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A Vehicle State Estimation Method for Independently Driven Electric Vehicles Considering Sensor Failures

A technology of sensor failure and vehicle state, applied in the direction of control devices, etc., can solve the problems of vehicle state estimation and vehicle control influence, etc., to achieve the effect of improving robustness

Active Publication Date: 2022-04-22
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

[0004] When using low-cost on-board sensors, the failure of the sensors will have a greater impact on vehicle state estimation and vehicle control
At present, there is no relatively perfect solution to realize the effective estimation of vehicle state in the presence of sensor faults.

Method used

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  • A Vehicle State Estimation Method for Independently Driven Electric Vehicles Considering Sensor Failures
  • A Vehicle State Estimation Method for Independently Driven Electric Vehicles Considering Sensor Failures
  • A Vehicle State Estimation Method for Independently Driven Electric Vehicles Considering Sensor Failures

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Embodiment Construction

[0066] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0067] The present invention aims at the problem of how to perform effective vehicle state estimation in the case of sensor faults, and proposes a method for estimating the state of an independently driven electric vehicle considering sensor faults, such as figure 1 As shown, first, based on the vehicle three-degree-of-freedom model, the state space equation for estimation is built, and then the Kalman filter algorithm is used to estimate the vehicle state; based on the fault diagnosis of the support vector machine, due to the possible failure of the sensor, the measurement signal of the sensor Compensating the fault signal is a practical and effective solution.

[0068] Such as figure 2 As shown, the specific steps are as follows:

[0069] Step 1. According to the kinematics characteristics of the four-wheel independent drive electric vehicle, the longit...

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Abstract

The invention discloses a method for estimating the vehicle state of an independently driven electric vehicle considering sensor faults, belonging to the field of vehicle control, specifically: firstly, according to the kinematic characteristics of a four-wheel independently driven electric vehicle, a vehicle with longitudinal, lateral and yaw characteristics is built The three-degree-of-freedom vehicle model; then, the state-space equation of the three-degree-of-freedom vehicle model is constructed; considering that both the process noise and the measurement noise are Gaussian white noise, the three-degree-of-freedom vehicle model is discretized to obtain the discretized state-space equation, And simplify; use the Kalman filter algorithm to update the vehicle state on the discrete form of the state space equation; finally, use the fault diagnosis information to correct the results of the Kalman filter, offset the impact of sensor faults, and improve the robustness of the estimator .

Description

technical field [0001] The invention belongs to the field of automobile control and relates to a method for estimating the vehicle state of an independently driven electric vehicle considering sensor faults. Background technique [0002] In order to cope with the dual challenges of energy crisis and environmental pollution and maintain the sustainable development of human beings, electric vehicles have become a research hotspot in the global automobile industry. Among them, four-wheel independent drive electric vehicles are regarded as the development direction of future automobiles due to their many potentials and advantages. The change of its driving structure brings about the improvement of control freedom, which makes the four-wheel independent drive electric vehicle have great potential in active safety control system. [0003] However, the premise of the accurate implementation of the active safety control system is the accurate acquisition of the current state of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W50/02
CPCB60W50/0205B60W50/0225B60W2050/0215B60W2050/0031
Inventor 徐向阳李光远张辉
Owner BEIHANG UNIV
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