SUMMARYAn inverse solution study of various four wheel steering models is carried out for the purpose of comparison of steering/braking input needed to track a lane change maneuver. Optimal control is used to solve the non-linear inverse problem. Comparisons are made when the vehicle is coasting, when the time required to track the trajectory is minimized with appropriate utilization of brake/traction forces, and in a front wheel lock situation. A rear steering model which produces neutral steering characteristics displayed the best steering behavior with respect to ease of steering.