The invention discloses a longitudinal slip rate estimation method for an articulated vehicle, which aims to provide a more effective vehicle state estimation implementation scheme for a vehicle with an articulated steering structure, and comprises the following steps of: initializing estimator data at the beginning of estimation; then, a two-degree-of-freedom vehicle model is built according to the dynamic characteristics of the hinged wheel type vehicle; a Unscented Kalman Filter filtering algorithm is adopted, and the speed state information of the vehicle is estimated; and further estimating the longitudinal slip rate of the articulated wheeled vehicle by means of the estimated speed state information and wheel speed information according to the kinematics characteristics of the articulated wheeled vehicle. According to the method, the two-degree-of-freedom dynamic model for the hinged wheel type engineering vehicle is designed, and the Unscented Kalman estimation method is designed based on the model, so that the problem of estimation algorithm distortion possibly caused by strong nonlinearity of the hinged wheel type vehicle model is solved, and accurate estimation of the four-wheel longitudinal slip rate state of the hinged wheel type vehicle is realized.

    本发明公开一种针对铰接车辆的纵向滑移率估计方法,目的在于为具有铰接转向结构的车辆提供更为有效的车辆状态估计的实现方案,其包括如下步骤:在估计开始时,对估计器数据进行初始化;之后根据铰接轮式车辆的动力学特性,搭建二自由度车辆模型;采用Unscented Kalman Filter滤波算法,对车辆速度状态信息进行估计;进一步根据铰接轮式车辆的运动学特性,借助估计的速度状态信息及轮速信息估算铰接轮式车辆的纵向滑移率。本发明通过设计针对铰接轮式工程车辆的二自由度动力学模型,并基于此模型设计了UnscentedKalman估计方法,克服了铰接轮式车辆模型的强非线性可能引起的估计算法失真问题,实现了对铰接轮式车辆四轮纵向滑移率状态的准确估计。


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    Title :

    Longitudinal slip rate estimation method for articulated vehicle


    Additional title:

    一种针对铰接车辆的纵向滑移率估计方法


    Contributors:
    YANG CHANGLIN (author) / ZHU QINGYUAN (author) / CHENG JIAQI (author) / ZHU HESEN (author) / ZENG JUN (author)

    Publication date :

    2022-10-18


    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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