Soft measurement method for automobile mass center slip angle and tire slip angle

The invention discloses a soft measurement method for an automobile mass center slip angle and a tire slip angle. By the soft measurement method, the mass center slip angle and front and rear wheel slip angles of an automobile can be calculated in real time when a direction angle, a roll angle and a pitch angle of the automobile in the driving process and an east speed, a north speed and an up speed in a navigation coordinate system are known, and the problem of lateral acceleration and automobile transverse operation stability can be analyzed. By the soft measurement method, a wheel speed sensor is not required to be arranged in the automobile, or data of an anti-lock brake system (ABS) and an electronic stability program (ESP) in the automobile is not required to be read through a controller area network (CAN) bus, and the method has the characteristics that the method is convenient, quick and reliable.