Multi-information fusion vehicle side slip angle estimation method
A technology of center-of-mass side slip angle and multi-information fusion, which is applied to vehicle components, driver input parameters, control devices, etc., can solve the problems of sensitive model parameter changes, high model accuracy requirements, error accumulation, etc., and achieve estimation results Accurate and reliable, enhanced robustness, and improved accuracy
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[0033] Such as figure 1 As shown, a method for estimating the sideslip angle of the center of mass of a vehicle based on multi-information fusion, the method includes the following steps:
[0034] (1) Estimated by the kinematic estimation method to obtain the estimated value of the side slip angle of the kinematic center of mass
[0035] (2) A linear two-degree-of-freedom monorail vehicle model is used to establish a dynamics-based Romberg observer, and the estimated value of the dynamic center of mass side slip angle is obtained by using the observer estimation
[0036] (3) Use the following formula to and Fusion is performed to obtain the estimated value of the sideslip angle of the center of mass
[0037]
[0038] Among them, τ is a filter constant, and s is a Laplace operator.
[0039] Step (1) specifically includes:
[0040] (1a) Real-time measurement of body lateral acceleration a y , longitudinal vehicle speed v and body yaw rate That is, the yaw angu...
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