The invention discloses a variable step size-based vehicle state estimation method. The method comprises the following steps: firstly, designing a front axle longitudinal force sliding mode observer and a tire self-adaptive cornering stiffness regression device; and then establishing a vehicle monorail model for representing a lateral force by using the self-adaptive cornering stiffness and the slip angle, and finally adjusting the step length of the extended Kalman algorithm by using the time coefficient, the integer N, the transient index and the maximum synchronous sampling frequency of thesensor assembly to realize variable step length estimation of the vehicle state. The method is simple, effective and convenient to implement, and the real-time performance and precision of the vehicle state are improved.

    本发明公开了一种基于变步长的车辆状态估计方法,首先设计前轴纵向力滑膜观测器和轮胎自适应侧偏刚度回归器,接着建立利用自适应侧偏刚度和侧偏角表征侧向力的车辆单轨模型,最后以时间系数、整数N、瞬态指数和传感器组件的最大同步采样频率,调节扩展卡尔曼算法步长,实现对车辆状态进行变步长估计。本发明简单有效、方便实施,提高了车辆状态的实时性和精度。


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    Title :

    Variable step size-based vehicle state estimation method


    Additional title:

    一种基于变步长的车辆状态估计方法


    Contributors:
    SHANG GAOGAO (author) / LIU GANG (author) / ZHU PENG (author)

    Publication date :

    2020-06-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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