在车辆动力学分析的基础上，建立了以纵向速度、横向速度、横摆角速度为状态变量的车辆纵横向耦合的动力学模型。
A longitudinal and lateral decoupled dynamics model was presented based on the dynamics analysis, as the longitudinal velocity, lateral velocity and yaw rate as the states.
充分考虑车辆在转弯制动工况下，因纵向、侧向加速度的存在而引起的轮胎所受垂直载荷的转移，建立了汽车弯道行驶的八自由度整车动力学仿真模型。
Considering the influence of wheel vertical load, the paper establishes a dynamic model of 8 degrees freedom for an entire vehicle when driving in the crooked roads.
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