A desirable vehicle model with the best performance of side-slip angle and yaw-rate is established through connecting direct yaw-moment control (DYC) with four-wheel steering (4WS) system.

• 摘要将横摆力矩控制(DYC)与四轮转向(4WS)系统相结合，建立侧偏角和横摆角速度具有最佳输出响应的车辆理想模型。