The front steering angle control and its integration with the direct yaw moment control are suggested to enhance the handling performance for heavyduty vehicles based on a 3D vehicle modelThe doublecostfunction LQR methodology (DLQR) which extends the concept and the applicable field of LQR to express the practical requirements more plainly,is proposed to determine the control input value:compensation value of front steering angle in the optimal model A simple autotuning proportion controller is employed in direct yaw moment control to regulate the moment timely The simulation results show that front steering angle control using DLQR,has good ability to achieve the desired steering output in the different running conditionsDLQR is more powerful to balance many factors effectively based on the explicit mathematics expression of the physics of the problem than LQR does