At present, the main front suspensions are of telescopic type and lever type, while the rear is of swing arm type.
目前前悬挂装置主要型式有伸缩管式和杠杆式，后悬挂装置主要型式是摇臂式。
A coordinated control scheme of 4ws and active suspension based on yaw rate tracking is proposed, which distributes the control force between front and rear active suspensions and hen.
提出了基于横摆率跟踪控制的4ws和主动悬架的协调控制方法，对前后轴主动悬架控制力进行了分配，提高了大侧向加速度时的横摆率响应。
A coordinated control scheme of 4ws and active suspension based on yaw rate tracking is proposed, which distributes the control force between front and rear active suspensions and hen.
提出了基于横摆率跟踪控制的4ws和主动悬架的协调控制方法，对前后轴主动悬架控制力进行了分配，提高了大侧向加速度时的横摆率响应。
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