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Page 14 of 15                   Chen et al. Complex Eng Syst 2023;3:8  I http://dx.doi.org/10.20517/ces.2022.50































                           Figure 5. State comparison of different control modes during DLC maneuver (   = 0.3,       = 70 km/h).




















                                     Figure 6. Torque and adhesion rate of each tire (   = 0.3,       = 70 km/h).

               DECLARATIONS

               Authors’ contributions
               Conceptualization, methodology, writing-original Draft: Chen X
               Supervision, project administration: Qu Y
               Formal analysis: Cui T
               Software, methodology: Zhao J


               Availability of data and materials
               Not applicable


               Financial support and sponsorship
               This work was supported by the National Natural Science Foundation of China (No. 52002211) and Key R&D
               Plan of Jiangsu Province (No. BE2022053-3).



               Conflicts of interest
               All authors declared that there are no conflicts of interest.
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