多方法融合的汽车质心侧偏角估计  

Estimation of vehicle sideslip angle based on multi-method fusion

作　　者：高自群 谢桂芝[2] 周兵[1] 许艳 吴晓建 柴天[1] GAO Zi-qun;XIE Gui-zhi;ZHOU Bing;XU Yan;WU Xiao-jian;CHAI Tian(State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Hunan University,Changsha 410082,China;National Engineering Research Center for High Efficiency Grinding,Hunan University,Changsha 410082,China;School of Advanced Manufacturing,Nanchang University,Nanchang 330031,China)

机构地区：[1]湖南大学汽车车身先进设计制造国家重点实验室,湖南长沙410082 [2]湖南大学国家高效磨削工程技术研究中心,湖南长沙410082 [3]南昌大学先进制造学院,江西南昌330031

出　　处：《浙江大学学报（工学版）》2023年第12期2391-2400,共10页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(51875184,52002163,52262054)。

摘　　要：汽车质心侧偏角融合估计过程中存在量测噪声不确定、依赖路面附着系数问题,影响估计精度,为此提出联合运动学方式与运动几何方式的质心侧偏角融合估计算法.利用三自由度车辆运动学方程建立自适应扩展卡尔曼滤波器,用于车辆侧、纵向速度估计.设计轮胎侧偏刚度模糊自适应的运动几何估计器,以实现车辆侧向速度估计.根据2种估计方式适用性的差异,设计基于瞬态特性提取的侧向速度加权融合算法,利用侧向速度融合结果与运动学方式估计的纵向速度计算车辆质心侧偏角. Carsim-Simulink的仿真与驾驶员在环试验结果表明,所提算法具有高实时估计精度和路面附着系数变化的鲁棒性.Due to the measurement noise uncertainty and the dependence on the road friction coefficient,the estimation accuracy of the vehicle sideslip angle fusion estimation was affected,and a fusion estimation algorithm of the vehicle sideslip angle based on the kinematic method and the kinematic-geometry method was proposed.An adaptive extended Kalman filter was established based on the three-degree-of-freedom vehicle kinematics equation to estimate the lateral and the longitudinal velocities of vehicles.A fuzzy adaptive kinematic geometry estimator for the tyre lateral stiffness was designed to estimate the vehicle lateral velocity.According to the differences in the applicability of two estimation methods,a lateral velocity weighted fusion algorithm based on the transient characteristics extraction was designed.Using the fusion result of the lateral velocity and the longitudinal velocity estimated by kinematic method,the vehicle sideslip angle was calculated.Results of Carsim-Simulink simulation and the driver in loop test show that the proposed algorithm has high real-time estimation accuracy and robustness to changes in the road friction coefficient.

关 键 词：质心侧偏角估计 运动学估计方式 运动几何估计方式 加权融合估计 模糊控制 

分 类 号：U461.1[机械工程—车辆工程]