Comprehensive compensation strategy construction method for constant error of vehicle acceleration sensor

Abstract

The invention discloses a comprehensive compensation strategy construction method for a constant error of a vehicle acceleration sensor. The comprehensive compensation strategy construction method comprises the steps: firstly building a dynamic expression related to the lateral and yawing movement of a vehicle, and achieving the observation of the lateral speed of the vehicle; secondly, determining the state quantity and quantity measurement of an estimator according to the acceleration sensor error drift model and the transverse and longitudinal kinematics relationship of the vehicle, and estimating the constant error of the acceleration sensor by using a Kalman filter; and finally, compensating and updating the constant error of the acceleration sensor by correcting the tire positive pressure model and the tire cornering stiffness and feeding back the input information of the vehicle lateral velocity observer. The comprehensive compensation strategy construction method can realize estimation and iterative updating of the constant error of the vehicle acceleration sensor at a relatively high frequency, does not excessively lose the real-time performance while improving the overallprecision of vehicle motion state estimation, and has has the characteristics of simplicity and high efficiency.

Description

technical field [0001] The invention belongs to the field of error estimation and compensation of vehicle sensors, and in particular relates to a method for constructing a comprehensive compensation strategy for constant value errors of vehicle acceleration sensors, with the purpose of further improving the accuracy and real-time performance of vehicle driving state estimation. Background technique [0002] With the development of vehicle active safety technology, intelligent sensing theory has become one of its important research hotspots. For automobiles, the anti-lock braking system needs to judge the degree of wheel slippage based on the output of the wheel speed sensor, while the electronic stability control program determines the motion mode of the car based on the signal of the yaw rate sensor to achieve direct yaw moment control. However, the output signals of these commonly used sensors all contain unavoidable noise, and the output of some other sensors (such as veh...

AI Technical Summary

Problems solved by technology

However, the output signals of these commonly used sensors all contain unavoidable noise, and the output of some other sensors (such as vehicle acceleration sensors, etc.) even has errors that drift with time.

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