中文摘要：

构建滑模观测器（sliding-mode observer，SMO）估算轮胎力，结合单轨车辆模型推算质心侧偏角和质心速度．设计双曲正切函数替代符号函数以克服滑模固有的颤振现象并证明了观测器的收敛性．利用动力学软件ve—DYNA和硬件在环试验平台对多种工况下虚拟传感器的估算效果进行验证，结果表明，在不同的附着系数路面和操作工况下，该虚拟传感器均具有较高的精度和鲁棒性．

英文摘要：

This paper proposes nonlinear observers （virtual sensors） of vehicle states （vehicle sideslip angle and velocity of the center of gravity （vg）） and tire-road forces. The observers strictly use low cost sensors potentially used or actually mounted in recent vehicles （longitudinal/lateral accelerations, yaw rate, steering angle and angular wheel velocities）. The estimation process is based on two blocks in series. The first block estimates tire- road forces based on a sliding-mode observer （SMO） , while the second one calculates sideslip angle and velocity of the center of gravity using the single-track model. In SMO, a hyperbolic tangent switching function is used to overcome the chattering problem. Validations with the simulator ve-DYNA and the HILS （hardware in the loop simulation platform） indicate the accuracy and the robustness of the proposed observers.