A novel Integrated Vehicle Dynamics Control (IVDC) scheme is presented to
coordinate active steering and braking subsystems. The multi-stage coordination scheme is based
on the phase-plane Method. The first stage includes the high-level controller which integrates three
individual controllers according to vehicle states in the phase plane. In the next stage, an optimized
scheme is established to allocate the control objectives to individual braking and steering forces.
To achieve this, an inequality-constrained optimization problem, including driver's brake demand,
is solved analytically. Coefficients of the cost function are adapted based on the vehicle phaseplane
trajectory to realize a proper coordination of braking and steering subsystems. Simulation
results validate the effectiveness of the proposed method to enhance the vehicle dynamics control.