The invention relates to a vehicle state estimation method based on a particle filter algorithm, which belongs to the field of vehicle state estimation. The method comprises the following steps: S1, establishing an adaptive noise parameter state transition equation based on a vehicle kinematics model and an observation equation containing sensor measurement quantity; S2, generating a random numbertable to replace a random number function; and S3, estimating the longitudinal speed and the lateral speed of the vehicle according to the basic process of the particle filter algorithm. According tothe scheme, the vehicle state can be rapidly and accurately estimated, and the method is applied to a vehicle chassis control system and has important significance in improving the energy efficiencyof the control system.
本发明涉及一种基于粒子滤波算法的车辆状态估计方法,属于车辆状态估计领域,包括以下步骤:S1:建立基于车辆运动学模型的自适应噪声参数状态转移方程和包含传感器测量量的观测方程;S2:生成随机数表代替随机数函数;S3:按照粒子滤波算法基本流程对车辆纵向速度和侧向速度进行估计。本方案能快速准确估计车辆状态,将其应用于车辆底盘控制系统,对于提高控制系统的能效具有重要意义。
Vehicle state estimation method based on particle filter algorithm
一种基于粒子滤波算法的车辆状态估计方法
2020-12-01
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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