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A Method of Vehicle State Estimation

A vehicle state and vehicle technology, applied in the direction of instrumentation, geometric CAD, adaptive control, etc., can solve the problems of sensor measurement error and inability to accurately estimate vehicle state parameters, and achieve the effect of accurate vehicle state and accurate estimation

Active Publication Date: 2022-06-03
上海智驾汽车科技有限公司
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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

Method used

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Embodiment Construction

[0144] In some processes described in the description and claims of the present invention and the above-mentioned accompanying drawings, the following steps are included.

[0145] Below in conjunction with the accompanying drawings, a method for estimating the state of a vehicle claimed by the present invention, with a consideration of colored noise

[0146] Please refer to FIG. 1-FIG. 3, a vehicle state estimation method according to an embodiment of the present invention includes the following steps:

[0151]

[0153]

[0155]

[0158] is the longitudinal and lateral speed of the vehicle center of mass in the vehicle coordinate system,

[0159] is the longitudinal and lateral acceleration of the vehicle mass center in the vehicle coordinate system,

[0161] is the second-order derivative of ψ, i.e. the vehicle yaw acceleration,

[0162] F

[0166] b represents the rear wheelbase,

[0167] c represents 1 / 2 track;

[0178] is the yaw rate of the vehicle;

[0180] is the lateral acce...

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Abstract

The present invention discloses a method for estimating vehicle state, aiming at finding a more effective solution for estimating vehicle state, which includes the following steps: building a vehicle model with seven degrees of freedom according to the kinematics characteristics of four-wheel independently driven electric vehicles; Simplify the seven-degree-of-freedom vehicle model to obtain a discrete model suitable for the estimator, and further improve the extended state equation containing only white noise; use the Kalman filter algorithm to estimate the state. The present invention adjusts the vehicle's seven-degree-of-freedom kinematics model, and designs a Kalman estimation method based on the improved model, which can effectively deal with the model error and measurement error of non-Gaussian noise, and overcomes the existing four-wheel independent drive electric vehicle. Insufficient, the vehicle state can be estimated more accurately.

Description

A vehicle state estimation method technical field [0001] The present invention relates to the technical field of vehicle control, and in particular, to a vehicle state estimation method. Background technique [0002] In the era of prominent traffic safety problems, global energy scarcity, and global expansion of pollution problems, electric vehicles The development of key technologies for vehicles has become an important issue faced by various countries. Existing electric vehicles from the driving mode It mainly includes centralized drive electric vehicles and distributed drive electric vehicles. The centralized drive type electric vehicle passes through the mechanical transmission devices such as the transmission, the reducer, the motor output torque, transmits the torque. It is handed to the left and right wheels to drive the car. Its operation technology is mature, safe and reliable, but it is relatively heavy in size and relatively efficient. Not high enough. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G06F30/15
CPCG05B13/042G06F30/15G06F2119/14Y02T90/00
Inventor 孙中伟李光远徐向阳张辉
Owner 上海智驾汽车科技有限公司
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