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.

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本文首次将防抱死制动控制系统（ABS）、驱动防滑转控制系统（ASR）和雷达测距控制系统有机地综合到汽车制动控制系统中，并进行了模糊逻辑控制处理。

This paper describes how to integrate anti-lock brake system(ABS), acceleration slip regulation (ASR) and radar range system into vehicle braking system with fuzzy logic controller.

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