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Yaw rate filtering method, control terminal, vehicle and storage medium

A technology of yaw rate and filtering value, which is applied in the fields of vehicles and computer-readable storage media, yaw rate filtering method, and control terminal, and can solve problems such as low accuracy of yaw rate filter value

Active Publication Date: 2022-06-24
SAIC-GM-WULING AUTOMOBILE CO LTD
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  • Application Information

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Problems solved by technology

[0003] The main purpose of the present invention is to propose a yaw rate filtering method, a control terminal, a vehicle, and a computer-readable storage medium, aiming at solving the accuracy of the yaw rate filter value calculated by the existing Kalman filter method based on fixed Q low problem

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  • Yaw rate filtering method, control terminal, vehicle and storage medium
  • Yaw rate filtering method, control terminal, vehicle and storage medium
  • Yaw rate filtering method, control terminal, vehicle and storage medium

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Embodiment Construction

[0064] It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0065] Please refer to figure 1 , figure 1 It is a schematic diagram of a hardware structure of a control terminal provided in various embodiments of the present invention. The control terminal includes components such as a communication module 01 , a memory 02 and a processor 03 . Those skilled in the art can understand that, figure 1 The control terminal shown in may also include more or fewer components than those shown, or some combination of components, or a different arrangement of components. The processor 03 is respectively connected to the memory 02 and the communication module 01 , the memory 02 stores a computer program, and the computer program is simultaneously executed by the processor 03 .

[0066] The communication module 01 can be connected with external devices through a network. The commu...

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Abstract

The invention discloses a yaw angular velocity filtering method, a control terminal, a vehicle and a storage medium. The method includes: after the system is powered on, collecting the measured value of the yaw angular velocity with a preset sampling frequency; value and the initial Kalman filter model as the current yaw rate filter value and the Kalman filter model at the next moment; when it is not the first sampling moment, use the current Kalman filter model to calculate the current filter value and predicted value; The number of measured values ​​is less than the preset number, and the initial Kalman filter model is used as the Kalman filter model at the next moment; when the number of accumulated measured values ​​is greater than or equal to the preset number, the filter value of the moment is collected according to the current and the current preset number and the predicted value to obtain the Q matrix of the Kalman filter model at the next sampling moment. The invention solves the problem of low accuracy of the yaw angular velocity filter value calculated and obtained by the existing Kalman filter method based on fixed Q.

Description

technical field [0001] The present invention relates to the field of intelligent driving, and in particular, to a yaw rate filtering method, a control terminal, a vehicle and a computer-readable storage medium. Background technique [0002] When the active safety system controls the vehicle, it is necessary to judge the yaw rate of the vehicle for decision-making calculation. The value measured by the yaw rate sensor of the vehicle chassis ESP system will fluctuate greatly due to noise, and cannot be directly used for control. It needs to be filtered by Kalman filtering. In the existing Kalman filtering method, the R and Q matrices are calibrated as fixed values, which results in that the filtering result cannot dynamically track the real value, and the accuracy of the filtering value of the yaw angular velocity is low. SUMMARY OF THE INVENTION [0003] The main purpose of the present invention is to propose a yaw rate filtering method, a control terminal, a vehicle and a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W40/112B60W50/00G05B19/042
Inventor 廖尉华林智桂罗覃月张韬熊铎程
Owner SAIC-GM-WULING AUTOMOBILE CO LTD