中文摘要：

研究了车辆稳定性控制系统中车身侧偏角的算法，建立了15自由度整车模型，其中包括车身的6个自由度，4个车轮的旋转和垂直运动自由度以及前轮转动自由度．根据方向盘转角、整车侧向加速度、横摆角速度及其变化率求得前、后轴侧向力进而求得前、后轴中心处侧偏角；根据横摆角速度、前、后轴中心处侧偏角求取整车的车身侧偏角．仿真结果表明，该算法能够在不同附着路面上，在较大车身侧偏角范围内准确求得整车车身侧偏角．

英文摘要：

Vehicle side slip angle algorithm for VDC system was studied. A 15 DOF vehicle model was built, including 6 DOF of vehicle body, the rotation DOF, vertical movement DOF for each wheel and the steering DOF for front steering wheel. The side slip angles at the center of front axle and rear axle were calculated according to steering wheel angle, lateral acceleration, vehicle yaw rate and its variation. Vehicle side slip angle was calculated according to vehicle yaw rate and the side slip angles at the center of front axle and rear axle. Simulation results prove that this algorithm can accurately calculate the vehicle side slip angle under different road conditions and in a wide range of side slip angles.