The invention provides a vehicle parameter identification method and system considering a measurement error and a wheelbase error, and the method comprises the steps: constructing a target function based on a mathematical model of a target vehicle and considering the measurement error and the wheelbase error; mechanical information of a target vehicle is obtained, and calibration parameters are set; according to the calibration parameters, motion information of the target vehicle is collected in real time; optimizing the objective function based on the mechanical information and the motion information to obtain an optimization result; updating target vehicle parameters by using the optimization result; and repeating the steps to perform rolling updating on the target vehicle parameters. According to the method, the residual equation containing the sensor measurement error and the vehicle parameter error is constructed according to the data measured in real time, the error of the sensor measurement error and the vehicle parameter error is solved by utilizing a nonlinear least square method optimization method, and the accuracy of vehicle parameter identification is improved.
本发明提供了一种考虑测量误差和轴距误差的车辆参数辨识方法及系统,包括基于目标车辆的数学模型,考虑测量误差和轴距误差,构造目标函数;获取目标车辆的机械信息,并设置标定参数;根据所述标定参数,实时采集目标车辆的运动信息;基于所述机械信息和所述运动信息对所述目标函数进行优化,得到优化结果;利用所述优化结果对目标车辆参数进行更新;重复步骤对目标车辆参数进行滚动更新。本发明根据实时测量的数据,构建出包含传感器测量误差与车辆参数误差的残差方程,利用非线性最小二乘法优化的方法求解得到传感器测量误差与车辆参数的误差,提高车辆参数辨识的准确性。
Vehicle parameter identification method and system considering measurement error and wheelbase error
考虑测量误差和轴距误差的车辆参数辨识方法及系统
2023-03-14
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 |
European Patent Office | 2021
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