中文摘要：

基于Carsim和Simulink设计了基于PID的横摆角速度控制策略，并对控制策略的效果进行了验证；建立了二自由度汽车动力学模型，提出将S-自适应卡尔曼滤波（S—AKF）算法用于汽车横摆角速度和质心侧偏角的估计；将S—AKF估计器与PID控制器相结合，构成完整的估计-控制闭环系统。通过Carsim中的操稳试验对整个系统的性能进行了仿真验证，结果显示，提出的估计-控制体系可在必要工况下实现对汽车的主动干预，提高汽车的路径跟踪能力和稳定性能。

英文摘要：

A yaw rate PID control strategy was designed based on Simulink and Carsim, effective ness of the control strategy were verified. Then a two DOF vehicle dynamics model was established, the Sadapt Kalman filter （SAKF） algorithm was proposed to estimate yaw rate and sideslip an gle. Finally, the SAKF estimator was combined with the PID controller to constitute a complete es timatecontrol closedloop system. The entire system performance was validated through virtual test of Carsim. The results show that the control algorithm together with the estimation algorithm constitute a complete control system, which can acquire active intervention for car under necessary conditions, also improve the vehicle＇s path tracking ability and stability.