A State Prediction and Estimation Method for Unmanned Vehicles
A technology of unmanned vehicles and vehicle state, which is applied in the field of state estimation of unmanned vehicles, can solve problems such as control effect lag, and achieve the effect of real-time iterative update
Active Publication Date: 2022-06-03
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0006] The control of traditional manned vehicles is generally based on the judgment of vehicle stability to determine whether to apply control commands, which has a certain lag in the control effect
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[0136] Below in conjunction with the accompanying drawings and examples, the present invention will be described in detail.
[0137] The present invention proposes a state estimation method for distributed driving of an unmanned vehicle. As shown in Figure 1, the first
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[0159] According to the historical vehicle speed, record the vehicle speed data of the past historical time period 10s, and extract 10 parameters, and
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[0164] The vehicle dynamics chassis system is represented as:
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[0166] Among them, u, v, w represent the longitudinal speed of the vehicle, the lateral speed of the vehicle and the vertical speed of the vehicle body, respectively. p,q,r are respectively
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[0169] The mechanical motion of the vehicle is slower than the electro-magnetic dynamic response of the motor, therefore, the motor drive and in-wheel or
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[0175] Tire Model
[0176] Vehicle longitudinal, lateral and vertical accele...
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The invention discloses a state prediction and estimation method for unmanned vehicles, which uses the proposed speed prediction formula with vehicle torque correction, and determines the optimal parameters of the speed prediction formula through characteristics such as acceleration and acceleration derivatives, and uses genetic algorithm neural The network is trained, the historical data of the current driving condition of the vehicle is introduced to update and optimize the acceleration and acceleration derivative in time, the kinematics method and the dynamics method are used to estimate the slope angle of the road, and the least square method is used to estimate the vehicle quality, so as to improve the vehicle quality and The estimation accuracy of the sprung mass; use the method of information fusion to estimate the vertical force of the wheel, introduce the road surface adhesion coefficient and use the non-linear estimation method to jointly estimate the vehicle lateral force and vehicle state; finally propose a method that introduces vehicle variable parameters and The vehicle state rolling estimation method with variable working conditions improves the accuracy of vehicle speed prediction in the case of variable vehicle parameters and variable working conditions.
Description
A state prediction and estimation method for unmanned vehicles technical field The present invention belongs to the technical field of the state estimation of unmanned vehicle, be specifically related to a kind of for unmanned vehicle Vehicle state prediction and estimation method. Background technique [0002] Real-time estimation of vehicle states is the basis for vehicle dynamics control. From the physical model, it is generally divided into dynamic Mechanics and kinematics. The kinematic method is generally based on the kinematic method and uses the sensor to observe the quantity to be estimated. The dynamic method is based on the dynamic method to realize the vehicle state estimation observation with limited sensor configuration. from an estimate It can be divided into Kalman filter algorithm, Romberg algorithm, robust algorithm, sliding mode algorithm and nonlinear observation algorithm. Law. The Kalman filter algorithm is currently the most commonly used m...
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IPC IPC(8): B60W40/00B60W40/10B60W50/00
CPCB60W40/00B60W40/10B60W50/00B60W2050/0043Y02T90/00
Inventor 陈勇任宏斌陈思忠高泽鹏赵玉壮齐志权李长隆
Owner BEIJING INSTITUTE OF TECHNOLOGYGY