This paper discussed vehicle slip angle estimation problem when vehicle drops into instability critical area. The accurate measurement of vehicle dynamics states, especially vehicle slip angle, is essential for the vehicle stability control if the vehicle drops into instability critical area. A variable structure adaptive Extended Kaiman Filter (EKF) is brought forward to observe the vehicle slip angle under this condition. The modified non-linear vehicle model with multi-degrees and tyre model are constructed; the compensation factors are integrated into the model to correct the load transfer effect, the transient responses of the steering manoeuvre and the road conditions. Reliability Indexed Sensor Fusion (RISF) method is applied to suppress the dynamic errors of sensor system. Meanwhile, the improved direct integration method is used to correct the systematic errors. The real vehicle test validates the accuracy of the proposed method, especially for the vehicle in the instability critical area. In the proposed method, the modified vehicle and tyre model is used to improve the accuracy of the model in non-linear area; the dynamic steering ratio is brought forward to calculate the accurate front wheel steer angle. Meanwhile, the reliability of the key signals for slip angle observation is discussed and the errors, including the measured errors of four-wheel speeds induced from the low speed and uneven road vibrations, as well as the acceleration errors induced from road ramp angle, are compressed. Considering the physical model can be transferred from linear area to non-linear area as long as the vehicle drops into instability critical area, the filter is changed from ID to 2D, and the slip angle from the improved direct integration method is sent to EKF for compressing the system errors mostly induced by the non-linear characteristics of the tyre and vehicle. The real vehicle test shows that this method, with the acceptable computation cost for real-time controller, is effective even if the vehicle runs in the instability area.


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    Titel :

    A variable structure adaptive extended Kalman filter for vehicle slip angle estimation


    Beteiligte:
    Li, Liang (Autor:in) / Song, Jian (Autor:in) / Li, Hongzhi (Autor:in) / Zhang, Xionglong (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2011


    Format / Umfang :

    25 Seiten, 12 Bilder, 22 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch






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