A vehicle control system (10) including a vehicle motion control subsystem
(12) that has an input receiving an intended driving demand (14) and a
plurality of coordinator subsystems (16) for coordinating actuators of the
vehicle. The vehicle motion control subsystem (12) communicates with the
coordinator subsystems (16) to determine whether a single coordinator
subsystem (16) can carry out the intended driving demand (14). The vehicle
motion control subsystem (12) will distribute demand signals among one or
more of the coordinator subsystems (16) to allow the vehicle to implement
the intended driving demand (14).