智能车辆转向姿态鲁棒滚动时域估计  

Robust moving horizon estimation of steering pose of intelligent vehicles

作　　者：何德峰[1] 俞芳慧 徐晨辉 HE Defeng;YU Fanghui;XU Chenhui(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《浙江工业大学学报》2022年第1期9-17,25,共10页Journal of Zhejiang University of Technology

基　　金：国家自然科学基金资助项目(61773345);浙江省属高校基本科研业务费项目(RF-C2020003)。

摘　　要：考虑具有不确定噪声的智能车辆转向系统,提出一种转向姿态鲁棒滚动时域估计算法。首先,结合滚动时域估计原理和博弈论相关知识,设计了具有处理约束与不确定噪声能力的鲁棒估计器;其次,应用块概念设计鲁棒滚动时域估计算法的扰动块结构,压缩滚动时域估计问题中扰动的优化变量个数,从而减少估计器的在线计算量,并应用李雅普诺夫稳定性定理证明了估计误差系统的渐近稳定性;最后,以四阶智能车辆转向系统为对象,仿真验证了所提算法的有效性。This paper proposes a robust moving horizon estimation method for steering pose of intelligent vehicle steering systems with uncertain noise.Firstly,the robust estimation is designed with the moving horizon estimation principle and the game theory method,which can deal with the estimation of constrained and uncertain noise.Then,the concept of“move blocking”is applied to design the disturbance block structure of the moving horizon estimation algorithm,where the number of optimization disturbance variables of the optimization problem is compressed to reduce the on-line computation.Furthermore,the Lyapunov stability theorem is used to prove asymptotic stability of the estimation error system.Finally,the effectiveness of the proposed algorithm is verified by the simulation of a fourth order intelligent vehicle steering system.

关 键 词：车辆转向系统 约束 不确定噪声 鲁棒滚动时域估计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]