## 6 Discussion and Conclusions
Second, in most of the previously proposed cases, as for instance in [10; 11; 12; 16], braking on a straight even surface excludes the lateral dynamics influence on the controller, and, thus, on the vehicle safety performance. The simulation results in Section 5 show that the lateral dynamics during cornering maneuvers and on split-\(\upmu\) road profiles braking must be taken into consideration as they are essential in car spin and roll-over avoidance. Otherwise, the ABS and ESP safety assistance cannot be ensured. Third, the simple quarter-car model studied in [9; 18] is not enough to prove the controller productivity and robustness. In reality, the four-wheel vehicle model represents a more complex control task. Consequently, the vehicle model examined in this paper has an advantage over other similar works. Finally, regarding the ESP performance, most researchers [20; 21; 23; 24; 25] limit their results with a simple line change maneuver. There were no publications found testing the ABS and ESP designed with FLC on a cornering split-\(\upmu\) road profile, as has been done in the current work. In short, the results obtained from the current research are as follows:  
* The ESP and ABS FLC control integration to obtain energy-efficient braking performance. * The controls safety and robustness in different kinds of complex maneuvers is studied. * Use of a complex 10 DOF vehicle model in the controller simulation. The main drawback of the presented work, however, is its restriction by the numerical simulation. In the PC software simulation, the real vehicle dynamics and physical behavior are missing. A computer simulation does not completely solve the problem. Future research covers the experimentation on the HIL brakes test bench. Moreover, the controller will be designed and applied on a four in-wheel-motor drive passenger electric vehicle providing the torque-base brake solution to study recuperative braking. **Supplementary Materials:** The following are available online at www.mdpi.com/2076-3417/6/12/382/s1, Figure S1: Straight split-\(\upmu\) road with a half wet-half dry surface profile velocity curves, Figure S2: Straight split-\(\upmu\) road with a half wet-half dry surface profile wheel slip curves, Figure S3: Straight split-\(\upmu\) road with a half wet-half dry surface profile angle curves, Figure S4: Straight split-\(\upmu\) road with a half licy-half wet surface profile velocity curves, Figure S5: Straight split-\(\upmu\) road with a half licy-half wet surface profile wheel slip curves, Figure S6: Straight split-\(\upmu\) road with a half licy-half wet surface profile angle curves, Figure S7: Curved split-\(\upmu\) road with a half wet-half dry surface profile wheel slip curves, Figure S9: Curved split-\(\upmu\) road with a half wet-half dry surface profile angle curves, Figure S10: Curved even road with wet-dry surface profile velocity curves, Figure S11: Curved even road with wet-dry surface profile velocity curves, Figure S12: Curved even road with wet-dry surface profile angle curves, Figure S13: Curved even road with dry-icy-wet surface profile velocity curves, Figure S14: Curved even road with dry-icy-wet surface profile wheel slip curves, Figure S15: Curved even road with dry-icy-wet surface profile angle curves, Figure S16: Straight even road with licy-dry-wet surface profile velocity curves, Figure S17: Straight even road with licy-dry-wet surface profile wheel slip curves. **Acknowledgments:** This research work was supported by the Deutschen Bundesstiftung Umwelt (DBU) exchange scholarship program and the European Union's Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No 645736. We acknowledge support for the Article Processing Charge from the German Research Foundation and the Open Access Publication Fund of the Technische Universitat Ilmenau. [PERSON] conceived designed and performed the experiments. [PERSON] and [PERSON] analyzed the data; all the authors prepared the manuscript. The authors declare no conflict of interest.