中文摘要：

轮胎-路面附着系数的识别对汽车动力学状态观测和稳定性控制起着至关重要的作用。汽车电子稳定控制系统（Electronic stability control，ESC）要求在车辆进入失稳危险工况之前能够实时精确地获得路面附着特征，这对算法的实用性和可靠性要求苛刻。为此，提出一种基于横摆角速度偏差和侧向加速度偏差的车辆非线性度双表征量法，全面地反映车辆转向时侧偏与横摆响应的非线性状态，根据非线性度与路面附着利用率的关系设计出附着估算偏差的补偿算法。附着估算时，以侧向加速度测量值为基准，经过偏差补偿得到附着初始值。引入广义滤波器抑制估算值抖动，使其能较好地应用于实车控制。通过实车测试验证本方法的有效性，并在ESC控制循环中验证附着精确估算算法对转矩控制的改进效果。

英文摘要：

The identification of road friction plays an important role in the vehicle state observation and stability control system. When the vehicle comes across a critical situation, the estimation of road friction should be reliable and timely for the electronic stability control system（ESC）, which is a harsh requirement for the practicality and reliability of the algorithm. So two indexes based on the bias of the yaw rates and that of the lateral accelerations are proposed. These two indexes can reflect the nonlinearity of the vehicle totally. According to the relationship between the nonlinearity and the use of the friction in the lateral direction, the friction-compenSation algorithm is put forward. When estimating the road friction, treat the lateral acceleration as the base value compensated with the estimation error to get the original friction, which then is passed through a generalized filter to reduce the oscillation for a better control result. Experimental vehicle tests validate the effectiveness of the estimation of road friction and torque control of ESC based on the estimation algorithm ~ives a good result.