A vehicle side slip angle estimation method based on vehicle GPS

Abstract

Disclosed is a vehicle-mounted GPS (global positioning system) based vehicle sideslip angle estimation method and hardware. A hardware system comprises a vehicle-mounted GPS signal receiver, a GPS signal acquisition module, wheel angular velocity sensors, an angular velocity signal acquisition module and a sideslip angle estimation microprocessor, the wheel angular velocity sensors include a left rear wheel angular velocity sensor and a right rear wheel angular velocity sensor, the vehicle-mounted GPS signal receiver is connected with the GPS signal acquisition module via a bus, the wheel angular velocity sensors are connected with the angular velocity signal acquisition module via a bus, the GPS signal acquisition module is connected with the GPS signal acquisition module via a bus, and the angular velocity signal acquisition module is connected with the sideslip angle estimation microprocessor by a bus. By the aid of the estimation microprocessor, for a vehicle provided with an ABS (anti-lock brake system) or a vehicle-mounted GPS, the sideslip angle at a GPS mounting point can be estimated only by implanting a simple program into an ECU (electronic control unit), economic cost is lowered, and the method is simple and feasible.

Description

technical field [0001] The invention relates to a side slip angle estimation method based on vehicle-mounted GPS, which can be used as a reference for estimation of the side slip angle of the center of mass in the stability control of land wheeled vehicles, and improves the driving stability of land wheeled vehicles, belonging to the field of automotive electronic control . Background technique [0002] In the stability control algorithm, the yaw rate and the sideslip angle of the center of mass are usually used as the control reference quantities. Among them, the yaw rate can be directly measured by the yaw rate sensor integrated in the stability system, but it is difficult to directly measure the side slip angle of the center of mass at low cost, and it is necessary to measure other vehicle motion state parameters (steering wheel angle, lateral acceleration, yaw Angular velocity, etc.) and use the estimation method to estimate. Therefore, the method of estimating the sid...

AI Technical Summary

Problems solved by technology

There are many sensors used in the patent CN102009653A, and its estimation algorithm needs to use extended Kalman filter, and the algorithm is more complicated

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