一种利用旋转编码器的车辆姿态动态算法研究  

A Study on a Dynamic Algorithm for Vehicle Attitude by Using Rotary Encoder

作　　者：李明喜[1,2] 项昌乐[1] 贾鹏[2] 袁一[2] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]军事交通学院汽车工程系,天津300161

出　　处：《汽车工程》2014年第7期857-861,共5页Automotive Engineering

基　　金：国家自然科学基金(91120306;51175290)资助

摘　　要：智能车辆关键技术之一是准确、实时地确定车辆的位置和姿态。本文中提出了一种利用旋转编码器计算车辆实时姿态的方法。利用旋转编码器测量智能车辆左右车轮的旋转角位移,并作为输入实时计算车辆的行驶轨迹和航向角。在计算中特别考虑了轮胎侧偏角对车辆行驶姿态的影响,有效降低了车辆在较高车速与弯道行驶时的计算误差。实验结果证明了该方法的准确性和可靠性。One of the key technologies of intelligent vehicle is accurately determining the position and attitude of vehicle real time. In this paper, a method of calculating the real time attitude of vehicle by using rotary encoder is proposed. With the method a rotary encoder is used to measure the angular displacement of left and right wheels, with which as input, the traveling path and heading angle of vehicle are calculated real time. In calculation the effects of the sideslip angle of tire on vehicle attitude are taken into particular consideration, so effectively reducing the calculation error in higher speed and cornering conditions. Experiment results verify the accurateness and reliability of the proposed scheme.

关 键 词：车辆姿态 动态算法 旋转编码器 侧偏特性 

分 类 号：U463.6[机械工程—车辆工程]