关键词：汽车；车身侧滑角；车辆稳定性控制；观测器
摘 要：A novel method based on non-linear robust observer is proposed for estimation body slip angle.Firstly,full-dimension observer designed based on yaw rate and lateral acceleration to estimate lateral velocity.And then,the body slip angle is estimated by using lateral velocity and longitudinal velocity.The proposed m ethod is verified by of fline simulation.The results demonstrate that this method has a better adaptability to different driving conditions and accuracy.