Abstract: The invention provides a method and computer usable medium, including a program, for steering a vehicle having driver-controlled front wheel steering and active rear wheel steering. A rear wheel steering angle static portion is determined based on a control gain and a front wheel steering angle. A slew-limited magnitude of desired lateral acceleration is determined based on a desired lateral acceleration. A multiplying factor is determined based on the slew-limited magnitude of desired lateral acceleration. A feed-forward rear steering angle is determined based on the multiplying factor, the rear wheel steering angle static portion, and a rear wheel steering angle dynamic portion.

Abstract: A dynamic side-to-side braking method is disclosed. First, when the vehicle is in a combined braking and cornering maneuver, a desired braking force among tires of a vehicle is determined. Second, a brake force distribution of the desired braking force among the tires is determined. The brake force distribution is approximately proportional to a normal force distribution among the tires during the combined braking and cornering maneuver by the vehicle. When the vehicle excludes an active steering system, front or rear, the brake force distribution is determined as a function of a feedback correction to counterbalance a portion of a yaw moment experienced by the vehicle during the combined braking and cornering maneuver. When the vehicle includes an active steering system, front or rear, a steering correction is determined to counterbalance a portion of the yaw moment experienced by the vehicle during the combined braking and cornering maneuver.

Abstract: An integrated active steering and braking control system for providing one or more corrective yaw moments to a vehicle in response to a plurality of signals indicative of operational and environmental conditions related to the vehicle is disclosed. The system comprises a reference model, an estimator, a vehicle level brake/steer controller, and an actuator controller. The reference model provides a feedforward front steering angle correction signal a feedforward rear steering angle correction signal, a desired yaw rate signal, a desired lateral velocity signal, and a desired side slip angle signal. The estimator provides an estimated surface coefficient of adhesion signal, an estimated lateral velocity signal, and an estimated side slip angle signal. In response to the signals from the reference model and the estimator, the vehicle level brake/steer controller provides either a desired speed differential signal, a desired front steering angle signal and/or a desired rear steering angle signal.

Abstract: An integrated active steering and braking control system for providing one or more corrective yaw moments to a vehicle in response to a plurality of signals indicative of operational and environmental conditions related to the vehicle is disclosed. The system comprises a reference model, an estimator, a vehicle level brake/steer controller, and an actuator controller. The reference model provides a feedforward front steering angle correction signal a feedforward rear steering angle correction signal, a desired yaw rate signal, a desired lateral velocity signal, and a desired side slip angle signal. The estimator provides an estimated surface coefficient of adhesion signal, an estimated lateral velocity signal, and an estimated side slip angle signal. In response to the signals from the reference model and the estimator, the vehicle level brake/steer controller provides either a desired speed differential signal, a desired front steering angle signal and/or a desired rear steering angle signal.