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Adaptive vehicle state prediction system and prediction method based on model and parameter dynamic adjustment

A vehicle state and dynamic adjustment technology, applied in the direction of control devices, etc.

Active Publication Date: 2020-05-15
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention provides an adaptive vehicle state prediction system and prediction method based on model and parameter dynamic adjustment, which can solve the defects mentioned in the background technology

Method used

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  • Adaptive vehicle state prediction system and prediction method based on model and parameter dynamic adjustment
  • Adaptive vehicle state prediction system and prediction method based on model and parameter dynamic adjustment
  • Adaptive vehicle state prediction system and prediction method based on model and parameter dynamic adjustment

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Embodiment 1

[0097] Such as figure 1 As shown, the whole system structure of the present invention mainly includes several units: vehicle sensor signal measurement unit, fuzzy reasoning system unit, tire slip angle calculation unit, model parameter prediction unit and robust volumetric Kalman filter unit, in this application, It is better than the prior art in that the fuzzy reasoning system unit set in the present application realizes the dynamic update of the process noise of the prediction algorithm, and the model parameter prediction unit realizes the update of the vehicle total mass parameter as a variable. Specifically, the on-vehicle sensor signal measurement unit is connected with the model parameter prediction unit, the tire slip angle calculation unit, the fuzzy reasoning system unit, and the robust volumetric Kalman filter unit, and the model parameter prediction unit, the tire side slip angle calculation unit, and the fuzzy reasoning unit are respectively connected. The system ...

Embodiment 2

[0104] Based on the system structure diagram of Embodiment 1, the on-board sensor signal measurement unit acquires various information of the car, performs dynamic update of process noise through the fuzzy reasoning system unit, and performs front wheel side slip angle and rear wheel side slip angle calculation through the tire slip angle calculation unit. For the calculation of declination, the model parameters are updated through the model parameter prediction unit, and finally the data is imported into the robust volumetric Kalman filter unit, and the data initialization, time update, and measurement update are performed through the robust volumetric Kalman filter unit. series of operations.

[0105] specific:

[0106] An adaptive vehicle state prediction method based on model and parameter dynamic adjustment, including the following steps:

[0107] Step 1: Obtain the longitudinal velocity, longitudinal acceleration, lateral acceleration, front wheel angle and yaw rate of ...

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Abstract

The invention relates to an adaptive vehicle state prediction system and prediction method based on model and parameter dynamic adjustment. During working, process noise parameters in a robust volumeKalman filtering unit are dynamically updated through a fuzzy inference system unit, and model parameters in the robust volume Kalman filtering unit are dynamically updated through a model parameter prediction unit; and high-precision prediction of the vehicle state is completed based on the sensor information collected by a vehicle-mounted sensor signal measurement unit and the robust volume Kalman filtering unit. According to the method, the model has a dynamic updating capability while the vehicle state is predicted, the prediction precision is continuously improved based on continuous self-adjustment of an algorithm, and the development of a vehicle active safety control technology is promoted.

Description

technical field [0001] The invention relates to an adaptive vehicle state prediction system and a prediction method based on dynamic adjustment of models and parameters, belonging to the field of automobile active safety. Background technique [0002] With the progress and development of automobile technology, automobile active safety technology is bound to attract more and more attention. Among them, the stability of automobile during driving is one of the core issues of active safety research, and the primary problem of its control is to predict the current tire condition of the automobile. Important parameters such as cornering stiffness and center-of-mass sideslip angle; however, there are obvious deficiencies in current vehicle state prediction methods. First, there is a lack of a dynamic identification mechanism to dynamically update the vehicle model for parameter changes in the vehicle dynamic model. The change of the prediction accuracy decline caused by the parame...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/10B60W50/00
CPCB60W40/10B60W50/0097B60W50/0098B60W2050/0075B60W2520/10B60W2520/125
Inventor 殷国栋汪张凤娇董昊轩刘赢王法安卢彦博庄伟超
Owner SOUTHEAST UNIV
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