Patent ID: 6865468

Claim:
A vehicle stability enhancement system for a vehicle having at least one vehicle subsystem, comprising: at least one sensor for sensing at least one vehicle parameter; at least one vehicle control system for adjusting the at least one vehicle subsystem, said at least one vehicle control system comprising a rear wheel steering control system; at least one memory comprising at least one set of gain factors; and a controller responsive to said at least one sensor and said at least one set of gain factors for controlling said at least one vehicle control system; wherein said rear wheel steering control system is responsive to a rear wheel steering angle command from said controller; wherein said rear wheel steering angle command is responsive to an open-loop rear wheel steering angle control command, a yaw rate feedback command and a side-slip rate feedback command; wherein said rear wheel steering angle command is responsive to at least one of a 2WD/4WD mode selection switch and a trailer mode selection switch, and is responsive in one way to said trailer mode selection switch being in a non-trailering mode position and in a second different way to said trailer mode selection switch being in a trailering mode position.