MOTION CONTROL SYSTEM DETERMINING A LONGITUDINAL ACCELERATION COMMAND FOR A VEHICLE

A motion control system for a vehicle includes one or more controllers. The one or more controllers include one or more processors that execute instructions to receive a current longitudinal vehicle velocity and an autonomous acceleration command, determine a predicted longitudinal velocity of the vehicle based on the current longitudinal vehicle velocity and the autonomous acceleration command, and determine a predicted lateral acceleration of the vehicle based on the predicted longitudinal velocity of the vehicle and determine an allowed longitudinal acceleration of the vehicle based on the predicted lateral acceleration of the vehicle and the current longitudinal vehicle velocity. The one or more controllers determine a longitudinal acceleration command based on the allowed longitudinal acceleration and the current longitudinal vehicle velocity and instruct the prime mover of the vehicle to limit the speed of the vehicle based on the longitudinal acceleration command.