考虑侧倾影响的汽车横摆角速度与质心侧偏角滤波估计

摘要

为准确识别汽车前方弯道路段曲率信息,考虑侧倾运动的实际影响,建立了汽车质心运动、横摆运动及侧倾运动具有非线性特征的3自由度车辆操纵稳定性模型,设计了汽车质心侧偏角与横摆角速度扩展卡尔曼滤波估计器,实现了巡航车辆运动特征的在线实时估计.采用双移线输入,通过CarSim与Matlab/Simulink的联合仿真进行验证,结果表明,即使在大噪声条件下,所设计的扩展卡尔曼滤波估计器也能较好地实现车辆横摆角速度与质心侧偏角的准确估计.%It is necessary to estimate accurately the vehicle dynamic state for distinguishing the road curvature information of automobile cruise system. Considering roll motion of vehicle body, an extend Kalman filter is proposed to realize the estimation of motion parameters based on a nonlinear three degrees of freedom vehicle model including the longitudinal, lateral and yaw direction. Adopting CarSim and MATLAB/Simulink co-simulation, the estimation on yaw rate and side slip angle is validated under high-speed double lane conditions. The simulation results show that the proposed EKF can estimate accurately vehicle's yaw rate and side slip angle even if the existence of strong noise. The research results have important reference values in obtainning information of curve road and practical guiding significance to prevent the goal confusion or missing of key target in the curve road and avoid effectively rear-end collisions on automobile cruise system.