The invention discloses a vehicle speed estimation method and system based on unscented Kalman filtering, and relates to the technical field of vehicle speed estimation, and the method comprises the steps: establishing a high-precision vehicle model, and obtaining the parameters of a whole vehicle; establishing a multi-degree-of-freedom vehicle dynamic model, determining a state equation and an observation equation of an unscented Kalman filter according to the whole vehicle parameters, the input quantity, the state quantity and the observed quantity of the unscented Kalman filter are determined, and the state quantity at least comprises the longitudinal speed and the lateral speed; and estimating the longitudinal speed and the lateral speed at the next moment by utilizing a vehicle speedestimator and combining the state quantity at the current moment, the state equation and the observation equation. According to the vehicle speed estimation method and system based on unscented Kalmanfiltering, the vehicle speed estimator is combined with the unscented Kalman filtering algorithm, the real-time longitudinal speed and the lateral speed of the vehicle can be accurately estimated inthe vehicle running process, and therefore the vehicle dynamics control precision is improved.

    本申请公开了一种基于无迹卡尔曼滤波的车速估算方法及系统,涉及车速估算技术领域,该车速估算方法包括步骤:建立高精度车辆模型,获取整车参数;建立多自由度车辆动力学模型,根据所述整车参数,确定无迹卡尔曼滤波器的状态方程和观测方程,并确定所述无迹卡尔曼滤波器的输入量、状态量以及观测量,所述状态量至少包括纵向速度和侧向速度;利用车速估算器,结合当前时刻的状态量,以及所述状态方程和观测方程,估算下一时刻的纵向速度和侧向速度。本申请的基于无迹卡尔曼滤波的车速估算方法及系统,通过车速估算器结合无迹卡尔曼滤波算法,可在车辆运行过程中准确地估算出车辆的实时纵向速度和侧向速度,以提高车辆动力学控制的精度。


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    Title :

    Vehicle speed estimation method and system based on unscented Kalman filtering


    Additional title:

    一种基于无迹卡尔曼滤波的车速估算方法及系统


    Contributors:
    HU YAWEI (author) / GOU BIN (author) / WANG CHENGJUN (author) / CHE SHUN (author) / DU PEIJIN (author)

    Publication date :

    2020-11-17


    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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