0018-9545 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information. This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TVT.2015.2513063, IEEE Transactions on Vehicular Technology 1 Abstract— This paper describes an Integrated Chassis Control algorithm (ICC) of differential braking, front/rear traction torque, and active roll moment control. The integrated control algorithm is designed to maximize driving-velocity and enhance vehicle lateral stability in cornering. The target longitudinal acceleration is determined based on the driver’s intention and vehicle current status to ensure vehicle lateral stability in high speed maneuvering. An optimized-based control allocation strategy is used to distribute the actuator control inputs optimally under consideration of tire and vehicle limitation. Closed loop simulations of a driver-vehicle-controller system were conducted to investigate the performance of the proposed control algorithm. The performance of the ICC has been compared to those of individual chassis control systems, such as Electronic Stability Control (ESC), Four-wheel Drive (4WD), and Active Roll Control System (ARS). The simulation results show that the proposed ICC algorithm improves the performance in high speed cornering with respect to driving speed without losing stability compared to individual chassis control systems. Nomenclature , f r C C Front/rear tire cornering stiffness C  Total damping coefficient of the vehicle roll motion , , x y z FF F Longitudinal/Lateral/Vertical tire force ,, x i ESC F Longitudinal tire force of each wheel generated by ESC, i=FL,FR,RL,RR , ,4 xi WD F Longitudinal tire force of each axle generated by 4WD, i=F,R , xf xr F F Longitudinal tire force of the front/rear axle , yf yr F F Lateral tire force of the front/rear axle , zL zR F F Vertical tire force of the left/right side , , , y FL y FR F F Lateral tire force of the front-left/right wheel , , , z FL z FR F F Vertical force of the front-left/right wheel , , , z RL z RR F F Vertical force of the rear-left/right wheel k F The spring force in the suspension system d F The damping force in the suspension system K  Total roll stiffness of the vehicle roll motions .4 p WD K Proportional gain for yaw-rate control in 4WD module .ARS p K Proportional gain for moment distribution in ARS module .ARS I K Integral gain for moment distribution in ARS module , f r k k   Slip-angle gains for sliding mode controller in the supervisor controller This work was jointly supported by the Hyundai Motor Company, SNU-IAMD, the BK21 program, and the National Research Foundation of Korea (NRF) grant funded by the Ministry of Science, ICT and Future Planning (MSIP) (No.2009-0083495) H. Her, Y. Koh, E. Joa and K. Yi. Authors are with Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea. (corresponding author to provide phone: 02-880-1941; fax: 02-888-7194; e-mail: kyi@snu.ac.kr). K. Kim Authors is with the Intelligent Vehicle Safety System Development Team, Hyundai Motor Company, Hwaseong-si, Gyeonggi-do, Korea. (e-mail: kilsookim@hyundai.com). An Integrated Control of Differential Braking, Front/Rear Traction, and Active Roll Moment for Limit Handling Performance Hyundong Her, Youngil Koh, Eunhyek Joa, Kyongsu Yi, and Kilsoo Kim, Member, IEEE