The invention discloses a distributed driving electric vehicle motion state estimation method, system and device, and relates to the technical field of intelligent vehicle active safety. The method comprises the following steps: receiving parameter information of a steering wheel angle, a lateral acceleration, a longitudinal acceleration, a yaw velocity, a tire longitudinal force and a tire lateral force of a vehicle; and constructing a nonlinear vehicle dynamics model and a magic formula tire model. The vehicle state estimator with random first-order measurement time lag and data packet loss is designed, the randomness of the measurement time lag and the data packet loss is represented by adopting independent random variables meeting Bernoulli distribution, and compared with a traditional estimation algorithm, the method does not need to assume that the time lag is integer multiples of a sampling interval, so that the estimation efficiency is greatly improved. It is not needed to assume that sensor data only have two conditions of normal transmission and complete failure, and robustness of side slip angle estimation under non-ideal conditions such as measurement time lag and data packet loss is effectively enhanced.

    本发明公开了分布式驱动电动汽车运动状态估计方法、系统及设备,涉及智能汽车主动安全技术领域。本发明包括:接收车辆的方向盘转角、侧向加速度、纵向加速度、横摆角速度、轮胎纵向力和轮胎侧向力参数信息;构建非线性车辆动力学模型和魔术公式轮胎模型。本发明设计了一种含有随机一阶量测时滞和数据丢包的车辆状态估计器,采用满足伯努利分布的独立随机变量来表征量测时滞和数据丢包的随机性,和传统估计算法相比,本发明所述方法不需要假设时滞是采样间隔的整数倍,不需要假设传感器数据只存在全部正常传输和完全失效两种情况,有效增强了量测时滞和数据丢包等非理想状况下质心侧偏角估计的鲁棒性。


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    Title :

    Distributed driving electric vehicle motion state estimation method, system and equipment


    Additional title:

    分布式驱动电动汽车运动状态估计方法、系统及设备


    Contributors:
    YIN GUODONG (author) / BAI SHUO (author) / CHENG XIAOLONG (author) / DING HAONAN (author) / HU JINGYU (author) / QIU ZHAOYU (author)

    Publication date :

    2024-12-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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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