Active AWS

I am currently working on an SVX active all-wheel steer system and I am trying to create my own all-wheel steer script. This is being used with a modified ETK multi-link rear suspension. With little knowledge of the actual mathematics behind all-wheel steer and plain guessing, is this effective at all? The desired effect is that the aws system recognizes if the car is making a hard turn or over/understeering, so air speed is averaged with wheel speed and yaw, pitch, and roll are recorded.

Code:

-- This Source Code Form is subject to the terms of the bCDDL, v. 1.1.
-- If a copy of the bCDDL was not distributed with this
-- file, You can obtain one at http://beamng.com/bCDDL-1.1.txt
local M = {}

local function onInit()
    electrics.values['4ws'] = 0
end

local function updateGFX(dt)
    if not electrics.values['steering_input'] then return end
    local speed = electrics.values["wheelspeed"]
    local dirVector = obj:getDirectionVector()
    local dirVectorUp = obj:getDirectionVectorUp()
    local airSpeed = electrics.values["airspeed"] / 2
    local steer = -electrics.values['steering_input']
    local roll = math.abs(dirVectorUp.x * -dirVector.y + dirVectorUp.y * dirVector.x) / 2
    local pitch = math.abs(dirVector.z)
    local absSteer = math.abs(steer)
    local rws = 0  
  
    if airSpeed <= 24 then
        speed = speed + (speed * 0.75)
    end
  
    if math.abs(roll) > pitch then
    rws = (((speed + airSpeed) / 2 - 12) / 10) * absSteer
    else  
    rws = (math.sin(absSteer * 1) * math.cos((absSteer * 3.3))) * 1.21
    end  
  
    rws = rws * fsign(steer) --Use the sign of the steering input to know the sign of rws output
  
    electrics.values['4ws'] = rws
end

-- public interface
M.onInit      = onInit
M.onReset     = onInit
M.updateGFX = updateGFX

return M