主动悬架系统（ASS）已被提出并发展了几十年，由于对驾驶舒适性和安全性的高要求，以及ASS与汽车电气化和自动化的兼容性，现在再次成为学术界和工业界的热门话题。现有的关于ASS的综述论文主要涉及动力学建模和鲁棒控制；然而，学术研究成果和工业应用要求之间的差距尚未弥合，阻碍了大多数ASS研究知识向汽车公司转移。本文回顾了道路车辆ASS的研究进展，重点介绍了硬件结构和控制策略。特别是，详细讨论了最近在量产汽车中采用的最先进的ASS，包括梅赛德斯主动车身控制（ABC）和奥迪预测主动悬架的代表性解决方案；还介绍了可能成为替代方案的新概念，包括串联主动可变几何悬架和主动车轮对准系统。结构紧凑、质量增量小、功耗低、频率响应高、经济成本可接受、可靠性高的ASS更容易被汽车制造商采用。在控制策略方面，未来ASS的发展不仅旨在稳定底盘姿态和减弱底盘振动，而且使ASS能够配合汽车内的其他模块（如转向和制动）和传感器（如摄像头），甚至在整个交通系统中进行高层决策（如参考驾驶速度），这些策略将与快速发展的电动汽车和自动驾驶汽车兼容。

Active suspension systems (ASSs) have been proposed and developed for a few decades, and have now once again become a thriving topic in both academia and industry, due to the high demand for driving comfort and safety and the compatibility of ASSs with vehicle electrification and autonomy. Existing review papers on ASSs mainly cover dynamics modeling and robust control; however, the gap between academic research outcomes and industrial application requirements has not yet been bridged, hindering most ASS research knowledge from being transferred to vehicle companies. This paper comprehensively reviews advances in ASSs for road vehicles, with a focus on hardware structures and control strategies. In particular, state-of-the-art ASSs that have been recently adopted in production cars are discussed in detail, including the representative solutions of Mercedes active body control (ABC) and Audi predictive active suspension; novel concepts that could become alternative candidates are also introduced, including series active variable geometry suspension, and the active wheel-alignment system. ASSs with compact structure, small mass increment, low power consumption, high-frequency response, acceptable economic costs, and high reliability are more likely to be adopted by car manufacturers. In terms of control strategies, the development of future ASSs aims not only to stabilize the chassis attitude and attenuate the chassis vibration, but also to enable ASSs to cooperate with other modules (e.g., steering and braking) and sensors (e.g., cameras) within a car, and even with high-level decision-making (e.g., reference driving speed) in the overall transportation system—strategies that will be compatible with the rapidly developing electric and autonomous vehicles.