The invention discloses a vehicle state estimation method based on parameter identification. The method comprises the following steps: establishing a sprung quality parameter observer; establishing a vehicle state observer; initializing a parameter observer and a state observer; calculating the resultant force Hk of the suspension at the moment k; calculating a parameter prediction value and a parameter prediction error covariance at the moment k, calculating a parameter estimation value and a parameter estimation error covariance at the moment k, and updating the vehicle state observer at the moment k; calculating a state prediction value and a state prediction error covariance at the moment k, calculating a state estimation value and a state estimation error covariance at the moment k, and outputting a sprung mass estimation value and a vehicle state estimation result at the moment k; and repeating the steps to obtain a sprung mass estimation value and a vehicle state estimation result at the next moment. According to the method, the parameter value of the sprung mass can be estimated in real time and dynamically corrected and adjusted, the model error of the state observer caused by the parameter error can be effectively reduced, and then the estimation precision of the vehicle running state is improved.

    本发明公开一种基于参数识别的车辆状态估计方法,包括:建立簧上质量参数观测器;建立车辆状态观测器;初始化参数观测器和状态观测器;计算k时刻的悬架合力Hk;计算k时刻的参数预测值和参数预测误差协方差计算k时刻的参数估计值和参数估计误差协方差更新k时刻的车辆状态观测器;计算k时刻的状态预测值和状态预测误差协方差计算k时刻的状态估计值和状态估计误差协方差输出k时刻的簧上质量估计值和车辆状态估计结果;重复上述步骤,得到下一时刻的簧上质量估计值和车辆状态估计结果。本发明能够实时估计并动态修正调整簧上质量的参数值,可以有效减小由于参数误差引起的状态观测器的模型误差,进而提升车辆运行状态的估计精度。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle state estimation method based on parameter identification


    Additional title:

    一种基于参数识别的车辆状态估计方法


    Contributors:
    DU CANJIE (author) / YIN ZHIHONG (author) / SHANGGUAN WENBIN (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



    Parameter Estimation (Identification) of Vehicle Dynamics

    Isermann, Rolf | Springer Verlag | 2021


    Cascaded Dual Extended Kalman Filter for Combined Vehicle State Estimation and Parameter Identification

    Khajepour, Amir / Rezaeian, Ayyoub / Litkouhi, Baktiarr et al. | SAE Technical Papers | 2013


    State and Parameter Estimation for Vehicle Dynamics

    Naets, Frank | Springer Verlag | 2021