基于非线性观测器和无迹卡尔曼滤波的车辆状态估计对比  

Comparison of vehicle state estimation based on nonlinear observer and unscented Kalman filter

作　　者：禄盛 连马俊 刘洋 赵洋 肖阳[4] LU Sheng;LIAN Ma-jun;LIU Yang;ZHAO Yang;XIAO Yang(School of Advanced Manufacturing Engineering,Chongqing University of Posts and Telecommunications,Chongqing 400065,China;State Key Laboratory for Strength and Vibration of Mechanical Structures,Xi'an Jiaotong University,Xi'an 710049,China;Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education,East China University of Science and Technology,Shanghai 200030,China;State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China)

机构地区：[1]重庆邮电大学先进制造工程学院,重庆400065 [2]西安交通大学机械结构强度与振动国家重点实验室,西安710049 [3]华东理工大学化工过程先进控制和优化技术教育部重点实验室,上海200030 [4]吉林大学汽车仿真与控制国家重点实验室,长春130022

出　　处：《吉林大学学报（工学版）》2020年第4期1288-1300,共13页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(51705190,51705058,51807019);重庆市教委科学技术项目(KJ1600423);重庆市自然科学基金项目(cstc2016jcyjA0574);汽车仿真与控制国家重点实验室开放基金项目(20180102)。

摘　　要：针对车辆主动安全控制系统中控制变量难以实时准确获取的问题,分别提出了基于非线性全维观测器和无损卡尔曼滤波(UKF)的车辆状态估计方法。首先,基于非线性七自由度整车模型,结合车辆传感器设计非线性观测器和UKF观测器。其次,利用稳定性理论对设计的车辆状态估计方法进行了稳定性分析。最后,采用E级轿车的车辆参数应用CarSim对几种典型工况进行了离线仿真和对比分析。结果表明,设计的两种车辆状态估计方法都具有实时性好、估计精度高的优点。In order to solve the problem that the control variables of the vehicle active safety control system are difficult to measure directly and accurately in real-time,vehicle state estimation methods based on nonlinear full-order observer and UKF observer are proposed,repectively. Firstly,a nonlinear observer and a UKF observer are designed based on a nonlinear seven-DOF vehicle model and vehicle sensors.Secondly,the stability of the designed vehicle state estimation methods are analyzed by using the stability theory. Finally,the off-line simulation and comparative analysis of several typical working conditions are carried out by using the vehicle parameters of E-class car and CarSim. The results show that the two vehicle state estimation methods have the advantages of good real-time performance and high estimation accuracy.

关 键 词：车辆工程 UniTire模型 非线性全维观测器 无损卡尔曼滤波 稳定性分析 

分 类 号：U461.6[机械工程—车辆工程]