DETERMINING AVAILABLE DYNAMIC TURNING RADIUS

A system includes a computing device that includes a processor and a memory. The memory stores instructions executable by the processor. One instruction is to determine a transition in performance of a steering system actuator of a vehicle to a diminished operating mode. Another instruction is to determine a maneuverable envelope of vehicle velocity and path curvature adapted to the diminished operating mode. Another instruction is to select a vehicle velocity within the envelope for a path curvature.