基于无迹卡尔曼滤波与遗传算法相结合的车辆状态估计*

doi:10.19562/j.chinasae.qcgc.2019.02.012

Abstract

Abstract: In view of the uncertain situation of the statistical characteristics of process noise and measurement noise in vehicle state estimation, a new adaptive filtering algorithm is put forward by combining UKF algorithm with genetic one for reducing the disturbance of noise to the results of estimation. In order to achieve higher accuracy, a 7 DOF nonlinear vehicle dynamics model is established and by combining ‘magic formula’ tire model, the longitudinal and lateral velocities, tire force and the sideslip angle of mass center are estimated respectively. While UKF algorithm is applied to estimate vehicle states, the genetic algorithm is introduced, and the process noise and measurement noise are optimized based on fitness function to realize the adaptation of noise with the accuracy of estimation greatly enhanced. The results of simulation and road test show that the combination of UKF and genetic algorithms can improve the accuracy of vehicle state estimation with good disturbance resistance

Key words: vehicle, state estimation, UKF algorithm, genetic algorithm, magic formula

Zhou Weiqi, Qi Xiang, Chen Long, Xu Xing. Vehicle State Estimation Based on the Combination of Unscented Kalman Filtering and Genetic Algorithm[J]., 2019, 41(2): 198-205.

References

[1] 余卓平,高晓杰.车辆行驶过程中的状态估计问题综述[J].机械工程学报,2009,45(5):20-33.
[2] 陈慧,高博麟,徐帆.车辆质心侧偏角估计综述[J].机械工程学报,2013,49(24):76-94.
[3] REINA G, PAIANO M, BLANCO-CLARACO J L. Vehicle parameter estimation using a model-based estimator[J]. Mechanical Systems & Signal Processing,2016,87(B):227-241.
[4] BERGMAN M J, DELLEUR J W. Kalman filter estimation and prediction of daily stream flows: I. review, algorithm, and simulation experiments[J]. Jawra Journal of the American Water Resources Association,2010,21(5):815-825.
[5] 宗长富,胡丹,杨肖.基于扩展Kalman滤波的汽车行驶状态估计[J].吉林大学学报(工学版),2009,39(1):9-13.
[6] 李旭,宋翔,张为公.基于扩展卡尔曼滤波的车辆状态可靠估计[J].东南大学学报(自然科学版),2014,44(4):740-744.
[7] XIONG K, ZHANG H Y, CHAN C W. Performance evaluation of UKF-based nonlinear filtering[M]. Pergamon Press, Inc,2006.
[8] KOLS S, FOSS B A, SCHEI T S. Constrained nonlinear state estimation based on the UKF approach[J]. Computers & Chemical Engineering,2009,33(8):1386-1401.
[9] 褚端峰,吴超仲,胡钊政,等.基于双线性观测器的汽车侧倾状态估计[J].中国公路学报,2016,29(1):128-134.
[10] MELZI S, SABBIONI E. On the vehicle sideslip angle estimation through neural networks: numerical and experimental results[J]. Mechanical Systems & Signal Processing,2011,25(6):2005-2019.
[11] 施树明,Henk Lupker, Paul Bremmer,等.基于模糊逻辑的车辆侧偏角估计方法[J].汽车工程,2005,27(4):426-430.
[12] 周聪.基于非线性估计理论的线控转向汽车状态估计研究[D].成都:西南交通大学,2012.
[13] 张凤娇,魏民祥,赵万忠.基于蚁群优化UKF算法的汽车状态估计[J].中国机械工程,2015,26(22):3046-3050.
[14] 潘泉,杨峰,叶亮,等.一类非线性滤波器—UKF综述[J].控制与决策,2005,20(5):481-489.
[15] 叶承晋,黄民翔,陈丽莉,等.基于并行非支配排序遗传算法的限流措施多目标优化[J].电力系统自动化,2013,37(2):49-55.
[16] 徐兴,陈特,陈龙,等.基于UIO/双KF的4WID-EV驱动轮纵向力估计[J].汽车工程,2016,38(9):1095-1100.

Vehicle State Estimation Based on the Combination of Unscented Kalman Filtering and Genetic Algorithm

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Metrics

Comments

Recommended 10

[1]	Lin Hu,Ziyi Gu,Danqi Wang,Fang Wang,Tiefang Zou,Jing Huang. Current Status and Trend of Automotive Safety Procedures/Programs [J]. Automotive Engineering, 2024, 46(2): 187-200.
[2]	Shurui Guan,Keqiang Li,Junyu Zhou,Jia Shi,Weiwei Kong,Yugong Luo. A Cooperative Lane Change Strategy for Intelligent Connected Vehicles Oriented to Mandatory Lane Change Scenarios [J]. Automotive Engineering, 2024, 46(2): 201-210.
[3]	Xinke Fu,Yingfeng Cai,Long Chen,Hai Wang,Qingchao Liu. Decision-Making for Autonomous Driving in Uncertain Environment [J]. Automotive Engineering, 2024, 46(2): 211-221.
[4]	Pangwei Wang,Cheng Liu,Yunfeng Wang,Mingfang Zhang. Multi-lane Trajectory Optimization for Intelligent Connected Vehicles in Urban Road Network [J]. Automotive Engineering, 2024, 46(2): 241-252.
[5]	Xu Hao,Xiantao Lu,Jing Yang,Yali Zheng,Hewu Wang. Modeling on the Penetration Rate of China's Commercial Vehicle Market: Taking Heavy-Duty Long-Haul Trucks as an Example [J]. Automotive Engineering, 2024, 46(2): 253-259.
[6]	Weifeng Kong,Chuan Fang,Jihong Liu,Jianqiu Li,Feiqiang Li,Shengtao Huang,Xingwang Zhao,Yan Shi,Dian Yuan,Liangfei Xu,Peng Sun,Enfei Zhou,Minggao Ouyang. Research on Fuel Cell Cold Start Strategy Based on Single Cell Impedance Consistency Purging [J]. Automotive Engineering, 2024, 46(2): 260-268.
[7]	Nianzhong Zhang,Qiang Song,Guanfeng Wang,Mingsheng Wang. Research on Non-Current-Sensor Control of Permanent Magnet Synchronous Motor for Vehicle [J]. Automotive Engineering, 2024, 46(2): 281-289.
[8]	Jianfeng Chen,Qiang Wu,Xinyuan Ge,Jingbo Zhao. High-Performance Acquisition for Vehicle Sideslip Angle Based on Switch Strategy [J]. Automotive Engineering, 2024, 46(2): 346-355.
[9]	Zhipeng Jiao, Jian Ma, Xuan Zhao, Kai Zhang, Dean Meng, Qi Han, Zhao Zhang. Research on Short-Time Test Cycle and Method Based on Electric Vehicle Braking Safety Detection [J]. Automotive Engineering, 2024, 46(1): 109-119.
[10]	Jiangxin Yuan, Liping He, Yaodong Li, Gang Li. Thermal Analysis and Optimization Design of a BMS Slave Unit for Electric Vehicles [J]. Automotive Engineering, 2024, 46(1): 128-138.
[11]	Liqun Lyu, Long Xu, Hang Yin, Yang Yang, Yunshan Ge. Research on Real-World NO _x Emission Analysis Methods for Heavy-Duty Diesel Vehicles [J]. Automotive Engineering, 2024, 46(1): 151-160.
[12]	Jun Ma, Yue Bai. Context-Engine-Based Interaction Design of In-Vehicle Navigation [J]. Automotive Engineering, 2024, 46(1): 18-28.
[13]	Biao Yang, Zhiwen Wei, Rongrong Ni, Hai Wang, Yingfeng Cai, Changchun Yang. Efficient Pedestrian Crossing Intention Anticipation Based on Action-Conditioned Interaction [J]. Automotive Engineering, 2024, 46(1): 29-38.
[14]	Pengbo Zhang, Renxiang Chen, Yiming Shao, Shizheng Sun, Kaibo Yan. Research Review of Fault Diagnosis for Electric Drive Powertrain System of Pure Electric Vehicles [J]. Automotive Engineering, 2024, 46(1): 61-74.
[15]	Xudong Zhang, Ya Wen, Yuan Zou, Wenjing Sun, Zhaolong Zhang, Fengmin Tang, Weiguo Liu. Research on Traffic Scheduling Strategies and Improved Algorithms for In-Vehicle Time-Sensitive Networks [J]. Automotive Engineering, 2024, 46(1): 75-83.