提出了一种基于非线性最小二乘的路面附着系数估计方法,该方法对电动汽车转向工况的特性具有很好的估计。首先基于汽车单轨结构,建立车辆二自由度侧向运动模型;然后根据动力学方程构建最小二乘问题;同时提出了一种新的迭代初值选择方法。仿真结果表明:该方法在转向工况下能够对路面附着系数进行实时、准确的估计。 A method for estimating the coefficient of road adhesion based on nonlinear least squares is proposed. This method has a good estimation of the characteristics of steering conditions of electric vehicles. First, based on the monorail structure, a two-degree-of-freedom vehicle lateral motion model is established. Then the least square problem is constructed according to the dynamic equations. A new iterative initial value selection method is also proposed. The simulation results show that this method can estimate the road surface adhesion coefficient in real time and accurately under steering conditions.