汽车质心侧偏角观测器的设计往往需要较为复杂的模型并处理较多的模型参数,这影响了系统的实时性和易实施性。为此,以不确定2自由度汽车模型为基础设计了有限时间收敛的观测器,根据在此时间段内的收敛状态判断模型参数是否需要调整,同时还设计了相对简单的模型参数调整方案,以实现简单而有效的汽车质心侧偏角估计。通过CarSim高精度汽车动力学软件的实验表明该方案可行。 The design of vehicle center-of-mass angular observer often needs more complex models and deals with more model parameters, which affects the real-time and easy implementation of the system. Therefore, based on the uncertain 2-DOF automotive model, a finite-time observer is designed. According to the convergence state in this time period, it is necessary to determine whether the model parameters need to be adjusted. At the same time, a relatively simple model parameter adjustment scheme is designed, In order to achieve simple and effective vehicle center of mass estimated lateral slip angle. Experiments with CarSim high-precision automotive dynamics software show that the solution is feasible.