Operating a vehicle control system

   
   

The invention provides a method, a computer usable medium including a program, and a system for operating a vehicle control system. A plurality of measured vehicle variables is determined. At least one suspension force is determined based on at least one of the determined measured vehicle variables. At least one tire vertical force is determined based on the at least one determined suspension force and at least one of the determined measured vehicle variables. At least one tire longitudinal force is determined based on at least one of the determined measured vehicle variables. At least one axle lateral force is determined based on at least one of the determined measured vehicle variables. At least one tire lateral force is determined based on the at least one determined axle lateral force and the at least one determined tire vertical force. At least one control component of the vehicle control system is modulated based on the at least one determined tire vertical force, the at least one determined tire longitudinal force, and the at least one determined tire lateral force.

 
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