Abstract
The lateral vehicle motion is well described by the state variables of the yaw rate and the sideslip angle. The vehicle dynamics control (VDC) system tries to follow the steering command by the driver using a direct yaw moment which is generated by asymmetric brake forces. For performance improvement of the VDC system, a new logic has been developed for determining the reference yaw rate and sideslip angle, and an observer that can account for the unbalance in tire force when cornering has also been developed. They have been incorported in a VDC system, and their validity has been evaluated via simulations.