Vehicle motion control using torque vectoring with consideration of driver intent and load transfer

A method includes identifying an actual path and a desired path for a vehicle, where the actual path represents an expected path for the vehicle based on current operation of the vehicle and the desired path represents an estimated path that a driver of the vehicle wants to follow. The method also includes identifying one or more errors between the actual path and the desired path. The method further includes determining how to apply torque vectoring to cause the vehicle to more closely follow the desired path based on the one or more errors. In addition, the method includes applying the torque vectoring to create lateral movement of the vehicle during travel.