Automobile gravity center slip angle measuring method

A technology of centroid side-slip angle and measurement method, which is applied in the field of measuring the vehicle's centroid side-slip angle

Inactive Publication Date: 2015-12-16
JILIN UNIV
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  • Description
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  • Application Information

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Problems solved by technology

In the vehicle electronic stability system sales market, foreign products are in a monopoly position, and there are no mature vehicle electronic stability system products in China. Among them, domest...

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  • Automobile gravity center slip angle measuring method
  • Automobile gravity center slip angle measuring method

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Embodiment Construction

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

[0039] The invention provides a vehicle mass center side slip angle measurement technology, which is a method for estimating the vehicle mass center side slip angle by combining dynamic parameter estimation based on a two-degree-of-freedom linear model and a filtering algorithm of a nonlinear three-degree-of-freedom vehicle model.

[0040] The method for estimating the center of mass sideslip angle of the present invention is based on the conventional sensors used by the ESC system such as the speed measurement module of the vehicle, the acceleration sensor (the sensor can measure the lateral acceleration and the longitudinal acceleration of the vehicle), the yaw rate sensor, the steering wheel angle sensor and other designs of.

[0041] The center of mass sideslip angle esti...

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Abstract

The invention discloses an automobile gravity center slip angle measuring method which comprises the following steps: using a sensor to measure the lateral acceleration ay, the yaw velocity omega r and the longitudinal velocity Vx, gamma and theta of an automobile in the travelling process; using a linear two-freedom model to carry out dynamic parameter estimation so as to obtain the first automobile gravity center slip angle beta L; using a filtering algorithm of a non-linear three-freedom automobile model to estimate the second automobile gravity center slip angle beta N in an integration manner; and using the following formula of beta = (1-zeta) beta L + zeta beta N to calculate out the automobile gravity center slip angle beta. According to the automobile gravity center slip angle measuring method, only the sensor is utilized to measure the three parameters of the lateral acceleration, the yaw velocity and the longitudinal velocity in an automobile running process. Thus, the calculation accuracy is guaranteed while the calculated amount is small.

Description

technical field [0001] The invention belongs to the technical field of automobile driving parameter testing, in particular to a method for measuring the sideslip angle of the center of mass of a vehicle in an automobile stability control system. Background technique [0002] The number of cars is increasing year by year, and the safety of vehicles has aroused widespread concern. Relevant studies have shown that about 45% of the traffic accidents that occur during high-speed driving are caused by the loss of vehicle handling stability. Therefore, the installation rate of vehicle stability control systems is increasing year by year, and European and American countries even legislate to force vehicles to install electronic stability systems. [0003] The main functions of the vehicle electronic stability system include vehicle yaw control, turning brake control, etc. To determine the control target of the vehicle stability control system, it is necessary to accurately obtain ...

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Application Information

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IPC IPC(8): B60W40/103
CPCB60W40/103B60W2520/10B60W2520/105B60W2520/125B60W2540/18
Inventor 靳立强刘刚李建华陈鹏飞石冠男
Owner JILIN UNIV
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