Table12 Peak value deviation and area relative deviation of yaw rate under double lane.

From: Torque coordinated control of the through-the-road (TTR) 4-wheel-drive (4WD) hybrid vehicle under extreme road conditions

 

No control

RB (%)

RB + MPC (%)

dev

53.8%

40

25

devE

1

28.6

11.4

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