Vehicle stability control system

A control system for a vehicle, comprising:

• a vehicle motion control system that determines a desired path for the vehicle and outputs a braking command based on the desired path;
• a stability control system that is operable to:
• determine reference states that represent an expected future vehicle response to execution of the braking command,
• determine, subsequent to execution of the braking command, measured states that represent an actual vehicle response to execution of the braking command,
• determine a reference deviation based on a difference between the reference states and the measured states, and
• output a braking intervention command for applying braking to reduce the reference deviation;
• and
• a braking system that applies braking in response to the braking command and the braking intervention command.

A control system for a vehicle, comprising:

• a stability control system that is operable to:
• determine reference states that represent an expected vehicle response,
• determine measured states that represent an actual vehicle response,
• identify an unstable condition based on a difference between the reference states and the measured states,
• determine a stability intervention to reduce the difference between the reference states and the measured states,
• in response to a determination that a brake torque required for the stability intervention is greater than a maximum brake torque value, determine a first component of the stability intervention and a second component of the stability intervention,
• output a braking intervention command to satisfy the first component of the stability intervention, and
• output a supplemental intervention command to satisfy the second component of the stability intervention;
• a braking system that applies braking in response to the braking intervention command;
• and
• a vehicle motion control system that causes operation of an additional actuator system to reduce the difference between the reference states and the measured states in response to the supplemental intervention command from the stability control system.