Selective braking for steering loads

A system for a vehicle, the system comprising:

• a set of sensors;
• an electronic processor in communication with the set of sensors and a set of vehicle brakes, the electronic processor configured to:
• receive a braking request from a user via a brake pedal, the braking request indicative of a first braking force,
• determine, using the set of sensors, a speed of the vehicle,
• determine, using the set of sensors, a rack force of the vehicle,
• determine, using the set of sensors, a steering angle of the vehicle,
• determine whether a set of selective braking conditions are met, the set of selective braking conditions comprising a determination that the speed of the vehicle is less than a vehicle speed threshold, a determination that the rack force is greater than a rack force threshold, and a determination that the steering angle is greater than a steering angle threshold,
• in response to determining that the set of selective braking conditions are met, selectively control each brake included in the set of vehicle brakes by
• controlling a first brake included in the set of vehicle brakes according to the first braking force, and
• controlling a second brake included in the set of vehicle brakes according to a second braking force, the second braking force being less than the first braking force.