The invention relates to a tracked vehicle slip rate estimation method capable of obtaining estimation uncertainty, and belongs to the field of slip rate estimation. The method comprises the following steps: firstly, collecting a large amount of data by using a crawler-type platform, then establishing a slip rate discrete estimation model, and finally establishing a slip rate regression model based on sparse Gaussian process regression; and the input characteristics of the slip rate discrete estimation model and the slip rate regression model are driving wheel torque and rotating speed, vehicle transverse and longitudinal acceleration, and vehicle yaw velocity and pitch velocity. The method is based on segmented sparse Gaussian process regression, and can be applied to tracked vehicles to obtain estimation uncertainty; according to the invention, through segmented sparse Gaussian process regression, the time complexity of training of the slip rate discrete estimation model and the slip rate regression model is reduced; the slip rate discrete estimation model is high in accuracy, and the slip rate regression model is small in overall error; and the method can be further applied to tracked vehicle model correction and traction force control.

    本发明涉及一种能得到估计不确定性的履带车辆滑移率估计方法,属于滑移率估计领域。本发明首先使用履带式平台采集大量数据,然后建立滑移率离散估计模型,最后基于稀疏高斯过程回归建立滑移率回归模型;滑移率离散估计模型以及滑移率回归模型输入特征为驱动轮转矩和转速、车辆横向和纵向加速度、车辆横摆角速度和俯仰角速度。本发明基于分段稀疏高斯过程回归,能够应用于履带车辆,得到估计不确定性;本发明通过分段稀疏高斯过程回归,降低滑移率离散估计模型以及滑移率回归模型训练的时间复杂度;本发明的滑移率离散估计模型准确率高,滑移率回归模型总体误差小;本发明能够进一步应用于履带车辆模型修正、牵引力控制。


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    Title :

    Tracked vehicle slip rate estimation method capable of obtaining estimation uncertainty


    Additional title:

    一种能得到估计不确定性的履带车辆滑移率估计方法


    Contributors:
    LIU HAI'OU (author) / LIU JIA (author) / TANG ZEYUE (author) / MAO FEIHONG (author)

    Publication date :

    2021-07-20


    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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