高速智能车辆状态观测器设计

State Observer Design on High Speed Intelligent Vehicle

基于JLUIV Ⅳ型智能车辆状态变量vy(车辆侧向速度)的不可测性,结合二自由度转向动力学模型和预瞄运动学模型建立了Kalman滤波模型,并运用Kalman滤波理论设计了状态观测器。仿真和实验结果表明:该状态观测器对模型中不确定参数和事变参数具有良好的适应性,可满足车辆导航控制的要求。

Base on the impossibility of JLUIV-Ⅳ intelligent vehicle lateral velocity’s measurement, Kalman filter model was established by combining two-freedom steering dynamic model and preview kinematics model, and observer was designed by applying Kalman filter theory. Simulation and experimental results show that the observer has good adaptability for time-varying and uncertain parameters, so it can satisfy the requirement of vehicle steering control.