A car running on a low friction road skids off easily and falls into a spin. In general, it is technically difficult for normal drivers to recover a car into stable state. If the car obeys non-holonomic constraints, which corresponds to the case without side skidding, the steering controller based on exact linearization assures exponential stability to the desired trajectory. To keep these constraints, we have proposed a driving force controller based on the sliding mode control that drastically reduces the deviations from constraints. In this study, we combine “direct yaw moment control” and sliding mode control to show that our controller is effective to prevent undesired tracking errors. Additionally, the chattering phenomena caused by the driver’s and our controller’s inputs is smoothed by proper interior division of them related to transverse direction speeds of each tire. The advantage of our controller is verified through an interactive driving simulation.

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