Vehicle sideslip angle estimation method based on second-order sliding-mode observer

Abstract

The invention discloses a vehicle sideslip angle estimation method based on a second-order sliding-mode observer and belongs to the field of vehicle control. The vehicle sideslip angle estimation method comprises steps as follows: step 1, a vehicle state is detected by a sensor, and specifically, the velocity vx of a running longitudinal wheel of the vehicle is detected by a velocity sensor; the yaw velocity omega in the vehicle running process is detected by a yaw velocity sensor; a front wheel rotating angle delta in the vehicle running process is detected by a steering wheel angle sensor; step 2, the second-order sliding-mode observer is designed, the step 2 comprises a step 2.1 and a step 2.2, in the step 2.1, a kinetic model of a vehicle system is established firstly, and in the step 2.2, the second-order sliding-mode observer is designed according to the kinetic model of the vehicle; step 3, the information about the vehicle state detected in the step 1 is transmitted to the second-order sliding-mode observer designed in the step 2, and a sideslip angle is obtained through operation estimation. A two-degree-of-freedom kinetic model of the vehicle is used, the designed observer has a fractional power item, the steady-state error can be reduced, the observer has a sign function item, and the robustness of the system can be improved.

Description

technical field [0001] The invention relates to the field of vehicle control, in particular to a method for real-time estimation of the sideslip angle of the center of mass in a vehicle control system by constructing a second-order sliding model observer based on software off-line programming. Background technique [0002] With the development of science and technology and social economy, the number of automobiles has risen sharply, becoming the primary means of transportation for human beings. At the same time, it is difficult for ordinary drivers to cope with various complex traffic conditions, resulting in frequent automobile traffic accidents. [0003] In order to improve the handling stability of the vehicle, adjust the vehicle state in bad road conditions and emergency situations, and avoid vehicle instability, the active safety control methods of automobiles are more and more applied to vehicle systems. These active safety control methods mainly include body electron...

AI Technical Summary

Problems solved by technology

For such complex control systems, it is difficult for the Luenberger observer to quickly and accurately estimate the sideslip angle of the vehicle's center of mass

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