The invention provides a method for estimating a road
adhesion coefficient according to an on-line modified automobile
state parameter. The method comprises the following steps: carrying out on-line identification on related parameters; transmitting a modified parameter to a state estimator; feeding back an
estimation value obtained through the state estimator to a parameter modification part; then estimating the
cornering force of a tire according to the
estimation value, the identified parameter values and signals obtained through all sensors; transmitting the
estimation result to a road
adhesion coefficient estimator; finally, estimating the road
adhesion coefficient; feeding back the result to a
cornering force estimating module, thereby enabling the
estimation result to be more accurate. The method adopts a parameter real-time modification function during the state estimation process, and feeds back the estimation value for re-modification, so that the problem of high filter
divergence possibility during the state estimation process due to error caused by
linearization of a non-
linear model is solved, on-line renewal and modification of
model parameters are realized, self-adaption of the estimation effect can be realized, and on-line estimation accuracy can be improved.