Automobile side slip angle observation method based on fuzzy dynamics system

Abstract

The invention discloses an automobile side slip angle observation method based on a fuzzy dynamics system. The method comprises the steps of 1, building a vehicle dynamics model according to the collected vehicle driving information, introducing an uncertainty parameter, and generating a side slip angle observation equation, and enabling the value of the uncertainty parameter to be described by afirst fuzzy set, 2, calculating a transient performance function and a steady-state performance function of the side slip angle observation equation, and calculating optimal adjustable parameters of the side slip angle observation equation through a dynamic game algorithm, the optimal adjustable parameters comprising a first adjustable parameter and a second adjustable parameter, and 3, accordingto the optimal adjustable parameters and the side slip angle observation equation, calculating a side slip angle observation value corresponding to the vehicle driving information. According to the technical scheme, modeling errors of an existing observation method based on a dynamic model are reduced, the accuracy of automobile side slip angle calculation is improved, and the overall performanceof the observer can be improved.

Description

technical field [0001] The present application relates to the technical field of vehicle safety, in particular, to a method for observing the side slip angle of the center of mass of a vehicle based on a fuzzy dynamic system. Background technique [0002] At present, a variety of active safety systems have been widely used in the field of vehicles, including body electronic stability systems, anti-lock braking systems, etc. The working process of these systems is inseparable from information such as vehicle parameters and vehicle status, and the side slip angle of the vehicle center of mass It is one of the important information. [0003] However, in the prior art, it is difficult to directly measure the sideslip angle of the vehicle center of mass, and the measurement cost is too high to realize industrial application. Therefore, measurable parameters are generally used to observe the sideslip angle of the vehicle center of mass. Commonly used methods and existing problems...

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Problems solved by technology

[0004] 1. The estimation method based on the vehicle kinematics model. This method obtains the side slip angle of the vehicle center of mass by measuring the lateral acceleration of the vehicle and integrating it. However, due to the existence of the integration link, this method is prone to large cumulative errors, which will affect the side of the vehicle mass center. Accuracy of declination observation results;

[0005] 2. The observation method based on the vehicle dynamics model, which measures the vehicle’s yaw rate to observe the side slip angle of the vehicle’s center of mass, but the observation result of the vehicle’s center of mass side slip angle is greatly affected by the model parameters, and its parameter fluctuation will directly Affect the accuracy of observation results

[0006] Therefore, the accuracy of the observation results of the side slip angle of the vehicle's center of mass cannot meet the needs of the vehicle's active safety system

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