Table 2 Coordination of braking and steering systems

[87]

Weighted pseudo-inverse based control allocation

M_yaw

Maneuverability and lateral stability

ESC + AFS + 4-Wheel drive (4WD)

[88]

MPC

M_yaw

Directional stability and steerability

ESC + active torque vectoring

[90]

Model matching

β_ref, γ_ref

Lateral stability

RWS + DYC

[100]

Constrained optimization

M_yaw, F_x

Agility, maneuverability, and lateral Stability

AFS + ESC

[103]

Direct Lyapunov method

V_ref, γ_ref

Lateral stability, reduce v error

AFS + DYC

[95]

MPC

a_y, γ_ref

Reduce longitudinal speed error and yaw stability

AFS + differential braking

[96, 123, 125]

MPC

β_ref, γ_ref

Lateral stability

AFS + differential braking

[105]

Static-state feedback

β_ref, γ_ref

Handling stability

AFS + differential braking

[91, 92]

SMC based

β_ref, γ_ref

Handling stability

AFS + DYC

[98]

Optimal guaranteed cost theory

β_ref, γ_ref

Handling stability

AFS + DYC

[106]

SMC

F_xd, M_yaw

Path tracking performance

AFS + DYC

[112]

SMC

v_xd, v_yd, γ_ref

Path tracking performance

Steer + brake

[108]

Fuzzy H_∞ control

β_ref, γ_ref

Lateral stability

AFS + DYC

[109]

Fuzzy

M_yaw, F_y

Wheel slip

AFS + DYC

[116, 117, 120]

Constrained optimization

Desired force and yaw moment

Handling performance

4WS + 4WD

[99]

LQR

Fault tolerant

4WS + 4WD

[126‒129]

Nonlinear backstepping

Path segmenta-tion, vehicle states

Obstacle avoidance

Steer + brake

[72, 77]

MPC, SMC

Anti-roll

Steer + brake

[124, 125]

MPC

Regenerative braking

Steer + brake