Optimized coordination of brakes and active steering for a 4WS passenger car

► We consider an optimization based coordination of braking and steering subsystems. ► A three-stage cascade vehicle control task, with a new DSC system, is considered. ► We coordinate the control objectives first and the braking and steering afterwards. ► An optimization problem with several constraints is solved analytically. ► The advantages of this method, over previous works, have been shown.