然后建立了主动横摆控制的控制逻辑，通过加入制动防抱死系统和牵引力控制系统，构成了电子稳定程序的控制逻辑。
Then we build the control logic of active yaw control, by adding anti-braking system and traction control system which constitute the ESP controller.
提出了基于横摆率跟踪控制的4ws和主动悬架的协调控制方法，对前后轴主动悬架控制力进行了分配，提高了大侧向加速度时的横摆率响应。
A coordinated control scheme of 4ws and active suspension based on yaw rate tracking is proposed, which distributes the control force between front and rear active suspensions and hen.
第4章提出了基于主动制动产生直接横摆力矩的车辆稳定性控制算法。
In the chapter 4, VSC control algorithm based on the direct intervention yaw moment by active braking is proposed.
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