共查询到19条相似文献,搜索用时 296 毫秒
1.
2.
3.
路面附着系数的识别对汽车稳定性控制起着至关重要的作用。轮胎回正力矩能够反映整车及轮胎的运动、受力状况以及路面环境信息,且利用回正力矩能比使用侧向力更早地估计轮-地接触状况。为此,本文设计一种基于轮胎回正力矩的路面附着系数估计方法。首先,基于二自由度车辆模型设计轮胎侧偏角反馈观测器,对轮胎侧偏角进行实时估计;其次,基于轮胎侧偏角和轮胎回正力矩信息设计路面附着系数估计器,构建路面附着系数评估函数;最后,搭建Carsim与Simulink联合仿真平台,仿真结果表明设计的估计算法能够有效地对路面附着系数进行估计。 相似文献
4.
基于模糊逻辑的车辆侧偏角估计方法 总被引:7,自引:0,他引:7
提出了一种基于模糊逻辑的汽车侧偏角估计方法。它利用模糊逻辑和汽车运动学模型,将汽车转向盘转角、车轮转速、汽车加速度和横摆角速度信息相融合,进行车辆侧偏角估计。试验结果显示,该方法的鲁棒性和精确性较好,而且响应频率较高,可以满足ESP的控制需要。 相似文献
5.
6.
7.
8.
为了保证汽车的主动安全控制,需要准确地估计车辆行驶状态信息。针对目前汽车状态估计中由于技术条件限制和成本过高造成的部分参数无法测量或不易测量的问题,本文中利用低成本传感器,基于信息融合技术进行汽车行驶状态估计。建立了包括横摆、横向和纵向的3自由度非线性汽车动力学模型,同时为降低噪声对系统影响,建立了自适应无迹卡尔曼滤波(AUKF)的信息融合算法,给出车辆状态最小方差意义下的融合结果。利用纵向加速度、侧向加速度和转向盘转角等低成本传感器信号融合得到所需的难以测量的质心侧偏角、横摆角速度和纵向车速。通过Matlab/Simulink-CarSim联合仿真和实车试验对所研究的估计算法进行了试验验证。试验结果表明:该算法能够准确地估计汽车质心侧偏角、横摆角速度和纵向车速,且相比于无迹卡尔曼滤波(UKF),本算法提高了估计精度和实时性。 相似文献
9.
针对汽车状态估计中过程噪声和量测噪声统计特性不确定的状况,通过UKF算法与遗传算法相结合,提出一种新的自适应滤波算法,以降低噪声对估计结果的干扰。为达到较高的精度,建立了7自由度非线性车辆动力学模型,结合"魔术公式"轮胎模型对汽车行驶过程中的纵、侧向速度、轮胎力和质心侧偏角分别进行了估计。在利用UKF对汽车状态参数进行估计的同时,引入遗传算法,根据适应度函数对过程噪声和量测噪声进行寻优,实现了噪声的自适应作用,估计精度大幅提高。仿真和道路模拟试验的结果表明,UKF结合遗传算法的方法,能提高估计精度且具有很好的抗干扰性。 相似文献
10.
《汽车安全与节能学报》2015,(1)
为了提高汽车质心侧偏角估计的准确性,提出了一种新的、基于运动学—动力学方法的融合估计方法。构建了质心侧偏角融合观测器(SAFO)。该SAFO包括3个子滤波器,每个子滤波器分别将横向车速的初步估计结果送到主滤波器中。主滤波器根据当前车辆行驶工况和融合规则,将子滤波器的估计结果融合成为全局意义下的质心侧偏角估计结果。结果表明:该SAFO具有良好的估计精度和长时间尺度下的计算稳定性,同时对横向加速度传感器偏差具有鲁棒性。因此,车辆测试数据验证了SAFO的性能。 相似文献
11.
12.
13.
14.
A lateral acceleration is considered to be a significant sensor signal for an estimation of a side slip angle. Due to the fact that a characteristic of a lateral G sensor, the sensor has a technical issue when a road bank angle has presented. In order to resolve the issue, this paper describes a novel method for the real time estimation of a vehicle side slip angle and a road bank angle simultaneously. A Bayesian tracking approach is used to estimate the road bank angle by comparing a measured lateral acceleration with the calculated one in the case of various angle. A Kalman Filter has been implemented through bicycle model using vehicle roll angle, road bank angle and angular velocity of side slip angle. The performance of the proposed estimation method has been evaluated via vehicle tests on a real road. 相似文献
15.
16.
车轮外倾角与车轮前束值是车轮定位中的两个重要参数,车轮前束是为了抵消车轮外倾产生的侧滑不利影响,因此前束值要与车轮的外倾角有合理的匹配。综合考虑车辆的结构参数和轮胎特性,基于车轮的侧滑机理,推导出车轮外倾角与前束值的合理匹配关系模型,用试验结果验证了模型的正确性,为在车辆的设计开发过程中,合理的确定车轮的外倾角与前束值提供理论参考。 相似文献
17.
Hee Seong Kim Young Jin Hyun Kang Hyun Nam 《International Journal of Automotive Technology》2018,19(6):1071-1080
In this paper, a robust sideslip angle controller based on the direct yaw moment control (DYC) is proposed for in-wheel motor electric vehicles. Many studies have demonstrated that the DYC is one of the effective methods to improve vehicle maneuverability and stability. Previous approaches to achieve the DYC used differential braking and active steering system. Not only that, the conventional control systems were commonly dependent on the feedback of the yaw rate. In contrast to the traditional control schemes, however, this paper proposes a novel approach based on sideslip angle feedback without controlling the yaw rate. This is mainly because if the vehicle sideslip angle is controlled properly, the intended sideslip angle helps the vehicle to pass through the corner even at high speed. On the other hand, the vehicle may become unstable because of the too large sideslip caused by unexpected yaw disturbances and model uncertainties of time-varying parameters. From this aspect, disturbance observer (DOB) is employed to assure robust performance of the controller. The proposed controller was realized in CarSim model described actual electric vehicle and verified through computer simulations. 相似文献
18.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(4-5):307-328
Road bank angles have a direct influence on vehicle dynamics and lateral acceleration measurement. A vehicle stability control system that knows road bank angle has an advantageous capability in achieving desired control sensitivities for maneuvers on ice and snow, among all surfaces, while avoiding false/nuisance activation on a banked road. Since neither lateral velocity nor road bank angle are directly measurable in current vehicle systems due to economical reasons, the major challenge is to differentiate the bias induced by road bank disturbances from actual effect of vehicle lateral dynamics in current measurements. This paper proposes a method of road bank estimation and provides theoretical background for the decoupling effort of lateral dynamics and road disturbances involved in bank estimation. 相似文献
19.
H. E. Tseng 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2001,36(4):307-328
Road bank angles have a direct influence on vehicle dynamics and lateral acceleration measurement. A vehicle stability control system that knows road bank angle has an advantageous capability in achieving desired control sensitivities for maneuvers on ice and snow, among all surfaces, while avoiding false/nuisance activation on a banked road. Since neither lateral velocity nor road bank angle are directly measurable in current vehicle systems due to economical reasons, the major challenge is to differentiate the bias induced by road bank disturbances from actual effect of vehicle lateral dynamics in current measurements. This paper proposes a method of road bank estimation and provides theoretical background for the decoupling effort of lateral dynamics and road disturbances involved in bank estimation. 相似文献