Vehicle state estimation method

Abstract

The invention discloses a vehicle state estimation method, which aims to find a more effective implementation scheme of vehicle state estimation, and comprises the following steps of: establishing a seven-degree-of-freedom vehicle model according to kinematic characteristics of a four-wheel independent drive electric vehicle; simplifying the seven-degree-of-freedom vehicle model to obtain a discrete model suitable for an estimator, and further improving to obtain an extended state equation only containing white noise; and estimating the state by adopting a Kalman filtering algorithm. Accordingto the method, the seven-degree-of-freedom kinematic model of the vehicle is adjusted, and the Kalman estimation method is designed based on the improved model, so that model errors and measurement errors of non-Gaussian noise can be effectively processed, the defects of an existing four-wheel independent drive electric vehicle in control are overcome, and the state of the vehicle can be estimated more accurately.

Description

technical field [0001] The invention relates to the technical field of automobile control, in particular to a vehicle state estimation method. Background technique [0002] In the context of prominent traffic safety issues, global energy scarcity, and global expansion of pollution problems, the development of key technologies for electric vehicles has become an important issue facing various countries. Existing electric vehicles are distinguished from driving methods, mainly including centralized drive electric vehicles and distributed drive electric vehicles. [0003] The centralized drive electric vehicle transmits the output torque of the motor to the left and right wheels to drive the vehicle through mechanical transmission devices such as transmissions and reducers. Its operation technology is mature, safe and reliable, but it has the disadvantages of heavy volume and relatively low efficiency. [0004] The driving torque of each wheel of a distributed drive electric v...

AI Technical Summary

Problems solved by technology

However, there are still control problems such as multi-actuator coupling and the inability to accurately estimate vehicle state parameters, making the control of four-wheel independent drive electric vehicles a new challenge

[0006] It can be seen that the existing four-wheel independent drive electric vehicles have deficiencies in control, and cannot accurately estimate the vehicle state parameters, especially the model modeling error and sensor measurement error that are often regarded as Gaussian white noise. Therefore, it is necessary to provide a more optimized vehicle state estimation method

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