建立了采用Dugoff 轮胎模型的三自由度车辆估算模型，设计了基于联邦卡尔曼滤波理论的车辆行驶状态估计算法与基于扩展卡尔曼滤波理论的路面附着系数估计算法，使车辆状态估计与路面附着估计相互联系、闭环反馈、同时进行． 选择典型工况，应用CarSim 与Matlab /Simulink 联合仿真实验对车辆状态算法和路面附着估计算法进行了验证． 结果表明:文中算法能够实现对车辆状态及路面附着系数的准确估计．

First,a three-degrees-of-freedom nonlinear estimation model for vehicles is established based on theDugoff tire model.Then,a vehicle driving state estimation algorithm based on the federal Kalman filter and a roadadhesion coefficient estimation algorithm based on the extended Kalman filter are designed to bring about the closedloopfeedback and the linkages between the vehicle state estimation and the road adhesion coefficient estimation.Finally,the estimation algorithms of vehicle driving state and road adhesion are verified by adopting a typical situationbased on Carsim and Matlab /Simulink co-simulation.The results show that the proposed algorithms can accuratelyestimate the vehicle state and the road adhesion coefficient.