without reading the thread (except the OP) I'd like to just inject a few things. Not trying to be a know-it-all (I don't know anywhere close to all of it) but,
The vector thing, it's cool stuff with some good ideas and some bad ones, and it may work for you. But it's misguided, I would direct you to some links here:
First thing you want to do is google "On the Dynamics of Automobile Drifting". Check out Figure 3. The 3D tire force plot, it's badass.
This basically shows you whats happening during an ebrake initiated drift. So we're turning, we're cornering somewhat. Our rear tires are at point A (producing sideways grip) and our fronts are doing similar. We lock the ebrake. We go to point B (no sideways grip). Same thing happens if we spin the tires; we lose sideways grip. What happens? The fronts are turning, have slip angle, therefore have sideways grip. The rears can't match it and so the back end steps out. That takes us to point C where the rears are 'forced' or 'allowed' to slide sideways, at a high slip angle. Notice: very little increase in sideways grip; it's very flat as slip angle goes up (when longitudinal slip is high) so the car doesn't really 'oppose' this happening.
This link explains the same thing but the picture of the tire force plot of the first link is way better:
http://www.caranddriver.com/features/the-physics-of-oversteer-feature
And also give this a read:
http://www.motoiq.com/tech/the_ultimate_guide_to_suspension_handling.aspx
The motoiq thing is GREAT. Often the comments section is more interesting and has more content because the guy answers questions. That link is the Part 1 and there are many parts, if you can grasp everything you can get the big picture on some level. The geometry/alignment stuff is cool (camber, caster, scrub, KPA, toe, ect).
And we haven't even mentioned stiffnesses, load transfer, F/R static load, wheelbase and track width stuff. But the tire is the most important thing to know.
Don't want to be condescending or anything but really, if you're gonna put effort into thinking about these things, don't make your own system from scratch. We have working systems already. Everything is built on these systems.