电子控制助力转向系统ECPS是提高汽车控制水平，实现汽车智能化的重要内容之一。

The ECPS system helps to improve the control capability to automobile and is one of the important contents for realizing automobile intellectualization.

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本文首先建立用于电子稳定程序的汽车模型，包括车身模型、悬架模型、转向模型、轮胎模型、制动系统模型、发动机模型和传动系模型。

In this paper we firstly build a vehicle dynamic model, including vehicle body, suspension system, steering system, tire model, braking system, engine model and transmission model.

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