基于改进RBF网的汽车侧偏角估计方法试验研究  

Experimental Research on Vehicle Sideslip Angle Estimation Based on Improved RBF Neural Networks

作　　者：张小龙[1,2] 李亮[1] 李红志[1] 贺林[1] 宋健[1] 

机构地区：[1]清华大学汽车安全与节能国家重点实验室,北京100084 [2]安徽农业大学工学院,合肥230036

出　　处：《机械工程学报》2010年第22期105-110,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50905092);清华大学汽车安全与节能国家重点实验室开放基金(KF09122)资助项目

摘　　要：基于汽车稳定性控制系统配置传感器信号,利用改进径向基神经网络技术对车身和车轮侧偏角进行估计。对径向基网络基本最小二乘算法提出3条改进措施以获得合适的网络结构、提高网络的泛化能力和计算实时性。构建车身和前轮侧偏角、电子稳定程序(Electronic stability program,ESP)传感器信号测试道路试验系统,进行典型高附路面试验,并提取数据样本用于网络的学习和测试。通过网络结构和性能参数交叉验证,确定网络结构为4-12-2,扩展常数为9,目标学习误差及其梯度分别为0.025和0.05。由验证样本测试网络对车身和前轮侧偏角的估计精度分别为0.5°和0.8°。基于PC平台对网络预测实时性进行测试。结果表明所构建的网络在精度和实时性方面能够较好地满足ESP控制器对侧偏角的监控要求。The theory and algorithm of the improved radial basis function neural network（IRBF NN） are applied in estimation of vehicle body and wheel sideslip angles,based on the configuration sensor signal of electronic stability program（ESP） system.In order to simplify the RBF NN construction and improve its generalization and real-time calculation performance,three methods are put forward to modify the radial basis function network orthogonal least squares（OLS） learning algorithm.A road test system is designed to mainly acquire the signals of the body and wheel sideslip angles,and of the kinemics parameters of ESP configuration sensors.Several typical vehicle manipulability tests are conducted on high μ adhesion road,and the test data are used to train and configure the NN construction.The final NN construction and learning parameters are determined by cross-verification method,such as the network construction being 4-12-2,the expansion constant 9,the goal learning error and its gradient 0.025 and 0.05 respectively.The estimation accuracies of body and wheel sideslip angles are 0.5° and 0.8° proved by the verification test data.Finally,the NN real-time prediction performance is tested on the PC machine.The study shows that the constructed RBF NN with its good accuracy and real-time calculation performance can meet the requirements of the ESP controller for monitoring the sideslip angles.

关 键 词：汽车测试 侧偏角 估计 改进径向基网络 

分 类 号：U270.7[机械工程—车辆工程]