车辆纵向力和质心侧偏角层级估计方法设计与验证

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车辆纵向力和质心侧偏角层级估计方法设计与验证

更新时间：2025-07-09

- 车辆纵向力和质心侧偏角层级估计方法设计与验证
- Issue 11, Pages: 131-140+147(2019)
- 作者机构：
  
  1. 江苏大学汽车与交通工程学院
  2. 江苏大学汽车工程研究院
- 作者简介：
- 基金信息：
- DOI：
  CLC： U463.6
- Published：2019
- 稿件说明：
移动端阅览
[J]. 2019, (11): 131-140+147.
DOI：

[J]. 2019, (11): 131-140+147. DOI：

摘要

为提高车辆状态估计结果的精度与可靠性

设计了一种车辆纵向力和质心侧偏角层级估计方法。研究了一种用于车辆行驶状态估计的加权容积卡尔曼滤波

采用移动窗估计法调整测量噪声的协方差矩阵

根据不同时刻信息对测量噪声统计的有用性

动态调整窗口中不同时刻信息的权重

从而提高车辆状态观测器的滤波精度。根据电驱动轮模型特点

并考虑轮胎松弛长度来构造纵向力微分方程

从而设计了纵向力观测器。在纵向力估计的基础上

将上层的纵向力估计值视为伪量测值

利用三自由度车辆动力学模型设计了基于级联卡尔曼滤波的车辆行驶状态估计策略

实现了车辆质心侧偏角估计。进行了变速正弦转向工况和定速Fishhook转向工况下的CarSim/Simulink联合仿真试验以及实车试验

结果表明:所提方法整体估计精度相比扩展卡尔曼滤波提升了6.82%

具有较高的估计精度和实时跟踪效果

满足车辆应用需求。

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references

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