The invention discloses a vehicle state estimation method under the condition of abnormal measurement data of a vehicle-mounted sensor, which specifically comprises the following steps of: acquiring longitudinal acceleration, transverse acceleration, yaw velocity and front wheel rotation angle signals of a vehicle , combining with a nonlinear vehicle model, estimating axial force information of the vehicle by using strong tracking unscented Kalman filtering, estimating a tire road adhesion coefficient by utilizing interactive multi-model unscented Kalman based on the axial force information of the vehicle; wherein the vehicle axial force information includes longitudinal and lateral forces of a front axle of the vehicle and longitudinal and lateral forces of a rear axle of the vehicle. Through interaction, mixing, prediction and fusion, the invention provides an estimation method which can combine the advantages of a plurality of models to realize accurate estimation of the tire road adhesion coefficient under a complex driving condition, then updates a posteriori state and a covariance matrix P eta thereof, and adopts a prior and posteriori combined estimation method the technical blank that the axial force of the vehicle cannot be accurately estimated under the current mass mismatching condition can be filled.

    本发明公开了一种车载传感器测量数据异常情况下的汽车状态估计方法,具体包括以下步骤:采集车辆纵向加速度、横向加速度、横摆角速度和前轮转角信号,与非线性车辆模型结合,利用强跟踪无迹卡尔曼滤波估计车辆轴向力信息,基于车辆轴向力信息利用交互多模型无迹卡尔曼估计轮胎路面附着系数;车辆轴向力信息包括车辆前轴的纵向力和侧向力以及车辆后轴的纵向力和侧向力。通过交互与混合、预测以及融合,给出了一种可以结合多个模型的优势实现在复杂驾驶工况下轮胎路面附着系数的精确估计,然后对后验状态和它的协方差矩阵Pη更新,采用先验与后验相结合的估计方法,可以填补当前质量失配情况下汽车轴向力无法精确估计的技术空白。


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    Titel :

    Tire road adhesion coefficient multi-model fusion estimation method considering quality mismatch


    Weitere Titelangaben:

    一种考虑质量失配的轮胎路面附着系数多模型融合估计方法


    Beteiligte:
    YIN GUODONG (Autor:in) / WANG YAN (Autor:in) / YAN YONGJUN (Autor:in) / HU JINGYU (Autor:in) / BAI SHUO (Autor:in) / XU LIWEI (Autor:in) / WANG JINXIANG (Autor:in) / LU YANBO (Autor:in) / ZHUANG WEICHAO (Autor:in)

    Erscheinungsdatum :

    2022-02-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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