Integrated Direct Yaw Control and Antislip Regulation Mixed Control of Distributed Drive Electric Vehicle Using Cosimulation Methodology

Algorithm 1

The code of switching mode.

	If ( > 0.2&&  > 0.2)||(max(, ) > 0.4)
	{
	DYC2ASR_Flag = 1;
	}
	else
	{
	//do nothing
	}
	If ( < 0.15&&  < 0.15)
	{
	DYC2ASR_Flag = 0;
	}
	else
	{
	//do nothing
	}