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A state estimation module of a vehicle control system

A vehicle control system and vehicle state technology, applied in the field of vehicle control, can solve problems such as large deviation of noise statistical characteristics and filter divergence, and achieve the effect of improving accuracy

Active Publication Date: 2021-08-31
HUNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the assumed noise statistical characteristics deviate greatly from the actual noise statistical characteristics, it is easy to cause the filter to diverge

Method used

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  • A state estimation module of a vehicle control system
  • A state estimation module of a vehicle control system
  • A state estimation module of a vehicle control system

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0041] The technical scheme that the present invention proposes is:

[0042] Step 1. Model the nonlinear system:

[0043] The nonlinear system model with unknown system noise is as follows: (1)

[0044] In the formula, Indicates the vehicle state vector at the k-th moment, , Indicates the longitudinal velocity of the vehicle at the k-th moment, Indicates the lateral velocity of the vehicle at the k-th moment, Indicates the yaw rate of the vehicle at the k-th moment. , Indicates the control amount at the k-1th moment, including the front wheel angle and wheel speed . Indicates the process noise at the k-1th moment, Indicates the measured value at the kth moment, , Indicates the measurement noise at the kth moment, and both the process noise and the measurement noise follow a Gaussian distribution with zero mean. , . Repr...

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Abstract

The invention discloses a state estimation module of a vehicle control system, which includes an initial variable input module, a traceless transformation module, a one-step prediction module, a measurement update module, a noise estimation module and a state quantity update module. The invention fully considers the influence of historical data and latest measurement data in the iterative process, and is used for estimating the process noise Qk of the system, thereby greatly improving the accuracy of the state variables of the vehicle control system.

Description

technical field [0001] The invention belongs to the field of vehicle control, in particular to a state estimation module of a vehicle control system. Background technique [0002] The vehicle control system includes a data acquisition unit, a control unit and an actuator. The data acquisition unit includes steering wheel information, brake pedal, accelerator pedal, gear position and other information. The control unit includes the vehicle steering system control unit, braking system control unit and drive system control unit. The actuator includes automatic transmission, brake and steering wheel autonomous Steering mechanism etc. The vehicle state estimation module is an important module in the vehicle drive system. In the vehicle control system, the value of the sensor data has noise and random fluctuations, resulting in inaccurate data. The accuracy of the data calculated by the model depends greatly on the accuracy and accuracy of the model. no. Obtaining accurate vehi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B23/02
CPCG05B23/0256
Inventor 张英杰李明张营胡作磊孙庆帅陆碧良
Owner HUNAN UNIV