中文摘要：

基于HSRI轮胎模型，建立了一种简化的、适用于实时运算的非线性轮胎力估计方法。推导了四轮两自由度汽车模型动力学方程。运用扩展卡尔曼滤波方法建立了汽车质心侧向速度观测器。汽车动力学综合仿真平台的仿真结果显示，采用非线性轮胎力估计方法能显著提高估计的精度。实车试验结果表明，该观测器估计结果的准确性和运算效率能满足DSC控制的要求。

英文摘要：

Based on the HSRI tire model, a simplified nonlinear tire force estimation method suitable for real-time computation was put forward. A dynamic model of 2-DOF-4-wheel vehicle was deduced based on the estimation method, and a vehicle lateral velocity observer was established using the extended Kalman filter. The simulated results of the vehicle dynamics simulation platform showed that the accuracy was improved greatly using the simplified nonlinear tire force estimation method compared with the linear one. Finally, the accuracy and efficiency of this observer was proved by a vehicle test, and it could meet the requirements of dynamics stability control.