Longitudinal control feedback compensation during brake-to-steer

A non-transitory computer readable medium having instructions there on executable by an electronic processor to implement functionality comprising:

• receiving vehicle speed data, accelerator controller position data, and powertrain state data;
• receiving steering fault status;
• communicating at least one brake torque command to apply at least one brake of the vehicle to steer the vehicle, and communicating at least propulsion torque command;
• measuring longitudinal acceleration of the vehicle or vehicle speed;
• modifying the at least one propulsion torque command or the at least one brake torque command based on the measured longitudinal acceleration of the vehicle or vehicle speed to provide optimal torque based on current vehicle speed to assist with longitudinal control.