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...http://www.google.com/patents/US7120529?utm_source=gb-gplus-sharePatent US7120529 - Drive train and brakes coordinator subsystem and method
