中文摘要：

研究适用于车辆稳定性控制系统的实时路面附着系数估计算法。利用轮胎力观测器实现对轮胎力的观测：利用制动轮缸压力估算值计算制动器制动力；由车轮的动力学方程计算地面制动力；由整车动力学方程计算车轮垂直栽荷进而计算利用附着系数；通过轮速信号计算车轮滑移率。综合利用上述信号给出路面附着系数的估计算法并进行算法的试验验证。试验结果表明该算法能够较准确地识别路面附着系数，具有较好的实用价值。

英文摘要：

A road friction coefficient estimation algorithm for dynamic stability control system was developed. Tire force was observed using tire force observer, the estimated brake wheel cylinder pressure was used to calculate brake force; the road force was calculated from wheel dynamics equation; vertical load of tire, the partition of used road friction coefficient and the slip ratio were calculated.All of them were used for road friction estimation and the verification experiment was done. Experimental results show that this algorithm can accuralely estimate tire road friction coefficient and can be used for dynamic stability control system.