中文摘要：

车辆质心侧偏角是车辆稳定性控制系统中至关重要的状态变量.分别从横向车速估计方法、纵向车速估计方法和估计过程中的模型参数自适应估计三个方面回顾车辆行驶过程中的质心侧偏角估计问题.通过对比分析质心侧偏角估计中运动学估计方法和动力学估计方法的各自优缺点,指出多方法融合估计质心侧偏角的优势.比较分析不同种类的观测器技术对质心侧偏角估计效果的影响.分析指出参数自适应估计是提高质心侧偏角估计精度的有效手段,并分别介绍路面峰值附着系数、轮胎侧偏刚度、路面坡度角等参数的自适应估计方法.分析分布式驱动电动汽车结构特点对质心侧偏角估计问题带来的影响,指出充分利用电动机转矩信息是提高质心侧偏角估计的重要措施.针对分布式驱动电动汽车,先后分别列举分析横向车速、纵向车速和参数自适应估计方法的特殊之处和优势所在.

英文摘要：

Vehicle sideslip angle is an important state variable in vehicle stability control system. The sideslip angle estimation problem can be divided into three aspects： Lateral velocity estimation, longitudinal velocity estimation and model parameter adaptive estimation. Then the three aspects are reviewed respectively. The advantages and disadvantages of kinematic estimation method and dynamic estimation method are compared and analysed, leading to the viewpoint that the fusion multiple estimation methods has obvious benefits and is more suitable for sideslip angle estimation. Furthermore, the performances of the typical observer techniques applied to sideslip angle estimation are compared and analysed. From analysis, it is pointed out that model parameter adaptive estimation is an effective method to improve the accuracy of sideslip angle estimation. Therefore, the parameter adaptive estimation methods that are adaptive to changes of road peak friction coefficient, tire sideslip stiffness, road slope and bank angle etc. are introduced respectively~ Through analysis of the new structural characteristics of the distributed electric drive vehicle, the impacts on sideslip angle estimation issues are summarized. Then, it is pointed out that the full use of in-wheel motor torque information is one of the most important measures to improve the sideslip angle estimation performance. Based upon distributed electric drive vehicle, the key technologies and advantages of each state and parameter estimation aspects are discussed in details.