Grade-based vehicle motion control

Techniques control a utility vehicle. Such techniques involve setting a set of maximum motion limits imposed on the utility vehicle to a set of initial values. Such techniques further involve receiving a set of input signals from a set of sensors, the set of input signals indicating a set of current physical attributes of the utility vehicle. Such techniques further involve, based on the set of input signals, changing at least one maximum motion limit of the set of maximum motion limits from an initial value to an updated value which is different from the initial value.