Method of anti-roll moment distribution

1. A method of producing an anti-roll moment distribution module for a vehicle, comprising:

determining understeer characteristics of the vehicle;

determining a maximum lateral acceleration of the vehicle;

adjusting the understeer characteristics of the vehicle based on the determined maximum lateral acceleration;

determining reference understeer characteristics;

determining a plurality of reference yaw rates based on (i) the maximum lateral acceleration and (ii) the reference understeer characteristics using a non-linear quasi-static model of the vehicle;

storing the plurality of reference yaw rates in a first look-up table in the anti-roll moment distribution module;

determining a plurality of feedforward contributions using the non-linear quasi-static model of the vehicle, wherein each feedforward contribution of the plurality of feedforward contributions can be used to determine a front-to-total anti-roll moment distribution for the vehicle; and

storing the plurality of feedforward contributions in a second look-up table in the anti-roll moment distribution module.

2. The method of claim 1 , wherein the non-linear quasi-static model of the vehicle includes a set of equations and inequalities, and

wherein determining the understeer characteristics includes:

starting to solve the set of equations and inequalities using (i) increasing lateral acceleration values and (ii) constant velocity values, and

stopping in response to being unable to find a valid solution to the set of equations and inequalities.

3. The method of claim 1 , wherein determining the maximum lateral acceleration of the vehicle includes performing a minimization procedure on a cost function.

4. The method of claim 1 , wherein determining the plurality of reference yaw rates and determining the plurality of feedforward contributions includes solving the set of equations and inequalities without using forward time integration.