Abstract: The present disclosure provides a self-learning collaborative control method for active steering and yaw moment for a motor vehicle, including a first step of constructing fundamental formulas which are stored in a vehicle ECU, and a second step of calculating an active steering angle ?C and a yaw moment Mc on line by the vehicle ECU according to following sub-steps during a driving process of the motor vehicle, and controlling a driving state of the motor vehicle according to ?C and Mc. The second step includes a first sub-step of collecting raw real-time parameter values, a second sub-step of performing calculation by the identifier and the control target reference model, a third sub-step of calculating ?C and Mc. The present disclosure can realize the self-learning collaborative control of active steering and yaw moment without requiring a system control model and correct a driver's steering operation.

Abstract: In an embodiment an over the air (OTA )system software upgrade control method includes accessing, by a terminal device, an OTA server, and obtaining version information of a target system software upgrade package that is on the OTA server and whose version is later than a current system software version of the terminal device, requesting, by the terminal device, from a management device, authorization information corresponding to the version information of the target system software upgrade package, determining, by the terminal device in response to the authorization information that is received from the management device and that corresponds to the version information of the target system software upgrade package, that the target system software upgrade package is obtainable from the OTA server, and obtaining the target system software upgrade package from the OTA server, wherein the authorization information indicates whether the terminal device is allowed to obtain the target system software upgrade packag