METHOD TO EFFECTIVELY PREDICT TIRE SATURATION FOR EVASIVE STEERING AND ACTIVE SAFETY CONTROL

A system operates a method for steering a vehicle. A sensor obtains a first stream of data related to road wheel angle for the vehicle and a second stream of data related to lateral acceleration for the vehicle. A processor determines a reduced tire model for the vehicle using the first stream of data and the second stream of data, obtains a measurement of a current road wheel angle and a measurement of a current lateral acceleration, determines a current slope from the current road wheel angle and the current lateral acceleration, compares the current slope to the reduced tire model to predict a level of saturation of a tire of the vehicle, and controls a steering actuator of the vehicle to steer the vehicle based on the level of saturation of the tire.