The invention relates to a vehicle running state estimation method, which comprises the following steps of: collecting vehicle running data including vehicle longitudinal acceleration, vehicle lateral acceleration, vehicle yaw velocity and vehicle wheel speed; obtaining the corrected vehicle driving state at the current moment according to backward smooth volume Kalman filtering; according to the vehicle driving state, the vehicle longitudinal acceleration, the vehicle lateral acceleration, the vehicle yaw velocity and the vehicle wheel speed, the vehicle longitudinal velocity, the vehicle lateral velocity and the vehicle side slip angle are obtained; according to the invention, the driving state of the vehicle can be estimated more accurately, so that the vehicle safety control system can achieve a better control effect.
本发明涉及一种车辆行驶状态估计方法,包括以下步骤:获取车辆运行数据,所述车辆运行数据包括车辆纵向加速度、车辆侧向加速度、车辆横摆角速度及车辆车轮轮速;根据后向平滑容积卡尔曼滤波,获取校正后的当前时刻的车辆行驶状态;根据所述车辆行驶状态、所述车辆纵向加速度、所述车辆侧向加速度、所述车辆横摆角速度及所述车辆车轮轮速,获取车辆纵向速度、车辆侧向速度及车辆质心侧偏角;能对车辆行驶状态进行更精准地估计,从而使汽车安全控制系统能达到更好地控制效果。
Vehicle driving state estimation method
车辆行驶状态估计方法
20.08.2021
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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