Complete vehicle control

A vehicle control system comprising:

• a vehicle motion control subsystem having a control input and a control output, the control input communicating an intended driving demand to the vehicle motion control subsystem, the intended driving demand requesting a vehicle behavior modification;
• a plurality of coordinator subsystems, each coordinator subsystem including a coordinator input and a coordinator output, each coordinator subsystem communicating coordinator capabilities of the coordinator subsystem to the system input of the vehicle motion control subsystem;
• and
• at least one actuator control subsystem for each coordinator subsystem, each actuator control subsystem having an actuator output communicating actuator capabilities of the actuator control subsystem to the coordinator input of an associated one of the plurality of coordinator subsystems;
• wherein the vehicle motion control subsystem calculates at least one coordinator demand signal, the at least one coordinator demand signal being determined according to the coordinator capabilities and the intended driving demand;
• wherein the vehicle motion control subsystem outputs the at least one coordinator demand signal to the coordinator input of at least one of the coordinator subsystems;
• wherein each coordinator subsystem calculates at least one actuator demand signal, the at least one actuator demand signal being determined according to the actuator capabilities and the at least one coordinator demand signal outputted to the at least one of the coordinator subsystems;
• wherein each coordinator subsystem outputs the at least one actuator demand signal to at least one actuator control subsystem;
• and
• wherein a combination of each at least one actuator demand signal provides directions for the at least one actuator control subsystem to perform the vehicle behavior modification of the intended driving demand.

A method of controlling a vehicle comprising:

• receiving at least one driver input from a driver of the vehicle;
• providing at least one active assist program having at least one active input, the at least one active assist program having an on setting wherein the at least one active assist program outputs at least one active input and an off setting wherein the at least one active assist program does not output at least one active input;
• inputting an intended driving demand for implementing a vehicle behavior modification into a vehicle motion control subsystem;
• proving an implementation subsystem;
• and
• outputting at least a portion of the intended driving demand from the vehicle motion control subsystem to the implementation subsystem;
• wherein the intended driving demand is derived from a combination of the at least one driver input and the at least one active input if the at least one active assist program is in the on setting and if the driver of the vehicle does not overrule the at least one active assist program, otherwise the intended driving demand is derived from the at least one driver input.