The invention discloses an automobile gravity center slip angle measuring method which comprises the following steps: using a sensor to measure the lateral acceleration ay, the yaw velocity omega r and the longitudinal velocity Vx, gamma and theta of an automobile in the travelling process; using a linear two-freedom model to carry out dynamic parameter estimation so as to obtain the first automobile gravity center slip angle beta L; using a filtering algorithm of a non-linear three-freedom automobile model to estimate the second automobile gravity center slip angle beta N in an integration manner; and using the following formula of beta = (1-zeta) beta L + zeta beta N to calculate out the automobile gravity center slip angle beta. According to the automobile gravity center slip angle measuring method, only the sensor is utilized to measure the three parameters of the lateral acceleration, the yaw velocity and the longitudinal velocity in an automobile running process. Thus, the calculation accuracy is guaranteed while the calculated amount is small.
Automobile gravity center slip angle measuring method
16.12.2015
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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