Automobile driving state estimation method with influence of rolling considered

A driving state, automobile technology, applied in the direction of calculation, design optimization/simulation, special data processing applications, etc., can solve the problem that the control accuracy is difficult to be guaranteed

Inactive Publication Date: 2016-12-21
LIAONING UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

Or a three-degree-of-freedom motion differential equation reflecting the vehicle's lateral acceleration is established on the basis of a two-wheeled motorcycle two-degree-of-freedom model, but the influence of the rolling motion factor is still not considered, and

Method used

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  • Automobile driving state estimation method with influence of rolling considered
  • Automobile driving state estimation method with influence of rolling considered
  • Automobile driving state estimation method with influence of rolling considered

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Embodiment Construction

[0045] 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.

[0046] A method for estimating the driving state of a vehicle considering the influence of roll provided by the invention comprises the following steps:

[0047] like figure 1 , 2 As shown, considering factors such as the change of tire characteristics caused by the change of tire load on the left and right wheels caused by the rolling motion and the influence of the tire righting moment, on the basis of the two-degree-of-freedom simplified model of the two-wheeled motorcycle, Based on the nonlinear three-degree-of-freedom car model, the differential equations including the center of mass motion, yaw motion and roll motion of the car are derived as follows:

[0048] The force balance equation in the Y direction:

[0049] M V ( ...

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Abstract

The invention discloses an automobile driving state estimation method with the influence of rolling considered. The method includes the steps that with the influence of automobile rolling motion considered, a three-degree-of-freedom motion differential equation which includes automobile mass center deviation, yawing motion and rolling motion and has nonlinear characteristics is established; the nonlinear three-degree-of-freedom motion differential equation is linearized; a state equation about the mass center deviation angle and the yaw velocity and a measurement equation are established, the mass center deviation angle and the yaw velocity are linearized and iterated into an extended Kalman filtering equation to obtain optimal estimated values of the mass center deviation angle and the yaw velocity, and meanwhile the mass center deviation angle and the yaw velocity of the nonlinear three-degree-of-freedom motion differential equation are input into an extended Kalman filtering model. Thus, comparison of the estimated values and actual values can be verified.

Description

technical field [0001] The invention relates to the field of vehicle system dynamics handling stability control, in particular to a method for accurately estimating the side slip angle of the center of mass and the yaw angular velocity considering the influence of the roll motion during the running of the vehicle. Background technique [0002] In the study of vehicle handling stability control, the vehicle's yaw motion and lateral motion are the focus of attention. The center of mass side slip angle and yaw rate of the car are the two most important motion parameters for handling stability control. Through these two parameters, the lateral motion characteristics of the car can be obtained indirectly, and the lateral motion characteristics of the car are actually It cannot be directly measured by a sensor or the like. Although the yaw rate of the car can be obtained by measuring the steering wheel angle position sensor, there are a lot of measurement errors in the measuremen...

Claims

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 陈学文张进国刘艳军刘伟川郑鑫洋郭昊
Owner LIAONING UNIVERSITY OF TECHNOLOGY
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