A method and control system for a motor vehicle

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 of which one is a drive train and brakes coordinator subsystem 20 to allow the vehicle to implement the intended driving demand 14.