The invention provides a vehicle side slip angle estimation method which comprises the following steps: obtaining a nonlinear monorail vehicle dynamics model related to a side slip angle based on a preset nonlinear monorail vehicle dynamics initial model; establishing a time-delay nonlinear adaptive observer according to the nonlinear monorail vehicle dynamics model, and determining the gain of the time-delay nonlinear adaptive observer; and the yaw velocity, the yaw angle, the lateral acceleration, the steering wheel turning angle and the wheel speed of the vehicle are obtained, and the current working area and the corresponding side slip angle of the whole tire are estimated through the time-lag nonlinear self-adaptive observer with the determined gain. The invention further provides a vehicle side slip angle estimation system. According to the invention, the estimation accuracy can be improved.
本发明提供一种车辆质心侧偏角估计方法,包括基于预设的非线性单轨车辆动力学初始模型,得到与质心侧偏角相关的非线性单轨车辆动力学模型;根据非线性单轨车辆动力学模型,建立时滞非线性自适应观测器,并确定所述时滞非线性自适应观测器的增益;获取车辆的横摆角速度、横摆角、侧向加速度、方向盘转角及轮速,并通过已确定增益的时滞非线性自适应观测器估计出整体轮胎的当前工作区域和相应的质心侧偏角。本发明还提供一种车辆质心侧偏角估计系统。实施本发明,能提高估计准确性。
Vehicle side slip angle estimation method and system
一种车辆质心侧偏角估计方法及系统
2023-08-01
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 |