States and Parameters Estimation in the Vehicle System Dynamics

In vehicle dynamic control, side slip angle is an important control variable of feedback control system. Vehicle dynamic control system mainly consists of estimator and controller. The function of the estimator is to estimate the side slip angle in real time. On this basis, the controller limits the side slip angle by increasing braking or driving force on the wheels to keep it below the characteristic value and generate a certain yaw moment to prevent the vehicle from losing control in the case of steering and emergency avoidance.