中文摘要：

为了增强车辆主动安全性和底盘的集成控制，根据干扰输入观测器理论，基于简化的车轮动力学模型设计估计器，对每个轮胎纵向力进行估计。此外，基于“自行车”模型，利用车辆动力学，在纵向轮胎力估计值的基础上估计轮胎侧向力。涉及到的车载传感器测量值包括发动机扭矩和转速、轮缸压力、车轮角速度、方向盘转角、侧向加速度和横摆角速度。为验证轮胎力级联估计方法的有效性，应用高保真的车辆动力学软件 veDYNA 进行了仿真研究，并与扩展卡尔曼滤波（extended Kalman filter，EKF）方法作对比分析。实验结果表明，轮胎力级联估计方法能够获得车辆轮胎力的估计效果。

英文摘要：

To enhance active vehicle safety and unified chassis control,we present a cascade method that evaluates each of the tire longitudinal forces.This new approach is inspired by the disturbance input observer theory based on a simplified wheel dynamics model.Our cascade method estimates the lateral tire forces by approxi-matingthe longitudinal tire forces based on a planar bicycle model.The vehicle onboard sensors record engine torque and rotational speed,wheel cylinder pressure,wheel angular speed,steering wheel angle,lateral ac-celeration and yaw rate measurements.Our method for tire forces is evaluated using simulation experiments in a high-fidelity vehicle dynamics software application,veDYNA.A comparison analysis is done via the extend-ed Kalman filter method.Experimental results reveal the excellent performance of the new cascade method for tire forces estimation.