Integrated control of active rear wheel steering and yaw moment control using braking forces

An integrated control system of active rear wheel steering and yaw moment c ontrol using braking forces is presented in this paper. Due to the tire non linearity that is mainly due to the saturation of cornering forces, the imp rovement of vehicle handling and stability is limited to a certain extent w hen using only rear wheel steering control. Yaw moment control using brakin g forces is effective not only in linear but also nonlinear ranges of the t ire friction circle. Considering the tire friction circle, the control syst em is designed using model matching control theory to make the vehicle perf ormance follow a desired dynamic model even during large decelerations or l ateral accelerations. Various computer simulations in severe driving condit ions were carried out and verified that vehicle handling and stability are much improved by the integrated control system.