In this paper a sliding-mode yaw moment controller and fuzzy logic wheel slip controller are proposed to enhance vehicle stability in a split-μ manoeuvre. The proposed wheel slip controller shows good performance in improving vehicle handling in a braking manoeuvre. However, when a braking manoeuvre was conducted under the split-μ condition, the yaw moment generated by the asymmetric braking forces may cause the vehicle-handling stability to deteriorate. The sliding-mode yaw moment controller was introduced to regulate the wheel slip controller to improve the vehicle-handling performance. A target slip allocation algorithm was employed to coordinate the control conflict between the anti-lock braking system and vehicle stability control. First, the proposed control system was evaluated through pure computer simulation and a hardware in-the-loop simulation system. Then an experimental test was also introduced to verify the effectiveness of the proposed control system.
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