Integrated control of four-wheel-steer and yaw moment to improve dynamic stability margin

Enhancing the performance of vehicles under some critical driving situations where the tires may work within strong nonlinear areas has been a difficult task assigned to automotive researchers for decades. Although some control systems have been proposed, there is still much room left for improvement. This study introduces an integrated control system providing high performance within tires´ strong nonlinear areas with an adaptivity to the changing road and other conditions, by optimally controlling the front and rear steering angles and the yaw moment, based on the information of system parameters identification. The proposed system is verified by computer simulations to be effective in both enhancing the dynamic stability margin and reducing the driver´s steering burden