Autonomous driving vehicle traveling status information estimation method

The invention discloses an autonomous driving vehicle traveling status information estimation method. The method comprises the steps that 1, a vehicle traveling status modular estimator is designed based on a simplified vehicle model and used for estimating other traveling status information of a vehicle according to measurement signals of a vehicle sensor, wherein the first step comprises the substeps that a longitudinal tire force observer is designed and used for estimating the longitudinal tire force of the vehicle, a lateral tire force estimator is designed and used for calculating the lateral tire force of the vehicle, a vehicle speed nonlinear full-dimensional status estimator is designed and used for estimating the longitudinal speed and the lateral speed of the vehicle, and the designed estimators designed in the substeps are integrated to obtain the vehicle traveling status modular estimator; 2, the signals measured by the sensor of the vehicle are input into the vehicle traveling status modular estimator obtained in the first step, and the estimation information of the tire force and speed of the vehicle is estimated through the vehicle traveling status modular estimator.