Abstract: A vehicle, a method of controlling a vehicle, and a non-transitory computer readable storage medium are described. The vehicle can comprise a management and control system associated to onboard systems and/or to a driving input interface and/or to the engine and/or powertrain and/or to at least one wheel and/or to the chassis. The management and control system can: determine aggregated command outputs; detect one or more dynamic parameters exceeding a threshold safety value; selectively prioritize each of the aggregated command outputs based on one or more of the dynamic parameters to change from a user-selected driving mode to a safety driving mode; and change the prioritized safety driving mode back to the user-selected driving mode in response to the one or more of the dynamic parameters no longer exceeding the threshold safety value.