为了实现气压abs的动态仿真，建立了汽车动力学的四个数学模型：整车模型、单轮模型、轮胎模型和制动器模型。

For achieving the dynamic simulation of air ABS, four math models whole vehicle model, single wheel model, tire model and arrester model were built in thesis.

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四轮驱动混合电动车辆稳定性控制逻辑建议采用后马达能量回收制动和一个电液制动器（EHB）。

Vehicle stability control logic for a four-wheel-drive hybrid electric vehicle is proposed using the regenerative braking of the rear motor and an electrohydraulic brake (EHB).

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