State Estimation of Drive-by-Wire Chassis Vehicle Based on Dual Unscented Particle Filter Algorithm  

作　　者：Zixu Wang Chaoning Chen Quan Jiang Hongyu Zheng Chuyo Kaku 

机构地区：[1]State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China [2]Jiangsu Chaoli Electric Co.Ltd.,Zhenjiang 212321,China

出　　处：《Chinese Journal of Mechanical Engineering》2024年第1期99-113,共15页中国机械工程学报（英文版）

基　　金：Supported by National Key Research and Development Program of China(Grant No.2021YFB2500703);Science and Technology Department Program of Jilin Province of China(Grant No.20230101121JC).

摘　　要：Accurate vehicle dynamic information plays an important role in vehicle driving safety.However,due to the characteristics of high mobility and multiple controllable degrees of freedom of drive-by-wire chassis vehicles,the current mature application of traditional vehicle state estimation algorithms can not meet the requirements of drive-by-wire chassis vehicle state estimation.This paper proposes a state estimation method for drive-by-wire chassis vehicle based on the dual unscented particle filter algorithm,which make full use of the known advantages of the four-wheel drive torque and steer angle parameters of the drive-by-wire chassis vehicle.In the dual unscented particle filter algorithm,two unscented particle filter transfer information to each other,observe the vehicle state information and the tire force parameter information of the four wheels respectively,which reduce the influence of parameter uncertainty and model parameter changes on the estimation accuracy during driving.The performance with the dual unscented particle filter algorithm,which is analyzed in terms of the time-average square error,is superior of the unscented Kalman filter algorithm.The effectiveness of the algorithm is further verified by driving simulator test.In this paper,a vehicle state estimator based on dual unscented particle filter algorithm was proposed for the first time to improve the estimation accuracy of vehicle parameters and states.

关 键 词：Drive-by-wire chassis vehicle Vehicle state estimation Dual unscented particle filter Tire force estimation Unscented particle filter 

分 类 号：TN7[电子电信—电路与系统]