Abstract: In view of the easy steering instability of vehicles running sideways， this paper considers the variation of tire cornering stiffness to avoid saturation of tire lateral force and improve driving safety and constructs a vehicle stability control method. The front and rear axle tire sideslip angle segmented fitting method is used to establish a tire cornering stiffness fitting model， and then the fitted cornering stiffness is introduced into the vehicle dynamics model to accurately describe the current dynamic performance of the vehicle. In order to avoid the steering instability caused by the saturation of the tire lateral force， this paper proposes a vehicle stability control method based on the model predictive control(MPC)algorithm that considers the constraints of the front and rear axle tire sideslip angles to optimize the vehicle’s steering performance. Simulation results show that the proposed vehicle stability control method can suppress the tire sideslip angle of the front axles within a certain range， while taking into account the changes in the cornering stiffness， thereby avoiding the occurrence of vehicle sideslip and improving the stability performance of the vehicle.

Key words: active safety; cornering stiffness fitting; constrained front axle cornering angle; least square method; model predictive control