Vehicle running state nonlinear robust estimation method based on sliding mode observer

A technology of vehicle running state and sliding mode observer, which is applied in the field of nonlinear robust estimation of vehicle running state based on sliding mode observer, can solve the problems of high precision, low cost, large measurement error, etc., and achieve strong anti-interference ability , high precision effect

Active Publication Date: 2012-07-04
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

One is to use low-cost on-board sensors (such as inertial sensors and wheel speed sensors, etc.) to perform simple mathematical calculations on the measured signals to obtain relevant vehicle operating conditions. This method is low in cost, but due to poor accuracy of low-cost sensors And the calculation process is too simple and there are large measurement errors, thus affecting the control effect
The second is to use high-precision sensors to directly measure the running status of the relevant vehicles (such as using a photoelectric five-wheel instrument or a high-precision global navigation satellite system GNSS, especially a high-precision global positioning system GPS, etc.). This method has high pre

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  • Vehicle running state nonlinear robust estimation method based on sliding mode observer
  • Vehicle running state nonlinear robust estimation method based on sliding mode observer
  • Vehicle running state nonlinear robust estimation method based on sliding mode observer

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Embodiment 1

[0086] At present, the problem of road traffic safety has become increasingly prominent and has become a global problem. In order to prevent the occurrence of road traffic accidents, automotive active safety technology has developed rapidly in recent years. Automobile active safety technology can prevent accidents before they happen and actively avoid accidents, which has become one of the most important development directions of modern automobiles. The current common active safety technologies mainly include anti-lock braking system (ABS), vehicle electronic stability program (ESP), traction control system (TCS), electronically controlled anti-skid system (ASR), four-wheel steering stability control system (4WS). )Wait. These systems usually involve the measurement or estimation of the speed of the car tires, the longitudinal forward speed of the car, the lateral speed, the yaw rate, and the side slip angle of the center of mass, etc. These operating state measurements can b...

Embodiment 2

[0217] In order to test the actual effect of the non-linear robust estimation method of the vehicle operating state based on the sliding mode observer proposed by the present invention, a simulation verification experiment is carried out by using the professional vehicle dynamics simulation software CarSim.

[0218] CarSim is a simulation software specially designed for vehicle dynamics developed by MSC (Mechanical Simulation Corporation) in the United States. Commercially developed, it has become standard software in the automotive industry and enjoys a high reputation. The vehicle dynamics model in Carsim is realized through the high-fidelity modeling of the car body, suspension, steering, braking and other subsystems, as well as each tire. It has a high degree of freedom and can provide a very close The actual and accurate vehicle running status information, therefore, the vehicle running status information output by Carsim can be used as the reference output of the vehicle...

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Abstract

The invention provides a vehicle running state nonlinear robust estimation method based on a sliding mode observer. The method comprises the following steps of: determining an automotive nonlinear kinetic model closer to the actual situation aiming at high mobility running conditions and complex variable road environments, designing the corresponding sliding mode observer, establishing external input quantity and measurement information of the sliding mode observer system by using low-cost vehicle-mounted wheel speed and steering wheel turning angle sensors, and thus implementing estimation of multiple running states of an automobile by a sliding mode observer estimation recursion algorithm. The method has the characteristics of strong anti-interference capacity, high precision, low cost and the like, and is easy to implement.

Description

technical field [0001] The invention relates to a method for nonlinear robust estimation of vehicle operating state based on a sliding mode observer. Accurate and reliable operating states under complex and changeable road conditions, these states can be used for the related control of automobile active safety, the method of the invention has remarkable characteristics such as strong anti-interference ability, high precision, good real-time performance and low cost, and belongs to automobile Active safety measurement and control field. Background technique [0002] In order to prevent road traffic accidents, automotive active safety technology has developed rapidly in recent years. Automobile active safety technology can prevent accidents before they happen and actively avoid accidents, which has become one of the most important development directions of modern automobiles. The current common active safety technologies mainly include anti-lock braking system (ABS), vehicle...

Claims

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Application Information

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IPC IPC(8): B60W40/10B60W40/105
Inventor 李旭陈伟黄金凤
Owner SOUTHEAST UNIV
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