基于中心差分卡尔曼滤波的车速估计研究  

Study on Vehicle Speed Estimation based on Central Difference Kalman Filter

作　　者：解瑞春 卫绍元[1] 李刚[1] 

机构地区：[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001

出　　处：《汽车实用技术》2015年第1期29-31,59,共4页Automobile Applied Technology

基　　金：辽宁省教育厅项目(L2013253)

摘　　要：针对车辆行驶过程中车速估计问题,论文基于中心差分卡尔曼滤波理论设计了车速的估计算法。建立了非线性三自由度车辆估算模型,根据纵向加速度、侧向加速度和方向盘转角低成本传感器信号的信息融合,实现对车速的准确估计,应用CarSim与Matl ab/Simulink联合仿真实验对算法进行验证。结果表明:估计算法能够准确估计车辆行驶过程中的纵向车速、侧向车速和质心侧偏角。For the vehicle speed estimated problem in the process of vehicle driving.the algorithm was Proposed to estimate the vehicle speed based on Central Difference Kalman Filter. The Nonlinear 3-DOF vehicle estimated model was build. Through the information fusion between the Longitudinal Acceleration, Lateral Acceleration and steering wheel angle. The algorithm is verified by CarSim and Matlab/Simulink Co-Simulation. The results show that the estimation algorithm can accurately estimate the Longitudinal speed, Lateral speed and vehicle slip angle.

关 键 词：中心差分卡尔曼滤波 车速估计 信息融合 仿真验证 

分 类 号：U461.9[机械工程—车辆工程]