Coordinated vehicle dynamic handling balance control using torque management

A chassis control method comprising:

• determining a lateral acceleration of a vehicle, an amount of torque requested by a driver of the vehicle, a speed of the vehicle, and a road surface condition;
• determining an operation boundary based on the lateral acceleration of the vehicle, the amount of torque requested by the driver of the vehicle, the speed of the vehicle, and the road surface condition;
• and
• controlling a first torque source of a first axle of the vehicle and a second torque source of a second axle of the vehicle to transition between a torque redistribution mode and a torque limit control mode based on the operation boundary, a wheel torque redistribution threshold, a wheel torque limit of at least one of the first axle and the second axle, and a torque limit of one of the first torque source and the second torque source, where the torque redistribution mode refers to when torque is being selectively provided to the first axle by the first torque source and to the second axle by the second torque source, and where the torque limit control mode refers to when torque to at least one of first axle and the second axle is limited.