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.
