Abstract: A vehicle chassis system control according to the steps of: determining relative velocity between a corner of a vehicle body and a vehicle wheel responsive to a sensor signal from one of: (i) a relative position sensor mounted between the vehicle body corner and the vehicle wheel and (ii) a wheel rotational velocity sensor mounted to the wheel; estimating, responsive to the sensor signal, a body acceleration signal indicative of a vertical acceleration of the corner of the vehicle body; estimating, responsive to the sensor signal, a wheel acceleration signal indicative of a vertical acceleration of the vehicle wheel; estimating a dynamic normal force between the wheel and a road surface responsive to the estimated body and wheel accelerations; and providing the estimated normal dynamic force to a chassis system controller, wherein a chassis system actuator is controlled by a control command determined responsive to the estimated dynamic normal force.

Abstract: In a vehicle with a right front wheel brake, a right rear wheel brake, a left front wheel brake and a left rear wheel brake, a brake control system method for distributing a commanded yaw force to the wheel brakes according to the step of distributing the yaw force to the vehicle wheel brakes according to a priority hierarchy wherein each successive vehicle wheel brake in the priority hierarchy is commanded only if a sum of all previous vehicle wheel brakes in the priority hierarchy have not achieved transfer of the commanded yaw force to the vehicle body.