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Improvement of vehicle dynamics in limit cornering have been studied. Simulations and tests have verified that vehicle stability and course trace performance in limit cornering have been improved by active brake control of each wheel. The controler manages vehicle yaw moment utilizing difference braking force between left and right wheels, and vehicle deceleration utilizing sum of braking forces of all wheels.

A Slow Active Suspension system has the advantage of requiring less energy than a Full Active Suspension system. But for improving vehicle's attitude control, feed-forward control becomes of paramount importance. This paper describes the control algorithms utilized in the Slow Active Suspension system that Toyota has just made available on the Japanese market. Special control items specifically developed for this system are; I ) The parameter Kwt, which is the ratio between the estimated differential value of lateral acceleration from steering angle velocity and that from lateral acceleration sensor in order to realize fast response to transient roll control, II ) Side Slip Judgement, which prevents the feed-forward errors in the case of changing co-efficients of surface friction, III ) Heave control, which prevents the vertical motions caused by heave disturbance force in the suspension cylinders during high-G turns.