The invention relates to the field of vehicle driving state parameter estimation, in particular to an estimation method and device of a vehicle side slip angle, electronic equipment and a medium. The method comprises the following steps: determining a vehicle side slip angle observation value by adopting a sliding mode observer; determining an integral value of the vehicle side slip angle by adopting an inertial measurement unit; and determining the vehicle side slip angle by adopting a fuzzy logic method according to the observed value, the integral value and the vehicle speed. According to the method, the defects that a sliding-mode observer estimation mode cannot well reflect the change state of the vehicle mass center side slip angle under the medium-high speed condition and an inertial measurement unit estimation mode is high in noise at the low speed are overcome, and the obtained vehicle mass center side slip angle is more accurate and reliable; and a direct measurement unit except a basic sensor necessary for the vehicle transverse controller is not adopted, so that the cost is reduced.
本发明涉及车辆行驶状态参数估计领域,具体而言,涉及一种车辆质心侧偏角的估计方法、装置、电子设备及介质。该方法包括以下步骤:采用滑模观测器,确定车辆质心侧偏角观测值;采用惯性测量单元,确定车辆质心侧偏角积分值;根据所述观测值、所述积分值和车速,采用模糊逻辑法,确定车辆质心侧偏角。该方法缓解了采用滑模观测器估计方式在中高速情况下不能很好的反映车辆真实质心侧偏角变化状态,以及采用惯性测量单元估计方式在低速时噪声较大的缺陷,所得车辆质心侧偏角更加准确可靠,并且不采用除车辆横向控制器所必须的基本传感器以外的直接测量单元,降低了成本。
Estimation method and device of vehicle side slip angle, electronic equipment and medium
车辆质心侧偏角的估计方法、装置、电子设备及介质
2021-08-10
Patent
Electronic Resource
Chinese
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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