SELECTIVE BRAKING FOR STEERING LOADS

Examples provide a system for a vehicle. The system includes a set of sensors and an electronic processor in communication with the set of sensors and a set of vehicle brakes. The electronic processor receives a braking request indicative of a first braking force, determines a speed of the vehicle, determines a rack force of the vehicle, and determines whether a set of selective braking conditions are met. The selective braking conditions include a determination that the speed of the vehicle is less than a vehicle speed threshold and a determination that the rack force is greater than a rack force threshold. When the set of selective braking conditions are met, the electronic processor selectively controls a first brake according to the first braking force and a second brake according to a second braking force. The second braking force is less than the first braking force.