Wheel barycenter distortion angle observation method integrated with Kalman filtering and acceleration integral

Abstract

The invention relates to a wheel barycenter distortion angle observation method integrated with Kalman filtering and acceleration integral, comprising the following steps: 1) setting a barycenter distortion angle observation system comprising a vehicle speed sensor, a longitudinal acceleration sensor, a transverse acceleration sensor, a yaw velocity sensor and a controller, and respectively obtaining the primary signals of longitudinal acceleration, transverse acceleration and yaw velocity; 2) carrying out Kalman filtering processing on the longitudinal acceleration, transverse acceleration and yaw velocity respectively, so as to obtain the processed estimated values of the longitudinal acceleration, the transverse acceleration and the yaw velocity; 3) carrying out barycenter distortion angle observation respectively by adopting the mode based on Kalman filtering and signal integral; and4) carrying out weighted process on the results of the two methods in the step 3), thus obtaining the barycenter distortion angle observation value. The weighted process is carried out based on the Kalman filtering and acceleration integral. Not only has the method wide application range, but also accurate barycenter distortion angle observation result can be obtained under the condition of low cost.

Description

technical field [0001] The invention relates to a real-time observation technology of the vehicle state, in particular to a method for observing the sideslip angle of the center of mass of a wheel which combines Kalman filter and acceleration integration technology as a control variable in a dynamic control system. Background technique [0002] When the vehicle is in extreme conditions, the vehicle dynamics control system compares the actual vehicle state (such as center of mass side slip angle, yaw rate, wheel slip rate, etc.) Driving / braking force, thereby improving the stability of the vehicle under extreme conditions. Among them, the observation technology of the vehicle state has a great influence on the vehicle dynamics control. The side slip angle of the center of mass is very important and difficult to observe in vehicle state observation. There are three main methods for observing the sideslip angle of the center of mass: 1. According to the fixed parameters such ...

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Problems solved by technology

[0003] But above-mentioned three kinds of center-of-mass side slip angle observation methods have the following disadvantages: 1. According to the fixed parameters such as vehicle wheelbase, wheelbase, wheel radius and the method of each wheel speed signal, when the wheels slip or slip It will no longer be applicable, and many extreme working conditions are often accompanied by slipping and slipping of the wheels. This method has a narrow application range; 2. According to the method of the lateral acceleration sensor and the yaw rate sensor, due to the There is noise in the sensor signals, and the cumulative error is relatively large after a long period of integration; 3. The method of using GPS (Global Positioning System) sensor signals, the sensor equipment is expensive, and it is not suitable for large-scale application from the perspective of cost

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