LONGITUDINAL OVERLAY WHILE USING BRAKE-TO-STEER

A number of illustrative variations may include a system that may manage torque overlay scenarios in a vehicle where the brakes and propulsion system are providing both lateral and longitudinal movement commands and there is a change in longitudinal acceleration requested from a driver or autonomous driving system. The system may manage driver brake inputs and brake-to-steer brake inputs to maintain brake-to-steer functionality while also applying sufficient braking as requested by the driver.