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Method for estimating state during running process of automobile

A driving process and state estimation technology, which is applied in the field of state estimation, can solve the problems of increasing the driving danger of automobiles, unable to meet the requirements of realizing active safety of automobiles, and failing to guarantee fault tolerance.

Inactive Publication Date: 2012-02-08
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the car often breaks down due to unpredictable conditions during high-speed driving. This static detection method obviously cannot meet the needs of realizing the active safety of the car, and the fault tolerance cannot be guaranteed, which increases the danger of driving.

Method used

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  • Method for estimating state during running process of automobile
  • Method for estimating state during running process of automobile
  • Method for estimating state during running process of automobile

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0115] Taking the domestic Changfeng Leopard CFA6470MA off-road vehicle as an example, its parameters are shown in Table 1.

[0116] Table 1 Main parameters of CFA6470MA off-road vehicle (unit: mm)

[0117]

[0118]

[0119] According to the vehicle parameters in Table 1 and formulas (1) and (2), the steering angle can be obtained is 24.786°, similarly we can get is 33.093° (maximum steering angle), and then the virtual steering angle can be obtained is 28.393°. further can be calculated is 5901.2mm, is 4071.2mm, It is 4899.0mm. The theoretically calculated radii such as Figure 5 shown.

[0120] Table 2 Comparison of track radius measured value and theoretical value

[0121]

[0122] When the car turns on the spot, measure the track of the outermost car. The data are shown in Table 2. The minimum turning radius is 6195.7mm, and the maximum steering angle of the car is back calculated to be 35.2607°: while the theoretical turning radius is 6500mm, the i...

Embodiment 2

[0130] An important parameter in the car kinematics model proposed in the present invention is the virtual steering angle of the front wheel Its value can be determined by the steering wheel steering tester. First, the angle of rotation of the steering wheel is measured as φ, then the steering angle between it and the front wheel of the car is The relationship between Where k is the reduction ratio of the steering system of the car. The k value can be obtained from the vehicle technical indicators. In some vehicle indicators, there is no deceleration ratio parameter, and it can also be determined through experiments. The measurement method is: the maximum steering wheel angle φ after the steering wheel of the vehicle is killed max , and then the steering angle can be obtained according to the minimum turning radius in Table 1 and formula (2) is 0.5192 (29.751°), from the formula (1) can be obtained is 0.7449 (42.680°). at this time is the maximum steering angle, th...

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Abstract

The invention discloses a method for estimating a state during a running process of an automobile. The method comprises the following steps: analyzing a driving feature of the automobile and establishing a motion model of the automobile; introducing a non-integrity constraint for establishing a velocity error estimating equation; estimating errors along side direction and vertical direction during the running process of the automobile on the basis of a velocity and three attitude angles of the automobile; and establishing a slip angle estimating equation of the automobile. The stability of the automobile during the running process can be judged according to the velocity error estimation and slip angle estimation. According to the method, the on-line detection for a front-wheel steering angle of a four-wheel automobile can be realized by utilizing the motion model of the automobile. By adopting the method for estimating the state during the running process of the automobile, the real-time calculation and monitoring for state parameters of the automobile during the running process can be realized, for supplying data reference to safety running of the automobile.

Description

technical field [0001] The invention relates to a state estimation method in the running process of a car. Background technique [0002] After the vehicle is sold and driven for a period of time, the steering angle of the front wheels will change due to severe bumps, wear of chassis parts, replacement of chassis parts, tire replacement and other reasons. Once the steering angle changes due to any reason, there may be safety hazards such as abnormal tire wear, vehicle deviation, increased fuel consumption, steering wheel sinking, and vehicle fluttering. In addition, the estimation of the side slip angle of the car is of great significance for the lateral stability control of the car. If the side slip angle is too large and the tires cannot provide enough friction, it will cause the car to flick or even roll over in a large turning environment. accident. Therefore, the detection of the front wheel steering angle and the accurate estimation of the lateral vehicle speed and si...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/10
Inventor 蔡自兴任孝平李昭唐琎
Owner CENT SOUTH UNIV
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