A method for estimating sideslip angle of vehicle center of mass based on a new fuzzy observer

Abstract

The invention discloses a vehicle side slip angle estimating method based on a novel fuzzy observer. The method comprises the following steps: at first, utilizing a sensor to detect the vehicle state: specifically, using a yaw velocity sensor to detect the yaw velocity (gamma) during the travelling process of a vehicle and using a speed sensor to detect the vertical wheel speed (vx) during the travelling process of the vehicle; then utilizing a T-S fuzzy modeling method to establish a kinetic model of the vehicle system, wherein the front wheel rotation angle ([delta]f) during the travelling process of the vehicle is taken as external disturbance input of the system; then designing a novel fuzzy observer aiming at the vehicle kinetic model; finally, transmitting the measured state information of the vehicle to the designed fuzzy observer, and calculating the estimated side slip angle. The designed novel fuzzy observer can effectively solve the problem of mismatched parameters caused by T-S fuzzy modeling, and the results of simulation experiments also testify the effectiveness of the novel fuzzy observer.

Description

technical field [0001] The invention relates to a method for estimating the sideslip angle of the center of mass of a vehicle based on a novel fuzzy observer, and belongs to the technical field of automobile driving parameter estimation. Background technique [0002] With the development of social economy and science and technology, cars have played an increasingly important role in people's daily life and production, so consumers have put forward higher requirements for their safety performance, driving experience, etc., in order to improve the vehicle The operation stability of the vehicle can avoid the instability of the vehicle, and the active safety control method of the vehicle is more and more applied to the vehicle system. These active safety control methods mainly include body electronic stability system (ESP), active front wheel steering technology (AFS), etc., and these vehicle active safety control technologies all rely on accurate estimation of the side slip ang...

AI Technical Summary

Problems solved by technology

However, when there are strong external disturbances and model uncertainties, it is difficult for traditional observers to ensure that the system has a small steady-state observation error

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