基于扩展卡尔曼滤波的汽车质心侧偏角估计  

Estimation of CG Sideslip Angle Based on Extended Kalman Filter

作　　者：郭孔辉[1] 付皓[1] 丁海涛[1] 

机构地区：[1]吉林大学汽车动态模拟国家重点实验室

出　　处：《汽车技术》2009年第4期1-3,44,共4页Automobile Technology

基　　金：国家863计划(2006AA1103103);吉林大学"985工程"汽车工程创新平台

摘　　要：基于二自由度汽车动力学模型和轮胎模型,运用扩展卡尔曼滤波方法建立了汽车质心侧偏角估计器。利用汽车动力学仿真平台,通过仿真对比了线性轮胎模型和非线性轮胎模型的质心侧偏角估计结果。仿真结果表明,轮胎模型对于质心侧偏角估计精度至关重要,而采用非线性轮胎模型能显著提高质心侧偏角估计精度,估计结果能满足ESC控制的要求。Based on the 2-DOF vehicle dynamic model and tire model,a vehicle cg sideslip angle estimator is built with the extended Kalman filter.The estimated cg sideslip angles for linear tire model and non-linear tire model is compared by simulation on a vehicle dynamics simulation platform.The simulation results show that the tire model plays an important role in accuracy of sideslip angle estimatition,which is improved greatly by using the nonlinear tire model estimation method and the estimation results can meet the requirements of electronic stability control.

关 键 词：稳定性控制系统 质心侧偏角 估计器 扩展卡尔曼滤波 

分 类 号：U461.6[机械工程—车辆工程]