提出了一种应用扩张状态观测器估计汽车质心侧偏角的算法。该算法以二自由度汽车动力学模型为基础,把与质心侧偏角相关项视为扩张状态,建立扩张状态观测器,利用实时获取的横摆角速度、车轮转角、纵向速度估计汽车质心侧偏角。为验证该算法的准确度,利用Matlab对汽车质心侧偏角估计器进行仿真计算,将仿真结果与实车场地试验测得的数据进行了比较。结果表明,应用扩张状态观测器能够较为准确、实时地估计出车辆的质心侧偏角,满足汽车主动安全控制的要求。 An algorithm for estimating vehicle center of mass roll angle using extended state observer is proposed. Based on the two-degree-of-freedom vehicle dynamics model, the algorithm considers the correlative item of the center of mass declination angle as an expansion state and establishes an extended state observer to estimate the vehicle center-of-mass deviation using the yaw rate, wheel angle and longitudinal velocity obtained in real time angle. In order to verify the accuracy of the algorithm, the vehicle center of mass side slip angle estimator was simulated by Matlab, and the simulation results were compared with the real vehicle field test data. The results show that the extended state observer can estimate the center of mass of the vehicle more accurately and in real time and meet the requirements of active safety control.