B.E., Automotive Engineering, Jilin University, 2003

Ph.D., Automotive Engineering, Beihang University, 2009

Postdoctoral Research Associate, School of Vehicle and Mobility, 2009-2011

Visiting Associate, Research and Development Headquarters, JTEKT Corporation, 2010-2011

Assistant Professor, School of Vehicle and Mobility, 2011-2017

Visiting Associate, Department of Mechanical Engineering, University of California, Berkeley (UC Berkeley), 2014-2015

Associate Professor, School of Vehicle and Mobility, 2017-present

Courses

Automotive Construction Ⅱ, 40150442

Chassis Design, 40150263

Research Interests

Driver(Occupant)-vehicle dynamics and control and intelligent chassis of vehicle

Research Areas

Intelligent steering systems, Driver/ Occupant monitoring system, ADAS, Control of chassis

Gold Award, Beijing Invention and Innovation Competition, 2022

Best Paper Finalist, 6^th CAA International Conference on Vehicular Control and Intelligence, 2022

Guo Konghui Paper (Best young author), 6^th CAA International Conference on Vehicular Control and Intelligence, 2022

Best Paper, China Journal of Highway and Transport, 2021

Teaching Achievement Award, Second Prize, Tsinghua University, 2021

Annual Teaching Excellence Award, Tsinghua University, 2021

Demonstration teacher of course education, Tsinghua University, 2021

First-class online undergraduate course award, Ministry of Education of China, 2020

Best Paper Finalist, 2020 IEEE International Conference on Mechatronics and Automation, 2020

Excellent Project in Mechanical Engineering Division of NSFC (ten per year), National Science Foundation of China, 2018

Science and Technology Progress Award, First Prize, The People's Government of Chongqing Municipality, 2017

Mao Yi-sheng Beijing Youth Science and Technology Award, Beijing Science and Technology Association / Peking Mao Yi-sheng Science and Technology Education Foundation, 2017

Annual Teaching Excellence Award, Tsinghua University, 2016

Outstanding Young Scientific and Technological Talents Award of China Automotive Industry, China Society of Automotive Engineers, 2016

National Award for Science and Technology Progress, Second Prize, State Council of the People's Republic of the China, 2014

Beijing Science and Technology Award, First Prize, The People's Government of Beijing Municipality, 2012

Associate Editor for Journal of Dynamic Systems, Measurement and Control, 2018-2024 and 2025- present

Vice Editor-in-Chief for China Journal of Highway and Transport, 2018 – present

Vice Editor-in-Chief for Journal of Highway and Transportation Research and Development (English Edition), 2025- present

Editorial Board Member for Machines, 2022- present

Editorial Board Member for Journal of Jilin University (Engineering and Technology Edition), 2021 – present

Editorial Board Member for Transport Research, 2019 – present

Technical program committee member for ISEAE, 2021, 2022, 2023

Technical program committee member for ITSSC 2021

Refereed journal papers.

[1] T. Jiang, J. Li, L. Ma, X. Ji, Y. Liu.Passenger Comfort Assessment via Motion Complexity Analysis for Autonomous Vehicles. Chinese Journal of Mechanical Engineering, 38, 149, 2025.

[2] T. Jiang, Q. Dong, Y. Ma, X. Ji, Y. Liu. Customizable Multimodal Trajectory Prediction via Nodes of Interest Selection for Autonomous Vehicles. Expert Systems with Applications, 288, 128222, 2025.

[3] H. Liu, J. Li, X. Ji, Y. Liu. Design of a robust angle tracking controller for steering-by-wire systems with angular velocity observer and friction compensation. Control Engineering Practice, 163, 106402, 2025.

[4] H. Liu, X. Ji, S. Tao, Y. Hu, Y. Liu. Design of a hierarchical lane-keeping assist control for a steer-by-wire vehicle. IEEE Transactions on Transportation Electrification, 11 (4), 10175-10187, 2025.

[5] Q. Zhang, Y. Xing, J. Wang, Z. Fang, Y. Liu, G. Yin. Interaction-Aware and Driving Style-Aware Trajectory Prediction for Heterogeneous Vehicles in Mixed Traffic Environment.IEEE Transactions on Intelligent Transportation Systems, 26 (7), 10710-10724, 2025.

[6] J. Wu, Q. Cao, S. Wang, Y. Liu. Adaptive Steering Control with Dead Zone Compensation for Autonomous Vehicles. Mechanical Systems and Signal Processing, 230, 112672, 2025.

[7] T. Jiang, Y. Ma, J. Li, Q. Dong, X. Ji, Y. Liu. LSTS: Periodicity Learning via Long Short-term Temporal Shift for Remote Physiological Measurement.IEEE Transactions on Circuits and Systems for Video Technology, 35 (7), 6452-6465, 2025.

[8] J. Li, L. Yang, C. Lv, Y. Chu, Y. Liu. GLF-STAF: A Global-Local-Facial Spatio-Temporal Attention Fusion Approach for Driver Emotion Recognition. IEEE Transactions on Consumer Electronics, 71 (2), 3486-3497, 2025.

[9] H. Liu, X. Ji, J. Li, H. Dong, Y. Liu.Systematic design and control of steering feel for steering-by-wire vehicles. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2025.

[10] Y. Liu, J. Li, Y. Sun, X. Ji, C. Lv. Personalized Trajectory-based Risk Prediction on Curved Roads with Consideration of Driver Turning Behavior and Workload. IEEE Transactions on Human-Machine Systems, 54 (4), 406-415, 2024.

[11] J .Wu, Y. Yan, Y. Liu, Y. Liu. Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory. Engineering, 33, 133-145, 2024.

[12] J. Wu, Y. Yan, Y. Liu. Collaborative control of path tracking and roll stability in intelligent commercial vehicle: A minimax robust regulator based on Nash game.Engineering Applications of Artificial Intelligence, 133, 108321, 2024.

[13] H. Liu, Y. Liu, J. Li, X. Ji. Comparison of Various Angle-Tracking Algorithms to Balance Performance and Noise for a Steering-by-Wire System. International Journal of Automotive Technology, 25, 481-493, 2024.

[14] Q. Dong, Z. Yan, K. Nakano, X. Ji, Y. Liu. Graph-based Scenario-Adaptive Lane-Changing Trajectory Planning for Autonomous Driving. IEEE Robotics and Automation Letters, 8 (9), 5688 – 5695, 2023.

[15] Z. Fang, J. Wang, Z. Wang, J. Liang, Y. Liu, G. Yin. A human-machine shared control framework considering time-varying driver characteristics. IEEE Transactions on Intelligent Vehicles, 8 (7), 3826-3838, 2023.

[16] Z. Cuan, D. Ding, H. Wang, Y. Liu, Y. Liu. Simultaneous collision avoiding and target tracking for unmanned ground vehicle with velocity and heading rate constraints. International Journal of Control, Automation and Systems. 21 (4), 1222-1232, 2023.

[17] J. Wu, Q. Kong, K. Yang, Y. Liu, D. Cao, Z. Li. Research on the Steering Torque Control for Intelligent Vehicles Co-Driving With the Penalty Factor of Human-Machine Intervention. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 53 (1), 59-70, 2023.

[18] Q. Dong, X. Ji, Y. Liu, Y. Liu. Gain-Scheduled Steering and Braking Coordinated Control in Path Tracking of Intelligent Heavy Vehicles. Journal of Dynamic Systems, Measurement, and Control 144 (10), 101006, 2022.

[19] T. Jiang, Y. Liu, Q. Dong, T. Xu. Intention-Aware Interactive Transformer for Real-Time Vehicle Trajectory Prediction in Dense Traffic. Transportation Research Record: Journal of the Transportation Research Board, 2677(3), 946-960, 2022.

[20] Y. Yan, J. Wang, K. Zhang, Y. Liu, Y. Liu, G. Yin. Driver’s individual risk perception-based trajectory planning: A human-like method. IEEE Transactions on Intelligent Transportation Systems 23 (11), 20413-20428, 2022.

[21] Y. Xing, C. Lv, Y. Liu, Y. Zhao, D. Cao, S. Kawahara. Hybrid-Learning-Based Driver Steering Intention Prediction using Neuromuscular Dynamics. IEEE Transactions on Industrial Electronics, 69(2), 1750-1761, 2022.

[22] J. Wu, J. Zhang, B. Nie, Y. Liu, X. He. Adaptive Control of PMSM Servo System for Steering-by-Wire System With Disturbances Observation. IEEE Transactions on Transportation Electrification, 19(12), 4034-4045, 2022.

[23] Y. Liu, T. Xu, Y. Liu, X Ji. Multi-objective Seamless Self-scheduling Controller Design for Heavy Commercial Vehicle Lateral Automation: An LPV/ℋ∞ Approach. International Journal of Control, Automation and Systems, 19(12), 4034-4045, 2021.

[24] D. Pi, M. Yan, Y. Liu, Y. Liu. Coordination strategy between AFS and ASB with fault-tolerant mechanism for ground vehicle. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 235(4), 1128-1148, 2021.

[25] C. Lv, Y. Li, Y. Xing, C. Huang, D. Cao, Y. Zhao, Y. Liu. Human–Machine Collaboration for Automated Driving Using an Intelligent Two‐Phase Haptic Interface. Advanced Intelligent Systems, 3(4), 2000229, 2021.

[26] Y. Liu, X. Ji, K. Yang, X. He, X. Na, Y. Liu. Finite-time optimized robust control with adaptive state estimation algorithm for autonomous heavy vehicle. Mechanical Systems and Signal Processing, 139, 106616, 2020.

[27] C. Huang, L. Li, Y. Liu, L. Xiao. Robust Observer Based Intermittent Forces Estimation for Driver Intervention Identification. IEEE Transactions on Vehicular Technology, 69(4), 3628-3640, 2020.

[28] K. Yang, Y. Liu, X. Na, X. He, Y. Liu, J. Wu, S. Nakano, X. Ji. Preview-Scheduled Steering Assistance Control for Co-piloting Vehicle: A Human-Like Methodology. Vehicle System Dynamics, 58(4), 518-544, 2020.

[29] W. Hu, X. Xu, Z. Zhou, Y. Liu, Y. Wang, L. Xiao. Mining and comparative analysis of typical pre-crash scenarios from IGLAD. Accident Analysis and Prevention, 145, 105699, 2020.

[30] T. Xu, X. Ji, Y. Liu, Y. Liu. Differential drive based yaw stabilization using MPC for distributed-drive articulated heavy vehicle. IEEE Access, 8, 104052-104062, 2020.

[31] P. Dong, S. Wu, W. Guo, X. Xu, S. Wang, Y. Liu. Coordinated clutch slip control for the engine start of vehicles with P2-hybrid automatic transmissions. Mechanism and Machine Theory, 153, 103899, 2020.

[32] X. He, Y. Liu, C. Lv, X. Ji, Y. Liu. Emergency steering control of autonomous vehicle for collision avoidance and stabilization. Vehicle System Dynamics, 57(8), 1163-1187, 2019.

[33] X. Ji, K. Yang, X. Na, C. Lv, Y. Liu, Y. Liu. Feedback Game-based Shared Control Scheme Design for Emergency Collision Avoidance: A Fuzzy-LQR Approach. Journal of Dynamic Systems, Measurement and Control, 141(8), 081005, 2019.

[34] B. Ma, Y. Liu, X. Na, Y. Liu, Y. Yang. A shared steering controller design based on steer-by-wire system considering human-machine goal consistency. Journal of The Franklin Institute, 356(8), 4397-4419, 2019.

[35] H. Zheng, J. Hu, Y. Liu. A bilateral control scheme for vehicle steer-by-wire system with road feel and steering controller design. Transaction of the Institute of Measurement and Control, 41(3), 593-604, 2019.

[36] X. Ji, K. Yang, X. Na, C. Lv, Y. Liu. Shared steering torque control for lane change assistance: a stochastic game-theoretic approach. IEEE Transactions on Industrial Electronics, 66(4), 3093-3105, 2019.

[37] Y. Wang, Y. Liu, H. Fujimoto, Y. Hori. Vision-based Lateral State Estimation for Integrated Control of Automated Vehicles considering Multi-rate and Uneven Measurement Delay Issues. IEEE/ASME Transactions on Mechatronics, 23(6), 619-2627, 2018.

[38] L. Li, K. He, X. Wang, Y. Liu*. Sensor fault-tolerant control for gear-shifting engaging process of automated manual transmission. Mechanical Systems and Signal Processing, 99, 790-804, 2018.

[39] Y. Liu, X. Fan, C. Lv, J. Wu, L. Li, D. Ding. An innovative information fusion method with adaptive Kalman filter for integrated INS/GPS navigation of autonomous vehicles. Mechanical Systems and Signal Processing, 100, 605-616, 2018.

[40] Y. Liu, Q. Liu, C. Lv, M. Zheng, X. Ji. A study on objective evaluation of vehicle steering comfort based on driver’s electromyogram and movement trajectory. IEEE Transactions on Human-Machine Systems, 48(1), 41-49, 2018.

[41] X. Ji, Y. Liu, X. He, K. Yang, X. Na, C. Lv, Y. Liu. Interactive Control Paradigm based Robust Lateral Stability Controller Design for Autonomous Automobile Path Tracking with Uncertain Disturbance: A Dynamic Game Approach. IEEE Transactions on Vehicular Technology, 67(8), 6906-6920, 2018.

[42] C. Lv, Y. Liu, X. Hu, H. Guo, D. Cao, F. Wang. Simultaneous Observation of Hybrid States for Cyber-Physical Systems: A Case Study of Electric Vehicle Powertrain. IEEE Transactions on Cybernetics, 48(8), 2357-2367, 2018.

[43] Y. Wang, Z. Zhou, C. Wei, Y. Liu, C. Yin. Host-Target Vehicle Model-based Lateral State Estimation for Preceding Target Vehicles Considering Measurement Delay. IEEE Transactions on Industrial Informatics, 14(9), 4190-4199, 2018.

[44] X. Ji, Y. Liu, X. Na, Y. Liu. Research on interactive steering control strategy between driver and AFS in different game equilibrium strategies and information patterns. Vehicle System Dynamics, 56(9), 1344-1374, 2018.

[45] X. Ji, X. He, C. Lv, Y. Liu, J. Wu. A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation. Vehicle System Dynamics, 56(6), 923-946, 2018.

[46] X. Ji, X. He, C. Lv, Y. Liu, J. Wu. Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits. Control Engineering Practice, 76, 41-53, 2018.

[47] C. Lv, Y. Xing, C. Lu, Y. Liu, H. Guo, H. Gao, D. Cao. Hybrid-Learning-Based Classification and Quantitative Inference of Driver Braking Intensity of an Electrified Vehicle. IEEE Transactions on Vehicular Technology, 67(7), 5718-5729, 2018.

[48] B. Ma, Y. Liu, Y. Gao, Y. Yang. Estimation of vehicle sideslip angle based on steering torque. The International Journal of Advanced Manufacturing Technology, 94(9-12), 3229-3237, 2018.

[49] B. Ma, C. Lv, Y. Liu, M. Zheng, Y. Yang, X. Ji. Estimation of road adhesion coefficient based on tire aligning torque distribution. Journal of Dynamic Systems, Measurement and Control, 140(5), 051010-051010-17, 2018.

[50] X. Wang, L. Li, K. He, Y. Liu, C. Liu. Position and Force Switching Control for Automated Manual Transmission Gear-shift. Journal of Dynamic Systems, Measurement and Control, 140(8), 081010-081010-9, 2018.

[51] B. Ma, Y. Liu, X. Ji, Y. Yang. Investigation of a steering defect and its compensation using a steering-torque control strategy in an extreme driving situation. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 232(4), 534-546, 2018.

[52] Q. Liu, Y. Liu, C. Liu, B. Chen, W. Zhang, L. Li, X. Ji. Hierarchical Lateral Control Scheme for Autonomous Vehicle with Uneven Time Delays Induced by Vision Sensors. Sensors, 18(8), 2544, 2018.

[53] H. Zheng, S. Ma, Y. Liu. Vehicle braking force distribution with electronic pneumatic braking and hierarchical structure for commercial vehicle. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 232(4), 481-493, 2018.

[54] Y. Liu, T. Li, Y. Yang, X. Ji, J. Wu. Estimation of tire-road friction coefficient based on combined APF-IEKF and iteration algorithm. Mechanical Systems and Signal Processing, 88, 25-35, 2017.

[55] Y. Liu, Q. Liu, X. Ji, R. Hayama, T. Mizuno, S. Nakano. A new objective evaluation method for vehicle steering comfort. Journal of Dynamic Systems, Measurement and Control, 139(9), 091013, 2017.

[56] Y. Wei, C. Oertel, Y. Liu, X. Li. A theoretical model of speed dependent steering torque of rolling tyres. Vehicle System Dynamics, 54(4), 463-473, 2016.

[57] L. Li, X. Li, X. Wang, Y. Liu, J. Song, X. Ran. Transient switching control strategy from regenerative braking to anti-lock braking with a semi-brake-by-wire system. Vehicle System Dynamics, 54(2), 231-257, 2016.

[58] B. Ma, Y. Yang, Y. Liu*, X. Ji, H. Zheng. Analysis of vehicle static steering torque based on tire-road contact patch sliding model and variable transmission ratio. Advances in Mechanical Engineering, 8(9), 1-11, 2016.

[59] J. Wu, Y. Liu, F. Wang, Y. Zhao. Vehicle active steering control research based on two-DOF robust internal model control. Chinese Journal of Mechanical Engineering, 29(4), 739-746, 2016.

[60] X. Ji, J. Wu, Y. Zhao, Y. Liu, X. Zhao. A new robust control method for active front steering considering the intention of the driver. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 229(4), 518-531, 2015.

[61] J. Wu, Y. Zhao, X. Ji, Y. Liu, C. Yin. A modified structure internal model robust control method for the integration of active front steering and direct yaw moment control. Science China Technological Sciences, 58(1), 75-85, 2015.

[62] J. Wu, Y. Zhao, X. Ji, Y. Liu, L. Zhang. Generalized internal model robust control for active front steering intervention. Chinese Journal of Mechanical Engineering, 28(2), 285-293, 2015.

Refereed conference or symposium papers.

[1] T. Jiang, Y. Ma, X. Zhao, X. Ji, Y. Liu. NeuralPOS: Physiological Measurement via Remote Photoplethysmography for Driver Monitoring. 2024 8th CAA International Conference on Vehicular Control and Intelligence(CVCI2024), Oct. 25-Oct. 27, 2024, Chongqing, China.

[2] Z. Han, J. Li, H. Dong, Y. Liu, X. Ji. Enhance Vehicle Stability for Path Tracking of a 4WS Vehicle Based on Model Predictive Control. 2024 8th CAA International Conference on Vehicular Control and Intelligence(CVCI2024), Oct. 25-Oct. 27, 2024, Chongqing, China.

[3] J. Li, Y. Ma, Z. Han, X. Ji, Y. Liu. Improve handling stability for path tracking of a 4wis vehicle based on sliding-mode method. 2023 7th CAA International Conference on Vehicular Control and Intelligence(CVCI2023), Oct. 27-Oct. 29, 2023, Changsha, China.

[4] Y. Ma, J. Li, X. Ji, Y. Liu. A Finite Frequency Domain State Feedback H∞ Controller for Yaw Stabilization of Four-Wheel Independent Steering Autonomous Vehicles. 2023 7th CAA International Conference on Vehicular Control and Intelligence(CVCI2023), Oct. 27-Oct. 29, 2023, Changsha, China.

[5] H. Liu, Y. Liu, X. Ji, S. Yao. Robust Steering Angle Tracking Control for Steer-by-Wire System. 2023 7th CAA International Conference on Vehicular Control and Intelligence(CVCI2023), Oct. 27-Oct. 29, 2023, Changsha, China.

[6] T. Jiang, W. Hu, Y. Liu, L. Xiao. Capturing and exploring unobserved heterogeneity in traffic crash injuries in china: A deep learning approach. 2022 IEEE 7th International Conference on Intelligent Transportation Engineering (ICITE2022), Nov. 11- Nov. 13, Beijing, China.

[7] X. He, C. Lv, X. Ji, Y. Liu. Emergency collision avoidance decision-making for autonomous vehicles: A model-based reinforcement learning approach. 2022 6th CAA International Conference on Vehicular Control and Intelligence (CVCI2022), Oct. 28-Oct. 30, 2022, Nanjing, China. (Best Paper Finalist)

[8] Q. Dong, T. Jiang, T. Xu, Y. Liu. Graph-based planning-informed trajectory prediction for autonomous driving. 2022 6th CAA International Conference on Vehicular Control and Intelligence (CVCI2022), Oct. 28-Oct. 30, 2022, Nanjing, China. (Guo Konghui Paper (Best young author))

[9] C. Li, Y. Liu, L. Sun, Y. Liu, M. Tomizuka, W. Zhan. Dual extended Kalman filter based state and parameter estimator for model-based control in autonomous vehicles. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC2021), Sep. 19- Sep. 22, Indianapolis, IN, USA.

[10] Y. Liu, Y. Liu, X. Ji L. Sun, M. Tomizuka, X. He. Learning from Demonstration: Situation-Adaptive Lane Change Trajectory Planning for Automated Highway Driving. 2020 IEEE International Conference on Mechatronics and Automation (ICMA2020), Oct. 13 - Oct. 16, 2020, Beijing, China. (Best Paper Finalist)

[11] Y. Xing, C. Lv, Y. Liu, Y. Zhao, D. Cao. Continuous Driver Steering Intention Prediction Considering Neuromuscular Dynamics and Driving Postures. 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Oct. 11 - Oct. 14, 2020, Toronto, Canada.

[12] Y. Xing, C. Huang, C. Lv, Y. Liu, H. Wang, D. Cao. A Personalized Deep Learning Approach for Trajectory Prediction of Connected Vehicles. SAE Technical Paper 2020-01-0759, WCX™ 20: SAE World Congress Experience.

[13] T. Xu, X. Ji, C. Fei, Y. Liu, Y. Shen. Research on Assist-Steering Method for Distributed-Drive Articulated Heavy Vehicle Based on the Co-Simulation Model. SAE Technical Paper 2020-01-0761, WCX™ 20: SAE World Congress Experience.

[14] C. Huang, Y. Liu, L. Li, Z. Chen. Safety Oriented State Transitions in Level 3 Automated Driving Systems: A General Framework. IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM 2019), Jul. 3- Jul. 5, 2019, Toyonaka, Japan.

[15] X. Ji, Y. Liu, Y. Liu, B. Ma, J. Wu, X. Na. Game-theoretic modelling of shared steering control between driver and AFS considering different human-machine goal consistency. 43rd Annual Conference of the IEEE Industrial Electronics Society (IECON 2017), Oct. 29- Nov. 1, 2017, Beijing, China.

[16] K. Yang, Y. Liu, Y. Liu, X. He, X. Ji. A linear time-varying MPC method for vehicle path-following assistance based on steering torque. 43rd Annual Conference of the IEEE Industrial Electronics Society (IECON 2017), Oct. 29- Nov. 1, 2017, Beijing, China.

[17] Y. Liu, Q. Liu, X. Ji, L. Li, Y. Nishimura, N. Sawada, S. Kawahara. Objective Assessment of Vehicle Steering Feeling Based on Driver’s Neuromuscular Characteristics Using Electromyogram. 2017 4th FAST-zero - International Symposium on Future Active Safety Technology toward zero-traffic-accident (FAST-zero’17). Sep. 18- Sep. 21, 2017, Nara, Japan.

[18] X. He, X. Ji, K. Yang, Y. Liu, J. Wu, Y. Liu. Autonomous Emergency Braking Control Based on Hierarchical Strategy Using Integrated-Electro-Hydraulic Brake System. SAE Technical Paper 2017-01-1964, SAE 2017 Intelligent and Connected Vehicles Symposium. Sep. 26- Sep. 27, 2017, Kunshan, China.

X. He, K. Yang, X. Ji, Y. Liu, W. Deng. Research on Vehicle Stability Control Strategy Based on Integrated-Electro-Hydraulic Brake System. SAE Technical Paper 2017-01-1565, WCX™ 17: SAE World Congress Experience. Apr. 4- Apr. 6,