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Vehicle operating state estimation method based on improved extended Kalman filter

A vehicle running state and extended Kalman technology, which is applied in the field of vehicle running state estimation based on the improved extended Kalman filter, can solve the problems of high price, low cost, and high precision, and achieve good real-time performance, reliable estimation, and low cost Effect

Active Publication Date: 2015-04-01
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 precision but is expensive. Expensive and cannot be widely used
However, the model methods that have been proposed so far are mainly based on the kinematics model of the car or the dynamic model that makes more linear assumptions on the vehicle or tires. These models can obtain better estimation results and accuracy when the vehicle is running relatively smoothly. , but under high maneuvering conditions, the estimation accuracy is low because it is difficult to reflect the actual nonlinear dynamic behavior of the vehicle

Method used

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  • Vehicle operating state estimation method based on improved extended Kalman filter
  • Vehicle operating state estimation method based on improved extended Kalman filter
  • Vehicle operating state estimation method based on improved extended Kalman filter

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Embodiment 1

[0101] With the development of social economy, the problem of road traffic safety has become increasingly prominent and has become a global problem. Traffic accidents all over the world cause a large number of casualties and property losses every year. Countries around the world are working hard to reduce the occurrence of traffic accidents. In recent years, automotive active safety technology has developed rapidly. Automobile active safety technology can prevent problems before they happen and take the initiative to avoid accidents, which has become one of the most important development directions of modern automobiles. The current common active safety technologies mainly include automobile 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) etc. These systems usually involve the measurement or estimation of operating co...

Embodiment 2

[0203] In order to test the actual effect of the vehicle operating state estimation method based on the improved extended Kalman filter proposed by the present invention, a simulation verification experiment was performed on the professional vehicle dynamics simulation software CarSim.

[0204] CarSim is a simulation software specifically for vehicle dynamics developed by the American MSC (Mechanical Simulation Corporation). It has been adopted by many international automobile manufacturers and component suppliers, and is widely used in modern automobile control systems. Commercial development has become the standard software in the automotive industry and enjoys a high reputation. The vehicle dynamics model in Carsim is achieved by high-fidelity modeling of the car body, suspension, steering, braking and other subsystems and each tire. It has a high degree of freedom and can provide very close Actual and accurate vehicle operating status information, therefore, the vehicle opera...

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Abstract

A vehicle operating state estimation method based on improved extended Kalman filter includes using the improved extended Kalman filter algorithm for properly modeling to acquire operating state information such as longitudinal forward speed, yaw velocity, lateral speed, side slip angle and the like of a vehicle in a higher maneuvering operating state, wherein the information can be used for relevant control of vehicle active safety. The vehicle operating state estimation method based on improved extended Kalman filter has the advantages of high precision, low cost, high instantaneity and the like.

Description

Technical field [0001] The present invention relates to a vehicle operating state estimation method based on an improved extended Kalman filter. Its purpose is to use the improved extended Kalman filter method to properly model the vehicle dynamics process and obtain the vehicle operating status under higher maneuvering conditions. The vehicle operating state, these states can be used for the related control of automobile active safety, which has significant advantages such as high accuracy, low cost, and good real-time performance, and belongs to the field of automobile active safety measurement and control. Background technique [0002] With the development of social economy, the problem of road traffic safety has become increasingly prominent and has become a global problem. Traffic accidents all over the world cause a large number of casualties and property losses every year. Countries around the world are working hard to reduce the occurrence of traffic accidents. In recent...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W40/10
Inventor 李旭陈伟
Owner SOUTHEAST UNIV
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