The invention provides a vehicle state estimation method considering noise disturbance and quality parameter mismatch. The method comprises the steps that the longitudinal acceleration, the front wheel steering angle and the transverse acceleration of a vehicle are obtained through a vehicle-mounted sensor; based on the obtained longitudinal acceleration, the front wheel steering angle and the transverse acceleration, a nonlinear three-degree-of-freedom vehicle dynamics model of the longitudinal direction, the transverse direction and the yawing direction of the vehicle is established, discretization is conducted on the established model, and unscented transformation is adopted to process the nonlinear transmission problem of the mean value and the covariance; an unscented Kalman filter is constructed based on the model to carry out state prediction and prediction correction on a vehicle system, and a strong tracking thought and adaptive filtering are introduced to deal with a model parameter mismatch problem and noise disturbance uncertainty. According to the method, environmental interference with uncertain noise statistical characteristics and complex conditions with uncertain vehicle model parameters are considered, vehicle-mounted sensor information and measurement information can be fully utilized, and accurate estimation of vehicle state parameters under uncertain external disturbance is achieved.

    本发明提供一种考虑噪声扰动和质量参数失配的车辆状态估计方法,包括:利用车载传感器获取车辆的纵向加速度、前轮转向角以及横向加速度;基于获取的纵向加速度、前轮转向角以及横向加速度,建立车辆纵向、横向、横摆的非线性三自由度车辆动力学模型,对建立的模型进行离散化,并采用无迹变换来处理均值和协方差的非线性传递问题;基于此模型构建无迹卡尔曼滤波器对车辆系统进行状态预测和预测校正,并引入强跟踪思想与自适应滤波来应对模型参数失配问题与噪声扰动不确定性。本发明考虑了噪声统计特性不确定的环境干扰和车辆模型参数不确定的复杂情况,能够充分利用车载传感器信息和量测信息,实现不确定外部扰动下车辆状态参数的精确估计。


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    Title :

    Vehicle state estimation method considering noise disturbance and quality parameter mismatch


    Additional title:

    考虑噪声扰动和质量参数失配的车辆状态估计方法


    Contributors:
    WEI WENPENG (author) / WU ZHONGTAO (author) / YIN GUODONG (author) / SHEN LILIN (author) / FANG RUIQI (author) / ZHUANG WEICHAO (author)

    Publication date :

    2025-03-11


    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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