The invention relates to a multi-source fusion vehicle state parallel estimation method, and the method comprises the following steps: S1, collecting each real value corresponding to a steering wheelangle and a longitudinal acceleration of a vehicle at each moment in a running process, performing preprocessing, and dividing the preprocessed real values into a training set and a test set accordingto a proportion; S2, constructing a neural network, and training a training set; S3, constructing an extended Kalman filtering estimation model; S4, in the running process of the vehicle, employing asteering wheel angle sensor and a longitudinal acceleration sensor for collecting the steering wheel angle and the longitudinal acceleration, and transmitting the steering wheel angle and the longitudinal acceleration to the trained neural network estimation model and the extended Kalman filter estimation model respectively to be processed; S5, respectively obtaining estimation results, and carrying out signal fusion and optimization processing to obtain a final estimation result. According to the method, the vehicle state estimation can be quickly and effectively obtained, and a decisive effect is achieved for subsequent vehicle active safety accurate control.

    本发明涉及一种多源融合的车辆状态并联估计方法,包括以下步骤:步骤S1:采集车辆在运行过程中,每一时刻的方向盘转角、纵向加速度对应的各个真实值,预处理后按比例分为训练集和测试集;步骤S2:构建神经网络,并训练集训练;步骤S3:构建扩展卡尔曼滤波估计模型;步骤S4:在车辆行驶过程中,通过方向盘转角传感器和纵向加速度传感器采集方向盘转角以及纵向加速度,并分别传输至训练后的神经网络估计模型和扩展卡尔曼滤波估计模型中处理;步骤S5:分别得到的估计结果,进行信号融合及优化处理,得到最终的估计结果。本发明能够快速有效的获取车辆状态估计,为后续车辆主动安全的精准控制起着决定性的作用。


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    Title :

    Multi-source fusion vehicle state parallel estimation method


    Additional title:

    一种多源融合的车辆状态并联估计方法


    Contributors:
    ZHA YUNFEI (author) / LIU XINYE (author) / HOU NAIREN (author) / WU HAO (author) / QUAN XIAOYU (author)

    Publication date :

    2021-02-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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