The invention discloses a vehicle side slip angle estimation method which comprises the following steps: constructing a whole vehicle dynamics model, constructing a side slip angle estimation model of a four-wheel independent drive electric vehicle, obtaining a state-space equation of a side slip angle estimation system, and adopting an unscented Kalman filtering algorithm to estimate the side slip angle of the vehicle. The method comprises the following steps of: obtaining estimated measured values of yaw velocity, longitudinal acceleration and lateral acceleration, comparing the estimated measured values with real measured values, searching an optimal system measurement noise and observation noise covariance matrix by adopting a self-adaptive ant lion optimization algorithm, substituting the optimal noise covariance matrix obtained in the step (4) into an unscented Kalman filtering algorithm, and obtaining the optimal system measurement noise and observation noise covariance matrix. And obtaining an estimated value of the side slip angle. The invention belongs to the technical field of four-wheel independent drive electric vehicles, and particularly relates to a four-wheel independent drive electric vehicle side slip angle estimation method combining adaptive ant lion optimization and an unscented Kalman filtering algorithm.

    本发明公开了一种车辆质心侧偏角估计方法,包括如下步骤:构建整车动力学模型,构建四轮独立驱动电动汽车质心侧偏角估计模型,得到质心侧偏角估计系统状态空间方程,采用无迹卡尔曼滤波算法,得到横摆角速度、纵向加速度、侧向加速度估计测量值,与真实测量值进行比较,采用自适应蚁狮优化算法寻求最优系统测量噪声和观测噪声协方差矩阵,采用步骤(四)得到的最优噪声协方差矩阵,代入无迹卡尔曼滤波算法,得到质心侧偏角估计值。本发明属于四轮独立驱动电动汽车技术领域,具体是指一种联合自适应蚁狮优化和无迹卡尔曼滤波算法的四轮独立驱动电动汽车质心侧偏角估计方法。


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    Title :

    Vehicle side slip angle estimation method


    Additional title:

    一种车辆质心侧偏角估计方法


    Contributors:
    YUAN XIAOHUI (author) / GUI WENQIANG (author) / WANG LONG (author) / FU RUI (author) / WANG CHANG (author) / SHANGGUAN WANGYI (author) / WANG XIN (author) / LIU MEIGANG (author)

    Publication date :

    2023-03-03


    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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