Multi-information fusion vehicle side slip angle estimation method

A technology of center-of-mass side slip angle and multi-information fusion, which is applied to vehicle components, driver input parameters, control devices, etc., can solve the problems of sensitive model parameter changes, high model accuracy requirements, error accumulation, etc., and achieve estimation results Accurate and reliable, enhanced robustness, and improved accuracy

Active Publication Date: 2017-08-11
TONGJI UNIV
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Problems solved by technology

[0003] At present, there are mainly methods for estimating the sideslip angle of the vehicle center of mass at home and abroad: 1. Based on the estimation method of the kinematic model, the sideslip angle of the vehicle center of mass is obtained by direct integration of the lateral acceleration sensor, but this method strictly depends on the sensor information, due to the noise of the IMU , integrating the acceleration signal for a long time will lead to error accumulation; 2. Based on the vehicle dynamics model estimation method, but this type of method has high requirements for the accuracy of the model itself, and is sensitive to changes in model parameters
3. Use sensors such as GPS or non-contact optics to directly measure the side slip angle of the center of mass, but the cost is too high

Method used

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  • Multi-information fusion vehicle side slip angle estimation method

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Embodiment

[0033] Such as figure 1 As shown, a method for estimating the sideslip angle of the center of mass of a vehicle based on multi-information fusion, the method includes the following steps:

[0034] (1) Estimated by the kinematic estimation method to obtain the estimated value of the side slip angle of the kinematic center of mass

[0035] (2) A linear two-degree-of-freedom monorail vehicle model is used to establish a dynamics-based Romberg observer, and the estimated value of the dynamic center of mass side slip angle is obtained by using the observer estimation

[0036] (3) Use the following formula to and Fusion is performed to obtain the estimated value of the sideslip angle of the center of mass

[0037]

[0038] Among them, τ is a filter constant, and s is a Laplace operator.

[0039] Step (1) specifically includes:

[0040] (1a) Real-time measurement of body lateral acceleration a y , longitudinal vehicle speed v and body yaw rate That is, the yaw angu...

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Abstract

The invention relates to a multi-information fusion vehicle side slip angle estimation method. The method comprises the following steps that (1) a kinematics estimation method is adopted to estimate to obtain a kinematics side slip angle measuring estimation value beta <kin>; (2) a linear two-degree-of-freedom monorail vehicle model is adopted to establish a dragonberg observer based on the kinematics, and the observer is adopted to estimate to obtain the kinematics side slip angle measuring estimation value beta <model>; and (3) the kinematics side slip angle measuring estimation value beta is obtained by fusing beta<kin> and beta<model> according to a formula (please see the specifications for the formula), wherein Tau is filter constant, and s is laplacian. Compared with the prior art, the multi-information fusion vehicle side slip angle estimation method has the advantages of high estimation accuracy, good rubustness, wide application and the like.

Description

technical field [0001] The invention relates to a method for estimating the sideslip angle of the center of mass of an automobile, in particular to a method for estimating the sideslip angle of the center of mass of an automobile with multi-information fusion. Background technique [0002] The sideslip angle of the center of mass is the input information in most vehicle lateral dynamics control, and the real-time estimation of the sideslip angle of the vehicle center of mass is the basis of the vehicle stability control. [0003] At present, there are mainly methods for estimating the sideslip angle of the vehicle center of mass at home and abroad: 1. Based on the kinematics model estimation method, the sideslip angle of the vehicle center of mass is obtained by direct integration of the lateral acceleration sensor, but this method strictly depends on the sensor information, due to the noise of the IMU , Integrating the acceleration signal for a long time will lead to error ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/105B60W40/107B60W40/112B60W40/13
CPCB60W40/105B60W40/107B60W40/112B60W40/12B60W40/13B60W2040/1315B60W2520/10B60W2520/105B60W2520/14B60W2540/18
Inventor 熊璐刘伟夏新林雪峰余卓平
Owner TONGJI UNIV
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