Abstract: A computer-implemented method for switching between a first controller and a second controller for a vehicle includes in a first operation stage, controlling an operational parameter of at least one MSD of the vehicle using the first controller, thereby providing a first tire force at at least one tire associated with the MSD, determining a second tire force for the at least one tire based on a vehicle model associated with the second controller, in a second operation stage, controlling the operational parameter of the at least one MSD using a third controller, comprising determining an intermediate value for the operational parameter based on the first and second tire forces, and in a third operation stage, controlling the operational parameter of the at least one MSD using the second controller, thereby providing the second tire force at the at least one tire.

Abstract: The invention concerns a method for estimating in real time, in a motor vehicle, a front force (FyV) and a rear force (FyR), these forces being applied by the ground to the front wheels and to the rear wheels, respectively, of the vehicle along a transverse direction. The method consists in: equipping this vehicle with a measuring device supplying a signal representative of a measured transverse acceleration (?T) and a signal representative of a measured yaw rate (?T), and with a processing unit; applying to these signals a processing operation to determine a front force and a rear force based on a dynamic model of the vehicle such as a model of the bicycle type. The invention applies to the field of active safety.