With the development of electronic technology, the application of electronic control system (CS) in automobile is more and more, especially the dynamic CS. As a typical dynamic CS, ESC not only plays a key role in the field of active safety, but also is the key executive layer of intelligent driving system. Vehicle state parameters are the basis of ESC control and have a direct impact on the intervention effect of ESC related functions. From the cost of engineering application, a considerable

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... rt of the state parameters can not be directly measured by sensors. Therefore, the real-time and accurate estimation of state parameters becomes the key to limit the industrial application of ESC. At present, the key technology has not been mastered in the research and industrial application of ESC control in China, which makes the developed ESC products difficult to meet the needs of industrialization. This paper mainly studies the automotive engineering(AE) CS. Through the analysis of the ESC dynamics CS, we can understand the functional modules of the dynamics CS, and elaborate the control scheme of the ESC dynamics CS. We also study the vehicle yaw rate algorithm and analyze the vehicle yaw steering wheel angle and speed by chart analysis method. The experimental results show that the natural frequency of vehicle yaw is generally between 0.5Hz and 0.7hz. Compared with the single sinusoidal input test, the steering wheel angle required to excite the vehicle yaw rate response is smaller in the sinusoidal stagnation test. At 0.5Hz, the sinusoidal stagnation test needs to swing 130 degrees, while the single sinusoidal input test needs to swing 200 degrees.