Considering the control strategy,the control effect of controlling the sideslip angle singly and combined control are better than that of controlling the yaw rate singly.

• 就控制策略而言,单独控制质心侧偏角、以及对质心侧偏角和横摆角速度进行联合控制,在车辆运行的大多数工况下,控制效果要优于单独控制横摆角速度;