A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then it was simplified to a 2-DOF model with reasonable assumptions to design observer and optimal controllers.Then a simplified model was developed for steering system.The numerical simulations were carried out using vehicle parameters for standard maneuvers in dry and wet road conditions.Moreover,the hardware in the loop method was implemented to prove the controller ability in realistic conditions.Simulation results obviously show the effectiveness of NAOC on vehicle handling and reveal that the proposed controller can significantly improve vehicle handling during severe maneuvers. A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel, based on the nonlinear adaptive optimal control (NAOC). A nonlinear 4-DOF model was initially developed, then it was simplified to a 2-DOF model with reasonable assumptions to design observer and optimal controllers. Chen a simplified model was developed for steering system. Numerical simulations were carried out using vehicle parameters for standard maneuvers in dry and wet road conditions. Moreover, the hardware in the loop method was implemented to prove the controller ability in realistic conditions. Simulation result obviously show the effectiveness of NAOC on vehicle handling and reveal that the proposed controller can significantly improve vehicle handling during severe maneuvers.