中文摘要：

分析了四驱车辆防抱制动装置（ABS）控制与二驱车辆的不同点，主要研究了四驱车辆的中央差速锁、后桥差速锁对ABS控制产生的影响，针对这些问题提出了解决方案．后桥差速锁锁止时，采用横摆力矩控制方法，改善对开路面的行驶稳定性．中央差速锁锁止时，采用降低减压门限的方法，使车轮提前减压，以增加参考车速计算精度．用ADAMS与Matlab联合仿真的方法对这些方案进行了验证，最后对部分方案进行了实车试验验证。

英文摘要：

The difference of Anti-lock Braking System （ABS） for two-wheel and four-wheel drive cars is analyzed. The influences of center differential lock and rear differential lock on ABS are studied. Several techniques are proposed to solve these problems. When rear differential is locked, the Yaw Moment Control method is taken to improve stability on split-μ roads. When center differential is locked, the decreasing threshold is adopted, which can help to calculate the reference speed. With ADAMS and Matlab cosimulation, the techniques are verified. At last, some of the techniques are proved by road tests.