This study analyses an Adaptive Trajectory Control (ATC) system in case of a sudden change in mu(max) (maximum tyre-road friction coefficient) during an emergency lane change manoeuvre in order to maintain the driving safety. Autonomous front wheel steering (FWS) systems have been developed for emergency steering situations. The trajectory design is also a part of these systems. Moreover, in this study ATC has been designed by sensing mu(max) to complete the emergency steering manoeuvre successfully. Therefore, the originality of this paper arises from the necessity of a trajectory change in case of a sudden change in mu(max) to minimize the distance between the desired and the actual path. Suitable cases were designed by using a two-track model in IPG/CarMaker (MATLAB/Simulink). Results show that ATC could be used during an emergency steering manoeuvre in case of a sudden decrease in mu(max) as it can be advantageous in certain critical traffic situations. Therefore, ATC could be used as an alternative system instead of Electronic Stability Program.