基于轮胎分段仿射辨识模型的车辆行驶状态估计策略研究

doi:10.19562/j.chinasae.qcgc.2023.07.012

Abstract

Abstract:

For accurate state estimation in the process of vehicle lateral motion， an estimation algorithm considering the tire nonlinear cornering mechanical characteristics is proposed. In order to accurately reflect the evolution law of vehicle lateral dynamics under special driving conditions， a vehicle dynamics model considering the tire nonlinear cornering mechanical characteristics is established by using the piecewise affine identification method， and then the piecewise affine model of vehicle lateral dynamics is constructed. On this basis， a "multi-mode switching" state estimation strategy for the piecewise affine model of the system is designed based on the strong tracking square root cubature Kalman filter algorithm to maintain good state estimation accuracy when the system state changes suddenly. Based on CarSim and MATLAB/Simulink， a Co-Simulation platform for vehicle driving state estimation performance is established. By setting up two typical working conditions， the state estimation effect of vehicle yaw rate and sideslip angle is verified. The results show that the proposed estimation algorithm can achieve high-precision estimation of vehicle driving state under special driving conditions.

Key words: vehicle, driving state estimation, piecewise affine identification, square root cubature Kalman filter, co-simulation verification

Xiaoqiang Sun, Yulin Wang, Weiwei Hu, Yingfeng Cai, Long Chen, Wong Pak Kin. Research on Estimation Strategy of Vehicle Driving State Based on Tire Piecewise Affine Identification Model[J].Automotive Engineering, 2023, 45(7): 1212-1221.

Figures/Tables 13

估计策略	? $γ M A X$	?β_MAX	? $γ$ _RMS	?β_RMS
STSCKF（工况1）	1.76	0.24	0.69	0.06
SCKF（工况1）	10.98	2.62	3.81	0.78
STSCKF（工况2）	0.94	0.08	0.25	0.02
SCKF（工况2）	5.24	0.14	1.02	0.14

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PWA模型	仿射子模型参数			PWA模型	仿射子模型参数
低附路面	-1 509.0	0.011	-979.4	高附路面	-0.115	779.5	-460.0
	-949.7	-0.312	2 091.0		0.124	-1 233.0	-441.7
	-907.3	0.197	-1 835.0		-0.263	1 504.0	-258.3
	-589.1	0.490	-3 005.0		0.256	-968.2	-172.2
	-262.3	-0.654	1 559.0		-0.216	1 428.2	-338.0
	-512.6	-0.572	2 783.3		-0.010	-232.2	-685.7
	-960.9	0.367	-3 754.0		-0.302	752.2	-120.0
	-293.8	0.620	-1 873.0		0.264	-538.1	-120.2
	-1 276.0	-0.184	1 226.2		0.223	-1 377.0	-266.4
	-763.1	-0.458	2 948.0		-0.289	1 107.4	-170.5

参数	数值
整车质量m/kg	2 350
前轮到质心距离l_f/m	1.337
后轮到质心距离l_r/m	1.587
轮距B/m	1.53
质心到地面高度h_g/m	0.652
横摆转动惯量I_z /（kg·m²）	4 386

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Research on Estimation Strategy of Vehicle Driving State Based on Tire Piecewise Affine Identification Model

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References 26

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