example, via touch screen  76 . If no, control returns to step  108  ( FIG. 5 ). If yes, at step  304 , controller  52  unlocks the front and rear sway bars  40  via disconnect mechanisms  44 . At step  306 , controller  52  receives sensor input from vehicles sensors (e.g., wheel, chassis, and axle location). 
     At step  308 , controller  52  adjusts actuators  46  to position the right front tire  30  to the predetermined location(s) in the track data. At step  310 , control adjusts actuators  46  to position the right rear tire  22  to the predetermined location(s) in the track data. At step  312 , control adjusts actuators  46  to position the left front tire  30  to the predetermined location(s) in the track data. At step  314 , control adjusts actuators  46  to position the left rear tire  22  to the predetermined location(s) in the track data. Steps  308 - 314  may be performed simultaneously or in any desired sequence. At step  316 , control provides notifications to the driver of relevant system information through messaging screens (e.g., displays  64 ,  74 ). Control can then proceed to optional system data operations shown in  FIG. 13 . 
       FIG. 8  illustrates an example method  400  of operating the vehicle attitude adjustment system  50  in the manual control Front/Rear mode  114 . In the example embodiment, the method begins at step  402  and controller  52  determines if Front/Rear Mode is selected, for example, via touch screen  76 . If no, control returns to step  108  ( FIG. 5 ). If yes, at step  404 , controller  52  determines if the front or rear axle is selected by the user, for example, via a soft button on touch screen  76 . 
     If the front axle  36  is selected, control proceeds to step  406  and, at step  408 , front sway bar  40  is locked via disconnect mechanism  44 . At step  410 , control determines if up or down movement is requested, for example, via soft buttons on touch screen  76 . If no request, control returns to step  410 . If upward movement of the front of the vehicle is requested, control proceeds to step  412 , and controller  52  subsequently operates actuators  46  to push the front axle  36  away from the chassis  42  at step  414 . Control then proceeds to step  434 . If downward movement of the front of the vehicle is requested, control proceeds to step  416 , and controller  52  subsequently operates actuators  46  to pull the front axle  36  toward the chassis  42  at step  418 . Control then proceeds to step  434 . 
     If the rear axle  26  is selected, control proceeds to step  420  and, at step  422 , rear sway bar  40  is locked via disconnect mechanism  44 . At step  424 , control determines if up or down movement is requested, for example, via soft buttons on touch screen  76 . If no request, control returns to step  424 . If upward movement of the rear of the vehicle is requested, control proceeds to step  426 , and controller  52  subsequently operates actuators  46  to push the rear axle  26  away from the chassis  42  at step  428 . Control then proceeds to step  434 . If downward movement of the rear of the vehicle is requested, control proceeds to step  430 , and controller  52  subsequently operates actuators  46  to pull the rear axle  26  toward the chassis  42  at step  432 . Control then proceeds to step  434  where control provides notifications to the driver of relevant system information through messaging screens (e.g., displays  64 ,  74 ). Control can then proceed to optional system data operations shown in  FIG. 13 . 
       FIG. 9  illustrates an example method  500  of operating the vehicle attitude adjustment system  50  in the manual control Right/Left mode  116 . In the example embodiment, the method begins at step  502  and controller  52  determines if Right/Left Mode is selected, for example, via touch screen  76 . If no, control returns to step  108  ( FIG. 5 ). If yes, at step  504 , controller  52  unlocks the front and rear sway bars  40  via disconnect mechanism  44 . At step  506 , control determines if the right or left side is selected by the user, for example, via a soft button on touch screen  76 . 
     If the right side is selected, control proceeds to step  508  and, at step  510 , determines if up or down movement is requested, for example, via soft buttons on touch screen  76 . If no request, control returns to step  510 . If upward movement of the right side of the vehicle is requested, control proceeds to step  512 , and controller  52  subsequently operates actuators  46  to push both the front and rear axles  36 ,  26  on the vehicle right side away from the chassis  42  at step  514 . Control then proceeds to step  532 . If downward movement of the right side of the vehicle is requested, control proceeds to step  516 , and controller  52  subsequently operates actuators  46  to pull both the front and rear axles  36 ,  26  on the vehicle right side toward the chassis  42  at step  518 . Control then proceeds to step  532 . 
     If the left side is selected, control proceeds to step  520  and, at step  522 , determines if up or down movement is requested, for example, via soft buttons on touch screen  76 . If no request, control returns to step  522 . If upward movement of the left side of the vehicle is requested, control proceeds to step  524 , and controller  52  subsequently operates actuators  46  to push both the front and rear axles  36 ,  26  on the vehicle left side away from the chassis  42  at step  526 . Control then proceeds to step  532 . If downward movement of the left side of the vehicle is requested, control proceeds to step  528 , and controller  52  subsequently operates actuators  46  to pull both the front and rear axles  36 ,  26  on the vehicle left side toward the chassis  42  at step  530 . Control then proceeds to step  532 . Control then proceeds to step  532  where control provides notifications to the driver of relevant system information through messaging screens (e.g., displays  64 ,  74 ). Control can then proceed to optional system data operations shown in  FIG. 13 . 
       FIGS. 10A-10B  illustrate an example method  600  of operating the vehicle attitude adjustment system  50  in the manual control Four Corners Mode  118 . In the example embodiment, the method begins at step  602  and controller  52  determines if the Four Corners Mode is selected, for example, via touch screen  76 . If no, control returns to step  108  ( FIG. 5 ). If yes, at step  604 , controller  52  unlocks the front and rear sway bars  40  via disconnect mechanism  44 . At step  606 , control determines which corner is selected by the user, for example, via a soft button on touch screen  76 . 
     If the right front is selected, control proceeds to step  608  and, at step  610 , determines if up or down movement is requested, for example, via soft buttons on touch screen  76 . If no request, control returns to step  610 . If upward movement of the right front of the vehicle is requested, control proceeds to step  612 , and controller  52  subsequently operates the associated actuator  46  to push the right front axle  36  away from the chassis  42  at step  614 . Control then proceeds to step  660 . If downward movement of the right front of the vehicle is requested, control proceeds to step  616 , and controller  52  subsequently operates actuator  46  to pull the right front axle  36  toward the chassis  42  at step  618 . Control then proceeds to step  660 . 
     If the left front is selected, control proceeds to step  620  and, at step  622 , determines if up or down movement is requested, for example, via soft buttons on touch screen  76 . If no request, control returns to step  622 . If upward movement of the left front of the vehicle is requested, control proceeds to step  624 , and controller  52  subsequently operates the associated actuator  46  to push the left front axle  36  away from the chassis  42  at step  626 . Control then proceeds to step  660 . If downward movement of the left front of the vehicle is requested, control proceeds to step  628 , and controller  52  subsequently operates actuator  46  to pull the left front axle  36  toward the chassis  42  at step  630 . Control then proceeds to step  660 . 
     If the right rear is selected, control proceeds to step  632  and, at step  634 , determines if up or down movement is requested, for example, via soft buttons on touch screen  76 . If no request, control returns to step  634 . If upward movement of the right rear of the vehicle is requested, control proceeds to step  636 , and controller  52  subsequently operates the associated actuator  46  to push the right rear axle  26  away from the chassis  42  at step  638 . Control then proceeds to step  660 . If downward movement of the right rear of the vehicle is requested, control proceeds to step  640 , and controller  52  subsequently operates actuator  46  to pull the right rear axle  26  toward the chassis  42  at step  642 . Control then proceeds to step  660 . 
     If the left rear is selected, control proceeds to step  644  and, at step  646 , determines if up or down movement is requested, for example, via soft buttons on touch screen  76 . If no request, control returns to step  646 . If upward movement of the left rear of the vehicle is requested, control proceeds to step  648 , and controller  52  subsequently operates the associated actuator  46  to push the left rear axle  26  away from the chassis  42  at step  650 . Control then proceeds to step  660 . If downward movement of the left rear of the vehicle is requested, control proceeds to step  652 , and controller  52  subsequently operates actuator  46  to pull the left rear axle  26  toward the chassis  42  at step  654 . Control then proceeds to step  660  where control provides notifications to the driver of relevant system information through messaging screens (e.g., displays  64 ,  74 ). Control can then proceed to optional system data operations shown in  FIG. 13 . 
       FIG. 11  illustrates an example method  700  of operating the vehicle attitude adjustment system  50  in the manual control All Up Mode  120 . In the example embodiment, the method begins at step  702  and controller  52  determines if All Up Mode is selected, for example, via touch screen  76 . If no, control returns to step  108  ( FIG. 5 ). If yes, at step  704 , controller  52  locks the front and rear sway bars  40  via disconnect mechanism  44 . At step  706 , controller  52  subsequently operates actuators  46  to push both the front and rear axles  36 ,  26  away from the chassis  42 . Control then proceeds to step  708  where control provides notifications to the driver of relevant system information through messaging screens (e.g., displays  64 ,  74 ). Control can then proceed to optional system data operations shown in  FIG. 13 . 
       FIG. 12  illustrates an example method  800  of operating the vehicle attitude adjustment system  50  in the manual control All Down Mode  122 . In the example embodiment, the method begins at step  802  and controller  52  determines if All Down Mode is selected, for example, via touch screen  76 . If no, control returns to step  108  ( FIG. 5 ). If yes, at step  804 , controller  52  locks the front and rear sway bars  40  via disconnect mechanism  44 . At step  806 , controller  52  subsequently operates actuators  46  to pull both the front and rear axles  36 ,  26  toward the chassis  42 . Control then proceeds to step  808  where control provides notifications to the driver of relevant system information through messaging screens (e.g., displays  64 ,  74 ). Control can then proceed to optional system data operations shown in  FIG. 13 . 
       FIG. 13  illustrates an example method  900  of data control when utilizing the vehicle attitude adjustment system  50 . At step  902 , controller determines if the user would like to save the operation data (e.g., height and wheel, chassis, and axle location) for later use, for example, via driver use of soft buttons on touch screen  76 . If no, control proceeds to step  906 . If yes, control proceeds to step  904  and the controller maps the terrain using system sensor information and saves for later use. Control then proceeds to step  906  where controller  52  determines if the user would like to send the operation data to other connected vehicles, for example, via driver use of soft buttons on touch screen  76 . 
     If no, control proceeds to step  910 . If yes, control proceeds to step  908  and controller  52  sends terrain and system information to other connected vehicles (e.g., via communications hub  72 ), for example, to allow them to follow the same path with the recommending data from the leader vehicle. Control then proceeds to step  910  and controller  52  determines if the user would like to send the user data to the central database  80 . If yes, control proceeds to step  912  and controller  52  sends user data to the central database  80 , for example, to be used by other vehicles in a future Autonomous Mode. If no, or if the data is sent to the central database  80 , control then proceeds to step  104  ( FIG. 5 ) and the operation ends. 
     Described herein are systems and methods for adjusting vehicle attitude. The systems include a user interface that enables a user to select between autonomous/automatic and manual control modes to adjust vehicle attitude via actuators located on sway bar assemblies. In autonomous mode, the vehicle utilizes previously stored terrain mapping/GPS track data from other users to adjust vehicle attitude. In automatic mode, the vehicle automatically adjusts the actuators to keep the body as close to level as possible. In manual control mode, the user can choose between front/rear adjustment, right/left adjustment, four corners adjustment, all up, and all down modes for manual attitude adjustment. These adjustments allow changing the attitude of the vehicle independent of the axles/tire surface, thereby improving weight transfer and driver confidence. 
     The described systems provide numerous advantages and benefits including: improved approach, break over, and departure angles; pulling the front of the vehicle down as far as possible on steep climbs to counteract vehicle weight transfer; improve driver confidence by reducing the feeling of lightness in the front of the vehicle when making steep climbs; improve weight transfer and driver confidence by lifting the rear of the vehicle on steep climbs; performing opposite actions to improve weight transfer on steep descents; system/method could be used on air suspension vehicles by individually controlling the air bags instead of using the sway bar; reduce weight on the front axle by pulling upward to allow the vehicle to rest the belly skid on a ledge and spin the front tires to either heat them or clear debris from the tread; purposely high center the vehicle on an object (e.g., boulder) to use as a temporary pivot point to rotate the vehicle in a tight turn; assist with tire changing by raising the ride height and placing a support block between the frame rail and the ground and then lower the ride height, effectively lifting the tire off the ground; lowering the vehicle height for object clearance (e.g., entering a low garage); and raising the vehicle height, for example, during river fording. 
     Additional advantages and benefits include: ability to audit a difficult off-road line or trail in Autonomous Mode in your own vehicle; ability to pull down the front of the vehicle on steep climbs to improve weight transfer, driver confidence, and line of sight; keep the vehicle level when driving laterally on an incline; keep the vehicle as close to level as possible on uneven terrain in Automatic Mode; Improve ingress and egress height of the vehicle when the vehicle is in the All Down Mode; Park the vehicle in garages with low ceiling height; lower the vehicle for areas that have low clearance; attach trailers without leaving the driver seat; raise the vehicle up to improve wading height for water fording; and raise the vehicle to clear an obstacle. 
     As used herein, the term controller or module refers to an application specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and memory that executes one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that provide the described functionality. 
     It will be understood that the mixing and matching of features, elements, methodologies, systems and/or functions between various examples may be expressly contemplated herein so that one skilled in the art will appreciate from the present teachings that features, elements, systems and/or functions of one example may be incorporated into another example as appropriate, unless described otherwise above. It will also be understood that the description, including disclosed examples and drawings, is merely exemplary in nature intended for purposes of illustration only and is not intended to limit the scope of the present application, its application or uses. Thus, variations that do not depart from the gist of the present application are intended to be within the scope of the present application.