Integrated vehicle dynamics control of rear steering angle and driving/braking torque to improve vehicle handling and stability of a small four in-wheel-motors vehicle

Concerns about limited petroleum supplies and global warming drive the demand of fuel-efficient vehicles. Thus, in recent years, interest in development of small electric vehicles for 1 or 2 passengers is getting stronger than ever. Small electric vehicles are more vulnerable to vehicle handling and stability under emergency maneuvering conditions such as side wind [1] because small electric vehicles, which is compact size and lightweight, respond to steering induced maneuvers more quickly with greater amplitude.