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中文摘要：
基于Dugoff轮胎模型建立了车辆的非线性动力学方程，并给出了路面附着系数的约束条件。针对车速和路面附着系数约束的非线性估计，提出了一种基于滚动优化原理的滚动时域估计法（MHE），并给出了MHE法的具体步骤。在不同路面上对MHE法进行了多种工况的实验验证，并在同样条件下与扩展Kalman滤波法进行了比较。实验结果表明，MHE法的估计性能优于扩展Kalman滤波法。
英文摘要：
Nonlinear dynamics equations for vehicles constraints on tire-road adhesion coefficient is given. For the are established based on Dugoff＇s tire model, and the nonlinear estimation of vehicle speed and tire-road adhesion coefficient constraints, a moving horizon estimation （MHE） approach is proposed based on the principle of moving horizon optimization, with the specific steps of the approach presented. Finally the MHE approach is validated by tests under different road conditions with various working conditions and is compared to the extended Kalman filtering （EKF） approach under same conditions. The test results show that the estimation performance of MHE approach is superior to that of EKF one.
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