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一种操作多模式驱动系统的方法,该方法精确地协调了取力器单元和后驱动模块中的传动比之间的换档。 该方法首先在取力器单元中的传动比之间换档,然后取决于取力器单元的换档的成功或失败而在后驱动模块中的传动比之间换档。