Method and device for vehicle motion control

The invention relates to a method and a controller for vehicle motion control. In order to coordinate the activities of several active chassis control systems a motion request (M_req) is first expressed by desired values (F_body_x_req, ..., T_body_phi_req) of body forces and/or torques corresponding to the six degrees of freedom of the vehicle. Next, the requested commands (u_1, ..., u_n) for given actuators (A1, ... An) are calculated such that they can produce said desired values of body forces and/or torques. In an intermediate stage the requested tire forces (F_FL_x_req, ..., F_RR_z_req) may be calculated by the vehicle motion controller.