Traction Budget

Return to figure 8. At point C we are on the curve but still decelerating. If we're using all of our traction for cornering then we won't be able use the brakes to stay at as it decreases. (Although aerodynamic drag can still slow us down.) As the car's speed gets closer to , $a_b$ must decrease. A linear scaling of $a_b$ works well.

$$a_b \leftarrow a_b (1 - v/\ensuremath{v_\mathrm{max}})$$ (27)