Coordinated Vehicle Lateral Stability Control Based on Direct Yaw Moment and Engine Torque Regulation under Complicated Road Conditions

Table 4

Performance indicators of the controlled vehicle for the simulation.

	Without control	DYC	DYC + ETC
Mean error	0.35	0.1	0.03
Standard deviation	0.39	0.12	0.04
Max (rad/s)	0.51	0.31	0.23
Max ()	8.01	6.34	5.72