The invention discloses a vehicle side slip angle estimation method, which belongs to the technical field of new energy vehicle stability control, and comprises the following steps: constructing a vehicle three-degree-of-freedom kinematics model, a three-degree-of-freedom dynamics model and a magic tire model; the method comprises the following steps of: based on the influence of roll motion on lateral acceleration measured by an IMU (Inertial Measurement Unit) sensor in the actual driving process of a vehicle, modeling the roll motion of the vehicle to correct a lateral acceleration measured value; based on Kalman filtering and advantages and disadvantages of an improved algorithm thereof, an adaptive square root cubature Kalman filtering algorithm is constructed; respectively designing a vehicle kinematics estimator, a vehicle linear dynamics estimator and a vehicle nonlinear dynamics estimator based on an adaptive square root volume Kalman filtering algorithm; and based on the characteristics of different side slip angle estimators and an applicable scene design estimation strategy, vehicle side slip angle estimation is completed.

    本发明公开了一种车辆质心侧偏角估计方法,属于新能源汽车稳定性控制技术领域,包括:构建车辆三自由度运动学模型、三自由度动力学模型和魔术轮胎模型;基于车辆实际行驶过程中侧倾运动对IMU传感器测得侧向加速度的影响,对车辆侧倾运动进行建模来对侧向加速度测量值进行修正;基于卡尔曼滤波及其改进算法的优劣,构建了自适应平方根容积卡尔曼滤波算法;基于自适应平方根容积卡尔曼滤波算法分别设计了车辆运动学估计器、车辆线性动力学估计器和车辆非线性动力学估计器;基于不同质心侧偏角估计器的特点和适用场景设计估计策略,完成车辆质心侧偏角估计。


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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:
    WU ZHIFEI (author) / WANG ZHENGFANG (author) / SHEN AOBEI (author) / ZHANG SHAOJIE (author) / JEON HEE-MOON (author) / GUO HAODONG (author) / LI WENHUI (author) / PEI JIAHAO (author)

    Publication date :

    2024-11-08


    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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