The invention discloses a centroid slip angle estimation method based on virtual gyroscopes and an integral method. The method comprises steps of employing a plurality of gyroscopes to measure the yawvelocity, employing a virtual gyroscope technology to fuse the data of the gyroscopes, improving the observation precision of the yaw velocity, and obtaining the estimation value of the yaw velocity;substituting the yaw velocity, the lateral acceleration and the longitudinal vehicle speed which are obtained by fusion filtering into a kinematics equation based on an integral method to estimate the vehicle side slip angle in real time so as to obtain an estimated value of the vehicle side slip angle. Compared with the prior art, the method has advantages of simple data processing, wide application and the like.

    本发明公开了一种基于虚拟陀螺仪和积分法的质心侧偏角估计方法,该方法包括:采用多个陀螺仪对横摆角速度进行测量,利用虚拟陀螺技术,将多个陀螺的数据进行融合,提升横摆角速度的观测精度,得到横摆角速度的估计值;将融合滤波得到的横摆角速度与侧向加速度、纵向车速代入基于积分法的运动学方程对车辆质心侧偏角进行实时估计,得到车辆质心侧偏角的估计值。本发明与现有技术相比,具有数据处理简单,可广泛应用等优点。


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    Title :

    Centroid slip angle estimation method based on virtual gyroscope and integral method


    Additional title:

    一种基于虚拟陀螺仪和积分法的质心侧偏角估计方法


    Contributors:
    ZHAO JIAN (author) / WANG WEI (author) / LIU PENGBO (author)

    Publication date :

    2021-03-30


    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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