Vehicle Dynamic Control with 4WS, ESC and TVD under Constraint on Front Slip Angles

To enhance vehicle maneuverability and stability, a controller with 4-wheel steering (4WS), electronic stability control (ESC) torque vectoring device (TVD) under constraint on the front slip angles is designed in this research. In controller, allocation method adopted to generate yaw moment via 4WS, ESC TVD. If angle added for generating moment, performance of can be further deteriorated. This because magnitude lateral tire forces are limited required insufficient. Constraint imposed order prevent from saturating. The driving simulation performed by considering limit proposed study. Compared case that uses existing results study derived actuator combination enhances while maintaining stability.