The invention discloses a vehicle model parameter joint identification method considering unknown noise influence, relates to the technical field of new energy vehicle design, and solves the technical problem of low estimation precision of curb mass and centroid position. The joint identification method is composed of a first robust embedded cubature Kalman filter and a second robust embedded cubature Kalman filter. Firstly, H infinity filtering and embedded volume Kalman filtering are combined to form first robust embedded volume Kalman filtering, a vehicle longitudinal dynamic model is used for estimating curb mass, and then a result is input into second robust embedded volume Kalman filtering for mass center position parameter identification. The method can achieve the simultaneous high-precision estimation of the vehicle mass and the centroid position parameters under the condition that the noise statistical characteristics are unknown, and can effectively improve the vehicle chassis control performance.

    本发明公开了一种考虑未知噪声影响下的车辆模型参数联合辨识方法,涉及新能源汽车设计技术领域,解决了整备质量和质心位置的估计精度较低的技术问题,该联合辨识方法由第一鲁棒嵌入式容积卡尔曼滤波和第二鲁棒嵌入式容积卡尔曼滤波组成。首先将H无穷滤波与嵌入式容积卡尔曼滤波相结合构成第一鲁棒嵌入式容积卡尔曼滤波并利用车辆纵向动力学模型对整备质量进行估计,随后将该结果输入给第二鲁棒嵌入式容积卡尔曼滤波进行质心位置参数辨识。本申请可以实现噪声统计特性未知情况下车辆质量与质心位置参数同时高精度估计,可以有效提升车辆底盘控制性能。


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    Title :

    Vehicle model parameter joint identification method considering unknown noise influence


    Additional title:

    一种考虑未知噪声影响下的车辆模型参数联合辨识方法


    Contributors:
    WANG WANG (author) / XU LIWEI (author) / YIN GUODONG (author)

    Publication date :

    2023-04-28


    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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