基于广义卡尔曼滤波器的路面辨识  

Road identification based on extended Kalman filter

作　　者：张乐祎[1] 余卓平[1] 熊璐[1] 

机构地区：[1]同济大学汽车学院,上海201804

出　　处：《计算机辅助工程》2008年第3期32-35,53,共5页Computer Aided Engineering

摘　　要：为防止车辆驱动轮打滑、提高制动效能,并使车辆在转向工况下获得稳定的行驶特性,对路面情况的实时辨识进行研究.利用μ-s曲线的斜率特性,采用广义卡尔曼滤波器结合路面变化探测模块的方法估算车轮纵滑刚度;利用仿真实验验证该方法的准确性和有效性,路面辨识方法的响应速度得到明显提高.该方法有利于整车控制策略的开发.For vehicles, to prevent skidding of driving wheels, improve braking performance, and ensure handling stability under the turning situation, the real-time identification for road condition is studied. Based on the slope feature of μ-s curve, the tire longitudinal slip stiffness is estimated by Extended Kalman Filter combined with the road detection module. The simulation verifies the accuracy and efficiency of the method. The algorithm greatly improves the estimate by tracking fast variations and is useful for the development of vehicle control strategy.

关 键 词：路面辨识 广义卡尔曼滤波器 自适应滤波 

分 类 号：V227[航空宇航科学与技术—飞行器设计]