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Method for estimating roll angle and pitch angle of vehicle based on recursive least square

A recursive least squares, pitch angle technology, applied in the direction of the control device, can solve problems such as drift

Active Publication Date: 2014-03-12
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in fact, the direct integration method will cause large drift due to sensor errors and inevitable numerical calculation errors, especially when using low-cost MEMS (Micro-Electro-Mechanic System, micro-electromechanical system) sensors on the vehicle. Therefore, The present invention does not use the direct integration method, but proposes a real-time recursive least squares (Recursive Least Squares, RLS) algorithm to estimate the roll angle and pitch angle of the vehicle

Method used

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  • Method for estimating roll angle and pitch angle of vehicle based on recursive least square
  • Method for estimating roll angle and pitch angle of vehicle based on recursive least square
  • Method for estimating roll angle and pitch angle of vehicle based on recursive least square

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Embodiment 1

[0038] In recent years, ITS (Intelligent Transportation Systems) has been highly valued and developed rapidly all over the world. An important basis for the effective functioning of ITS is to achieve accurate and reliable positioning of vehicles. In the case of accurate and reliable positioning of the vehicle, ITS can guide the vehicle more effectively, improve operating efficiency, improve driving safety, and reduce exhaust emissions.

[0039]At present, GPS technology is the most widely used in the field of vehicle navigation and positioning. However, due to occlusion or multi-path phenomena, GPS will have inaccurate or even invalid positioning problems, and cannot achieve accurate and reliable continuous positioning. In order to overcome the shortcomings of GPS, the research of vehicle multi-sensor integrated navigation has attracted extensive attention, that is, in the case of GPS failure, the inertial navigation sensor or dead reckoning is used to calculate the positionin...

Embodiment 2

[0069] In order to test the actual effect of the method for estimating the vehicle roll angle and pitch angle based on recursive least squares proposed by the present invention, a simulation verification experiment was carried out on the professional vehicle dynamics simulation software CarSim.

[0070] 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.

[0071] I...

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Abstract

The invention discloses a method for estimating a roll angle and a pitch angle of a vehicle based on a recursive least square. Through the method, a vehicle dynamic model conforming to driving characteristics of a four-wheel vehicle running on the land is established; furthermore, the real-time and accurate estimation of the roll angle and the pitch angle of the vehicle can be realized by a recursive least square method with a forgetting factor. According to the method, only a low-cost vehicle-mounted sensor is needed, so that the cost is low; the estimated information of the roll angle and the pitch angle can meet requirements on integrated navigation and location of the vehicle.

Description

technical field [0001] The present invention relates to a method for estimating vehicle roll angle and pitch angle based on recursive least squares. Estimated values ​​of inclination and pitch angles, these estimated values ​​can be used for vehicle integrated navigation and positioning, and have significant advantages such as high precision, low cost, and good real-time performance, and belong to the field of vehicle positioning and navigation. Background technique [0002] In recent years, ITS (Intelligent Transportation Systems) has been highly valued and developed rapidly all over the world. An important basis for the effective functioning of ITS is to achieve accurate and reliable positioning of vehicles. In the case of accurate and reliable positioning of the vehicle, ITS can guide the vehicle more effectively, improve operating efficiency, improve driving safety, and reduce exhaust emissions. [0003] At present, GPS technology is the most widely used in the field of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/105B60W40/11B60W40/112
CPCB60W30/14B60W40/105B60W40/11B60W40/112B60W2040/133B60W2040/1338B60W2050/0031
Inventor 李旭宋翔
Owner SOUTHEAST UNIV
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