The invention provides a vehicle side slip angle determination method, device and equipment and a storage medium, and belongs to the field of vehicle control. The method comprises the steps that a training sample is determined according to historical driving state parameters; performing hyper-parameter optimization on the LSTM neural network by using a particle swarm algorithm, and constructing a PSOLSTM model according to the optimized hyper-parameters; training the PSOLSTM model through the training sample to obtain a side slip angle prediction model; obtaining a predicted side slip angle of the target vehicle according to a side slip angle prediction model and the current driving state parameters; constructing sampling points based on the current driving state parameters of the target vehicle, and constructing an unscented Kalman filtering module according to the sampling points; and filtering the predicted side slip angle through an unscented Kalman filtering module, and determining the side slip angle of the target vehicle. Therefore, the prediction precision can be improved through the optimized hyper-parameters and the PSOLSTM, filtering is carried out in combination with the unscented Kalman filtering module, errors can be reduced, and the safety and stability of vehicle control are improved.

    本发明提供了一种车辆质心侧偏角的确定方法、装置、设备及存储介质,属于车辆控制领域,该方法包括:根据历史行驶状态参数确定训练样本;利用粒子群算法对LSTM神经网络进行超参数优化,根据优化后的超参数构建PSOLSTM模型;通过训练样本对PSOLSTM模型进行训练,得到质心侧偏角预测模型;根据质心侧偏角预测模型和当前行驶状态参数得到目标车辆的预测质心侧偏角;基于目标车辆的当前行驶状态参数构造采样点,并根据采样点构建无迹卡尔曼滤波模块;通过无迹卡尔曼滤波模块对预测质心侧偏角进行滤波,确定目标车辆的质心侧偏角。这样通过优化的超参数,PSOLSTM能够提高预测精度,再结合无迹卡尔曼滤波模块进行滤波,有利于减小误差,提高车辆控制的安全性和稳定性。


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    Title :

    Vehicle side slip angle determination method, device and equipment and storage medium


    Additional title:

    一种车辆质心侧偏角的确定方法、装置、设备及存储介质


    Contributors:
    WANG JIANLONG (author) / ZHANG CHUANWEI (author) / YANG ZHI (author) / ZHANG WENTAIYANG (author) / DANG MENG (author) / QIN PEILIN (author)

    Publication date :

    2025-01-07


    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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