Abstract: A tire lateral force estimation algorithm was proposed based on yaw moments via the analysis of the nonlinear vehicle dynamic model . Three basic steps were used to estimate the tire lateral forces. Firstly， the yaw moments of lateral forces were estimated based on the disturbance observers. Then the sums of the lateral forces of the two front wheels and the two rear wheels were estimated by using the least squares method. Finally， an empirical method of proportional distribution for vertical loads was adopted to estimate each tire lateral forces. The tire lateral force estimation system was simulated based on the MATLAB/Simulink software. The results were compared with the ones of CarSim dynamics simulation software， and the hardware in-loop simulation platform was used to verify the tests. The results show that the proposed estimation algorithm may accurately estimate the tire lateral forces， the applications of complex tire models and the dependences on ground adhesion coefficient are avoided.

Key words: yaw moment, tire lateral force, disturbance observer, estimation

摘要： 通过对非线性汽车动力学模型进行分析，提出了一种基于横摆力矩的轮胎侧向力估计算法。轮胎侧向力的估计采用三个基本步骤，首先基于干扰观测器对侧向力横摆力矩进行估计，然后利用最小二乘法对两前轮与两后轮侧向力之和进行估计，最后采用垂向载荷按比例分配的经验方法对各轮胎侧向力进行估计。基于MATLAB/Simulink软件，对此轮胎侧向力估计系统进行仿真，将所得结果与CarSim动力学仿真软件结果进行对比，并采用硬件在环仿真平台进行试验验证。结果表明，所提估计算法能够准确地估计出轮胎侧向力，避免了复杂轮胎模型的运用以及对地面附着系数的依赖。

关键词: 横摆力矩, 轮胎侧向力, 干扰观测器, 估计