Automobile driving state estimation method with influence of rolling considered

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...

AI Technical Summary

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 the estimated value based on the above model will inevitably be large. Therefore, it is difficult to guarantee the control accuracy of the relevant control strategy based on the estimated results of the side slip angle and yaw rate of the vehicle's center of mass.

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