TOYOTA has adopted the Active Hydropneumatic Suspension and the Active Four Wheel Steering(Active 4WS) for the 1991 SOARER. The SOARER'S Active Suspension. is based on CELICA'S Active Suspension for the 1989 mode1(1)(2)(3)(4)(5)(6)(7). Because the Suspension has no coil springs,improvements in both ride and handling performance are obtained.The Active 4WS controls the rear steering angle by using yaw rate feedback contro1,and this is the world's first system in massproduction car.TOYOTA has integrated the ABS and TRC to these systems in the SOARER. We have succeeded in improving the total vehicle dynamics performance,and have obtained higher maneuver-ability and controllability with a total integrated system.The following describes the effects of integrated control.