利用轮胎力观测器实现对轮胎力的观测：利用制动轮缸压力估算值计算制动器制动力；
Tire force was observed using tire force observer: the estimated brake wheel cylinder pressure was used to calculate brake force;
利用轮胎力观测器实现对轮胎力的观测：利用制动轮缸压力估算值计算制动器制动力；
Tire force was observed using tire force observer: the estimated brake wheel cylinder pressure was used to calculate brake force;
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