1. A method of controlling a vehicle comprising: inputting an intended driving demand to a vehicle motion control subsystem, the intended driving demand requesting a vehicle behavior modification; proving a plurality of coordinator subsystems; providing at least one actuator control subsystem for each coordinator subsystem; outputting actuator capabilities of the at least one actuator control subsystem to an associated one of the plurality of coordinator subsystems; outputting coordinator capabilities of each coordinator subsystem to the vehicle motion control subsystem; calculating at least one coordinator demand signal with the vehicle motion control subsystem, the at least one coordinator demand signal being determined according to the coordinator capabilities and the intended driving demand; outputting the at least one coordinator demand signal to at least one of the coordinator subsystems; calculating at least one actuator demand signal with each of the at least one of the coordinator subsystems, the at least one actuator demand signal being determined according to the actuator capabilities and the at least one coordinator demand signal outputted to the at least one of the coordinator subsystems; and outputting the at least one actuator demand signal to the at least one actuator control subsystem; wherein a combination of each at least one actuator demand signal provides directions for the at least one actuator control subsystem to perform the vehicle behavior modification of the intended driving demand.