ABSTRACT
ABSTRACT: To obtain a better understanding of a vehicle with good handling characteristics, we use the equivalent tire cornering stiffness to evaluate the instantaneous static margin taking nonlinear tire characteristics into account. Yaw angular acceleration caused by sudden steering actions performed by the driver degrades steering characteristics at a corner (relative under-steer tendency during turn-in and over-steer tendency during turn-out). To compensate for this deterioration in handling, we propose longitudinal acceleration control and new braking/traction force distribution control among front/rear wheels using the effects of vertical load and longitudinal forces dependencies by using lateral jerk information.
