395 results about "Slip angle" patented technology

The invention discloses a vehicle state estimation method based on adaptive strong tracking extended Kalman filtering. The method comprises the following steps: constructing a nonlinear three-degree-of-freedom dynamic model containing a state equation and an observation equation based on an extended Kalman filtering algorithm to describe longitudinal, lateral and yaw states of a vehicle; state variables of the state equation are a side slip angle, a yaw velocity and a longitudinal vehicle speed; constructing a time-varying measurement noise statistical estimator based on a Sage-Husa algorithm to adaptively correct a measurement noise covariance matrix in the extended Kalman filtering algorithm; state prediction is carried out on the vehicle through the state equation, and a state prediction covariance matrix is calculated; and calculating the ratio of the sum of quadratic terms of the information sequence to the trace of the variance matrix of the information sequence based on an extended Kalman filtering algorithm, and judging whether filtering is really divergent or not. According to the method, the state quantity which is difficult to measure in the vehicle driving process is estimated in real time by establishing an adaptive strong tracking extended Kalman filter, and the vehicle state is accurately estimated.

The invention provides a distributed electric vehicle steering stability early warning method, device, equipment and medium, and relates to the technical field of vehicle steering stability monitoring, the method comprises the following steps: building a digital twin model, realizing comprehensive mapping of a physical entity and a virtual entity, using CarSim and MATLAB / Simulink joint simulation platform, fusing multi-source data, and realizing early warning of the steering stability of a distributed electric vehicle. And the accuracy and reliability of the model are improved. Specifically, an LSTM neural network algorithm is adopted, key operation parameters of a vehicle are monitored and analyzed in real time, the maximum side slip angle and the yaw velocity are predicted, and therefore potential steering stability faults are warned in advance. Through comparison with real-time data acquired by a vehicle sensor, the system can accurately evaluate the driving state of the vehicle, and early warning is given out in time when abnormity is detected, so that a driver is reminded to take corresponding measures.

The invention discloses a chassis coordination control method and system based on tire side deviation state evaluation, and relates to the technical field of four-wheel steering four-wheel drive vehicle dynamics control. The method comprises the steps that an expected front wheel rotation angle is determined based on an expected steering wheel rotation angle input by a driver, and a front wheel rotation angle is determined; further determining a feed-forward front wheel steering angle, a feed-forward rear wheel steering angle and an additional yaw moment based on feed-forward control and feedback control, determining a first tire slip angle and a second tire slip angle based on a road adhesion coefficient, and further determining a wheel torque control weight, a feedback front wheel steering angle control weight and a feedback rear wheel steering angle control weight; and further determining a driving yaw moment, a feedback front wheel steering angle and a feedback rear wheel steering angle, determining a total longitudinal force based on an expected longitudinal acceleration input by a driver, and performing four-wheel torque distribution based on the total longitudinal force and the driving yaw moment to obtain a four-wheel driving torque. The driving stability of the vehicle under the limiting working condition can be improved.

The invention discloses a vehicle instability active compensation method based on an angle module and related equipment, and the method comprises the steps: responding to a received steering instruction for a target vehicle, and determining a target yaw velocity and a target slip angle for the target vehicle according to the steering instruction; driving data and tire force constraint conditions of the target vehicle are obtained, and the tire force increment of the target wheel end of the target vehicle is determined according to the target yaw velocity, the target slip angle, the driving data and the tire force constraint conditions; wherein the tire force constraint condition is determined according to an adhesion coefficient estimation value of a road surface where the target vehicle is located; and controlling a target wheel end of the target vehicle to steer, brake or / and drive according to the tire force increment so as to correct a driving route of the target vehicle.

The invention discloses a tire longitudinal force and lateral force prediction method based on vehicle state parameter estimation, which adopts a seven-order spherical radius criterion to replace the original three-order spherical radial volume criterion on the basis of the traditional volume Kalman filter (CKF), and improves the estimation precision by optimizing sampling point distribution and weight configuration. And the stability of numerical calculation is ensured in combination with QR decomposition. A vehicle-mounted sensor is used for collecting real-time data such as a front wheel turning angle and longitudinal / lateral acceleration under a complex working condition, a time sequence feature set is built by combining longitudinal speed, lateral speed, a side slip angle and yaw velocity estimated by an algorithm, and meanwhile tire force calculated by a Dugoff tire model serves as target output. The TCN-GRU-based tire force prediction method is designed, the calculation complexity can be reduced while key time sequence information is kept, and the real-time prediction performance of the tire force is improved.

The invention discloses an automobile stability coordination control method based on reinforcement learning, and belongs to the technical field of electric automobile control, the method comprises the following steps: using a linear two-degree-of-freedom model to obtain an expected yaw velocity and an expected side slip angle; additional yawing moment and a steering angle of a driving rear wheel are obtained through sliding mode control; acquiring the state type of the current vehicle; constructing an intelligent agent and a reward function of reinforcement learning, and continuously training the intelligent agent until the optimal cooperative control coefficients of the additional yaw moment and the steering angle of the active rear wheel are output, so as to realize the cooperative control of the electric vehicle; the reward function includes a steady state reward, a yaw velocity error and side slip angle error reward, a critical steady state reward, and an anti-jitter reward. According to the invention, the steering and yawing moment of the driving rear wheel can be coordinated and controlled, so that the stability and safety of the vehicle are ensured.

The invention discloses a stability control system and method considering time varying and time lag of a steering mechanism, and the system comprises a rotation angle generation module, a reference model module, an error fusion module, a stability control module, and an EKF side slip angle observation module. Wherein the steering angle generation module adopts a model predictive control (MPC) algorithm to track an expected trajectory and generate a front wheel steering angle, and the stability control module adopts a Smith pre-estimation compensation method to design active front wheel steering (Smith-AFS) and direct yawing moment control (DYC) so as to realize the stability control of the intelligent vehicle under the condition that an execution mechanism has time-varying and time-lag. According to the stability control system and method considering the time-varying time-lag of the steering mechanism, the tracking precision of the side slip angle and the yaw velocity is greatly improved, and the time-lag interference problem of a stability controller can be solved.

Technical solutions described herein include a method of controlling an electric power steering system includes determining that one or more hand wheel torque sensors of electric power steering system are not operational and in response generating an assist torque command by estimating a front slip angle based on a motor angle of a motor of the electric power steering system and a vehicle speed. The method also includes converting the front slip angle to a rack force. The method also includes determining an amount of assist torque based on the rack force and controlling the electric power steering system using the generated assist torque command.

A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle. The method includes obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature and a target acceleration, determining a motion support device, MSD, control allocation based on the vehicle motion request, determining a dynamic wheel slip angle limit based on the vehicle motion request, where dynamic wheel slip angle limit increases with a decreasing target acceleration, and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic wheel slip angle limit.

The invention relates to the technical field of vehicle engineering, and discloses a vehicle transverse stability coordination control system based on sensing fusion, which comprises a main controller, a sensing fusion coprocessor and a transverse control coprocessor. The main controller calls and sends a stability control instruction according to the driving state; the sensing fusion coprocessor schedules a transverse control instruction in multi-source information fusion; the transverse control coprocessor analyzes the parameters to obtain basic control signals, dynamically monitors transverse acceleration, yaw velocity and tire slip angles, generates and outputs compensation signals through mode adjustment such as dynamic coordination function bypass selection and global or local parameter dynamic coordination, and controls an actuator after being fused with the basic signals. The system integrates a data fusion module, a state evaluation module and a multi-strategy dynamic adjustment module, multi-source information accurate fusion and multi-parameter cooperative control are achieved, the transverse stability and driving safety of the vehicle under the complex working condition are improved, and the method is suitable for the field of vehicle engineering control.

The invention discloses a vehicle key driving state estimation method based on low-orbit satellite and vehicle-mounted sensing multi-source information fusion, which comprises the following steps: acquiring the real-time longitudinal speed of a vehicle by combining a Doppler frequency shift formula based on a low-orbit satellite measurement signal; acquiring real-time lateral force of the tire based on the intelligent tire measurement signal in combination with a Gaussian process regression algorithm; a tire slip angle is calculated based on a vehicle-mounted sensing signal, a tire cornering stiffness estimation algorithm is established in combination with lateral force prior information, and a real-time cornering stiffness adaptive value is obtained; vehicle parameters and real-time sensing signals are obtained, and a vehicle dynamics model is established in combination with the self-adaptive value of the cornering stiffness; a lateral force estimation value provided by an intelligent tire system, a longitudinal vehicle speed value measured by a low-orbit satellite, a yaw velocity and a transverse acceleration sensing measurement value serve as measurement signals, an innovation self-adaptive expansion Kalman filter is combined, and a vehicle key driving state estimation algorithm is designed. And the real-time side slip angle, the yaw velocity and the longitudinal velocity of the vehicle are obtained.

The invention belongs to the field of distributed driving automobile control, and discloses a distributed driving automobile path tracking and stability control optimization method and related equipment, and the method comprises the steps: firstly building a tire cornering stiffness dynamic range through multi-source sensing data, and reducing the influence of nonlinear characteristics on a model; then, through a dynamic output feedback model prediction control algorithm, an estimation state sequence and an error boundary of a vehicle side slip angle are calculated online, an optimal control gain is matched in real time based on a two-dimensional table, a combined control quantity of a four-wheel steering angle and an additional yawing moment is formed, and parameter uncertainty caused by vehicle speed change is effectively compensated; and finally, torque distribution is carried out by adopting a quadratic programming algorithm and taking tire utilization rate minimization as a target. According to the method, the vehicle path tracking precision and the transverse stability under the complex working condition are improved, meanwhile, the tire saturation risk is reduced, the tire utilization rate is reduced, the transverse tracking error is reduced, and unified optimization of safety and controllability in the automatic driving process is achieved.

The invention relates to the field of electric vehicle transverse stability control, and discloses an AFS yaw stability control method based on an improved super-spiral sliding mode algorithm, and the method comprises the steps: a state parameter estimation step: outputting an estimated value of a state quantity based on a Kalman filtering unit; a stability determination step in which the target setting unit outputs an ideal value of the state quantity; the side slip angle judgment unit receives the road adhesion coefficient, the side slip angle and the side slip angle speed and outputs an instability judgment result; the yaw velocity judgment unit receives an ideal value and an actual value of the yaw velocity, and outputs an instability judgment result after judgment of a logic threshold value; an additional front wheel steering angle control output step, wherein a control mode selection unit receives the instability judgment result and outputs a corresponding control mode; and the control quantity calculation unit outputs the sliding mode control quantity according to the selected control mode. According to the method, yaw stability control with high rapidity and robustness can be realized only by using a common vehicle-mounted sensor, and the real-time precision of vehicle state parameter estimation is improved.

The invention belongs to the field of vehicle stability control, and particularly relates to a control method suitable for integration of four-wheel independent drive and active rear wheel steering. Comprising the steps of establishing a whole vehicle dynamics model suitable for controller design, performing stable region division by combining front and rear wheel side slip angle phase planes, setting an ideal yaw velocity and an ideal side slip angle, designing a feedforward and PID feedback integrated controller, performing torque distribution and the like. According to steering wheel rotation angle input, corresponding parameters of the vehicle are combined, the vehicle stability coefficient, the ideal yaw velocity and the side slip angle are calculated, the feedforward and PID feedback integrated controller inputs the calculated rear wheel rotation angle into the controlled vehicle, the calculated additional yaw moment obtains the basic driving moment based on pedal information, and the vehicle stability coefficient, the ideal yaw velocity and the side slip angle are calculated. Torques corresponding to four wheels are input to a controlled vehicle through torque distribution, so that the purpose of integrated control is achieved, and the vehicle handling stability is improved.

The invention discloses a side slip angle fusion estimation method based on an intelligent automobile, relates to the technical field of state estimation and control of the intelligent automobile, and aims to solve the problem of how to ensure high precision and adapt to side slip angle estimation of different driving conditions when the intelligent automobile is under complex driving working conditions. The vehicle operation information acquisition module acquires motion state parameters of the vehicle in real time; the side slip angle estimation influence factor calculation module comprehensively considers multiple factors and quantifies various influence factors, so that the estimation model adapts to different driving working conditions; the side slip angle estimation execution module executes a plurality of estimation modes in parallel under different working conditions; the side slip angle fusion estimation module based on the genetic algorithm and the neural network optimizes the weight factor offline through the genetic algorithm, and the neural network predicts the weight factor of each estimation mode in real time according to the influence factor in the online reasoning stage. According to the method, accurate side slip angle estimation can be provided in real-time driving, and the driving stability of the intelligent automobile is enhanced.

The invention provides a vehicle stability control method, device and system and electronic equipment, relates to the technical field of vehicle active safety control, and aims to construct a control framework based on a two-degree-of-freedom dynamical model and realize accurate control of the yaw velocity and the side slip angle of a vehicle. By introducing the road adhesion coefficient and combining the vertical load of each wheel for independent torque distribution, the tire adhesion utilization rate and the environmental adaptability and safety of the vehicle under different road conditions (such as ice and snow, wet and slippery conditions and dry conditions) are improved. According to the scheme, calculation is easy and convenient, response is rapid, good engineering practicability is achieved, and the robustness and adaptability of the system under the complex working condition are enhanced while the vehicle stability and the path tracking capacity are improved.

A travel assistance method sets a target slip angle, estimates or detects an actual slip angle, sets a target braking / driving force by, when a sign of the vehicle body slip angle rotating in a turning direction of the vehicle is defined as positive and a sign of the vehicle body slip angle rotating in an opposite direction to the turning direction is defined as negative, correcting a required braking / driving force in such a manner as to increase a braking / driving force for a rear wheel or reduce a braking / driving force generated on a front wheel when the actual slip angle is larger than the target slip angle and correcting the required braking / driving force in such a manner as to reduce a braking / driving force for the rear wheel or increase a braking / driving force generated on the front wheel when the actual slip angle is smaller than the target slip angle.

The application discloses a kind of distributed drive electric vehicle stability control method and system, desired centroid side slip angle and yaw angular velocity are calculated as control target according to vehicle dynamics model, actual centroid side slip angle and yaw angular velocity are estimated in real time by Kalman filtering.Further through stability judging law, vehicle state is identified using phase plane method.According to vehicle state, it is divided into: stable domain, coordination domain and non-stable domain.Further control target value and actual value are input into model reference adaptive controller, and the size of additional yaw moment and front wheel angle is respectively solved.The weight size of the two is calculated by the vehicle stability region determined in stability law.Additional front wheel angle can be directly input into vehicle actuator, if direct torque control is needed, additional yaw moment size needs to be input into torque distribution module for real-time solution, and finally left and right wheel torque value of front axle is output to vehicle actuator.

The invention discloses a 15-degree-of-freedom whole vehicle dynamics modeling method for a steer-by-wire system, and the method comprises the steps: dividing a whole vehicle model into six dynamics modules: a vehicle body model, a nonlinear tire model, a suspension model, a wheel motion model, a motor model, and a steer-by-wire model; in addition, a tire slip angle and slip rate state quantity calculation module and a steer-by-wire control module are adopted, a whole vehicle dynamic model is established and comprises six degrees of freedom of longitudinal, lateral, yawing, pitching, tilting and vertical movement of a vehicle body, two degrees of freedom of rotation and vertical movement of four distributed wheels and one degree of freedom of vehicle steering, and the total number of the degrees of freedom is 15. The method designed by the invention is suitable for common vehicle driving conditions so as to research the control performance, the stability, the safety, the dynamic response and the characteristics of a steer-by-wire system of the vehicle and vehicle performance under different working conditions, and theoretical support is provided for optimization of future vehicle design and control strategies.

The invention provides a driving deviation correction control method, device and equipment and a readable storage medium. The method comprises the steps that the current yaw velocity and the current side slip angle of a target vehicle are obtained; based on the current yaw velocity, a preset target yaw velocity, the current side slip angle and a preset target side slip angle, calculating to obtain a target correction moment; and the target vehicle is controlled according to the target correction torque and the current driving working condition. Compared with the prior art, the control targets such as the yaw velocity and the side slip angle are considered, the current actual running working condition of the vehicle is also considered, the deviation rectification control is matched with the running working condition, and the accuracy of running deviation rectification control is improved.

A hierarchical control system for torque distribution of hub motor-driven electric vehicles constructs a hierarchical controller with upper and lower layers. An upper layer torque distribution controller's drive torque distribution control strategy is determined through a fuzzy control module. A lower layer torque distribution controller receives the torque, yaw velocity, and side-slip angle from the upper layer torque distribution controller and performs drive torque distribution control based on the motor efficiency map or tire slip rate by using the torque, yaw velocity, side-slip angle and actual values of vehicle feedback to obtain a generalized torque output to a wheel hub motor model for calculating to obtain a target torque and inputting it into a 7-degree-of-freedom vehicle model. The 7-degree-of-freedom vehicle model feeds back vehicle states to the upper layer torque distribution controller to form a closed-loop control, achieving energy-saving control and improving handling stability and safety.

The present invention discloses a four-wheel steering control method for a distributed drive electric vehicle, which relates to the technical field of vehicle control. The front wheel steering angle δ is output by a driver model f , the throttle pedal opening α p , and the throttle pedal opening change rate Δα p . The ideal center-of-mass side slip angle β d and the ideal yaw angular velocity γ d are obtained through the two-degree-of-freedom dynamics equation of the front-wheel-steering vehicle. Then, based on the characteristics of the distributed drive torque vector control method and the rear-wheel active steering control method, and in combination with the actual center-of-mass side slip angle β and the actual yaw angular velocity γ of the vehicle, the vehicle target motion state tracking under different working conditions is carried out, and the additional yaw moment ΔM z and / or the rear wheel steering angle δ r are obtained. Finally, the coordinated control of the vehicle is realized through the four-wheel steering distributed drive vehicle model. While considering the control effect, the present invention takes into account the driving habits and driving needs of the driver to the greatest extent, not only improving the overall performance of the vehicle control system, but also ensuring the sensitivity, maneuverability and stability of the vehicle.

The embodiment of the invention provides a road sensing information determination method and device, a vehicle and a storage medium, and relates to the field of vehicle control, and the method comprises the steps of determining a front wheel turning angle and a vehicle speed of the vehicle, determining a front wheel yaw velocity of the vehicle based on the front wheel turning angle and the vehicle speed, and determining a road sensing information determination result based on the front wheel turning angle, the vehicle speed and the front wheel yaw velocity of the vehicle. According to the method, the front wheel lateral force and the front wheel slip angle of the vehicle are obtained, the rack force is obtained based on the front wheel lateral force and the front wheel slip angle, road feeling information is provided for an upper steering system based on the rack force, the defect that the rack force is estimated by a vehicle dynamics model can be overcome, and therefore the authenticity of the road feeling information is improved, and driving experience is improved.

The invention provides a vehicle drifting control method, device and equipment, a computer readable storage medium and a computer program product. The method comprises the steps that based on target state information and actual state information of a vehicle, a first slip rate component and a second slip rate component are obtained, the first slip rate component is used for slip angle stability control, and the second slip rate component is used for yaw velocity control; determining a left rear wheel slip rate target and a right rear wheel slip rate target based on a basic slip rate target, the first slip rate component and the second slip rate component; and rotating speed calculation is conducted based on the actual state information, the left rear wheel slip rate target and the right rear wheel slip rate target, and the vehicle is controlled based on the obtained left rear wheel rotating speed target and the obtained right rear wheel rotating speed target. According to the invention, a driver can maintain stable drifting of the vehicle only by operating the steering wheel and the accelerator.

The invention discloses a vehicle kinetic parameter identification method based on constrained nonlinear optimization, which comprises the following steps: establishing a vehicle two-degree-of-freedom transverse kinetic model based on a small-slip-angle tire and a road cross slope, acquiring a vehicle historical driving data measurement value, acquiring a to-be-estimated vehicle kinetic parameter, and identifying the to-be-estimated vehicle kinetic parameter according to the to-be-estimated vehicle kinetic parameter. Constructing a constrained nonlinear optimization problem about the yaw velocity, solving to obtain an estimated value sequence of the kinetic parameters of the vehicle, carrying out statistics on the sequence, and taking a statistical median as a final estimated value; on one hand, a vehicle transverse dynamics model including a road cross slope is adopted; on the other hand, the constraint of vehicle parameters is considered, a nonlinear optimization problem is constructed, and the vehicle front axle distance (the longitudinal distance from a front axle to the vehicle mass center), the vehicle rear axle distance (the longitudinal distance from a rear axle to the vehicle mass center), the front wheel cornering stiffness, the rear wheel cornering stiffness and the vehicle total mass are identified at the same time.

The invention relates to the technical field of intelligent automobiles, in particular to a vehicle side slip angle detection method, device and equipment and a computer storage medium. The method comprises the steps of obtaining a first side slip angle estimated value according to a vehicle dynamics model; according to the chassis acceleration information, through an integral discount factor and a zero clearing mechanism, a second side slip angle estimation value of the vehicle is obtained through direct integration of the acceleration; by introducing the projection of the difference value between the ideal yaw velocity and the actual vehicle yaw velocity, the distortion degree of the current vehicle dynamic model is evaluated, the weight coefficients of different estimated values are obtained, and the self-adaptive weight fusion of the first and second estimated values of the side slip angle is realized. According to the method, the estimation precision of the side slip angle can be effectively improved, state quantity support is provided for the active safety technology and function of the vehicle, the method is developed based on an existing vehicle-mounted sensor, the algorithm design is fully analyzed, the algorithm is low in calculation cost and easy to implement in loading, and the method has high engineering application value.

The invention provides a wheel state determination method and device, electronic equipment, a storage medium and a vehicle, and the method comprises the steps: obtaining an initial lateral deviation angle value of a wheel at a first moment; according to the ratio of the first difference value to the elastic lag time of the wheel, the slip angle change rate of the wheel at the first moment is determined; the first difference value is the difference value of the initial lateral deviation angle value relative to the lateral deviation angle value of the wheel at the second moment; the second moment is earlier than the first moment; and determining a target lateral deviation angle value of the wheel at the first moment according to the lateral deviation angle value of the wheel at the second moment and the slip angle change rate of the wheel at the first moment. According to the method, the influence of the elastic lag effect of the wheel on the wheel side slip angle is considered, the change rate of the wheel side slip angle is determined based on the initial side slip angle value and the elastic lag time of the wheel, and the target side slip angle value of the wheel is determined according to the change rate of the side slip angle, so that the accuracy of determining the wheel side slip angle can be improved.

The invention relates to the technical field of automobiles, and discloses a vehicle state estimation method and device, equipment and a storage medium. The method comprises the steps that vehicle state parameters of a vehicle under the current working condition are obtained; constructing a vehicle dynamics model according to the vehicle state parameters; performing transverse dynamic correction on the nonlinear dynamic model according to the tire force and the slip angle of the vehicle to obtain a corrected vehicle dynamic model; and carrying out adaptive Kalman filtering on the target state variable in the corrected vehicle dynamics model, and updating process noise information and measurement noise information by adopting a regularization method in the adaptive Kalman filtering process so as to obtain estimation information of the target state variable at the current moment. According to the embodiment of the invention, the vehicle state evaluation precision can be improved, and the filtering divergence in the vehicle state process can be suppressed.

The invention discloses an active steering and braking integrated control system based on roll angle feedback, and belongs to the technical field of vehicle dynamics control. In order to solve the problems of slow control response and multi-actuator action conflict of the vehicle under the limit working condition, the method quantifies the comprehensive instability risk of the whole vehicle by constructing a dynamic virtual potential field. The potential field is based on key state variables such as a roll angle and a side slip angle, and the topological structure (namely the weight of each variable) of the potential field is remodeled in real time by a dynamic risk factor reflecting the intention urgency degree of a driver and the environmental danger level. The system evaluates the instantaneous control efficiency by calculating the contribution degree of each actuator to the reduction of the potential field gradient in a distributed manner. According to the method, the complex control problem is converted into the process of finding the minimum potential energy point, prospective suppression of the instability trend and conflict-free efficient cooperation between the actuators are achieved, and the limit stability and safety of the vehicle are remarkably improved.

The invention discloses an indirect measurement method for a tire slip angle in the process of driving a vehicle on a wet land. The method comprises the following steps: S1, measuring partial size parameters of the vehicle and position parameters of a GPS (Global Positioning System) mounting point relative to each wheel position; s2, motion state parameters of the vehicle and the tires in the running process are collected; s3, calculating the longitudinal speed Vx, ij and the lateral speed Vy, ij of the tire center position under the vehicle body coordinate system by using the position parameters and the motion state parameters and considering the influence of vehicle yawing, pitching motion and roll motion; s4, calculating a side slip angle # imgabs0 # of the tire under a vehicle body coordinate system by using the longitudinal speed Vx, ij and the lateral speed Vy, ij; S5, converting the side slip angle # imgabs1 # into a tire coordinate system by using a tire steering angle, and obtaining a side slip angle alpha ij of each wheel position under the tire coordinate system. According to the method, the influence of vehicle yawing, side tipping and pitching motion is considered, and the method has very high tire slip angle measurement precision under the vehicle wetland driving working condition and the real vehicle limiting working condition including sudden turning and sudden acceleration and deceleration at the same time.