Abstract: Considering the coupled dynamics between electric power steering(EPS) and electronic stability program(ESP), the high-order and nonlinear dynamic model is built based on a 7 DOF vehicle model. The self-aligning moment compensation of fuzzy adaptive proportion integration differentiation(PID) controller of EPS is adopted and drawing into negative feedback of the change rate of power torque achieve damping control, variable weighted value sliding mode controller is used for ESP. In order to further improve the vehicle whole-region optimal control performance, the two subsystems’ control functions are distributed based on the function allocation to decide the function allocation coefficient by fuzzy control. The considerable simulations are carried out for the coordinated control system, and also the function allocation based on the two subsystems’ test platform is established by utilizing hardware-in-loop in order to carry out the vehicle road test. The results show that the full-vehicle coordinated system based on the proposed control strategy can obtain the best control performances than the uncoordinated control system and uncontrolled system and improve the performance of manipulation and lateral stability of the vehicle obviously.

Key words: electric power steering, electronic stability program, function allocation, hardware-in-loop