Method for Controlling ESA System of a Vehicle and ESA System

Provided are methods for controlling ESA system of a vehicle and an ESA system. The method includes: generating a trajectory to avoid an obstacle in front of the vehicle; obtaining a target yaw rate and yaw moment according to the trajectory; allocating the target yaw moment to one or more chassis actuators; controlling the one or more chassis actuators according to allocated yaw moments. The cooperation of actuators is implemented for more safe evasion.