一种车辆状态的非线性估计方法研究

Approach to Nonlinear Estimation of Vehicle State

应用Dugoff轮胎模型建立了车辆的非线性动力学方程。在此基础上,提出了一种纵向车速、横向车速和横摆角速度的非线性估计器设计方法,并基于Lyapunov稳定性理论给出了保证估计器收敛的充分条件。最后,在一个高精度的车辆动力学实时仿真环境中,将本方法与其它估计方法在不同路面条件下进行了多种驾驶工况的对比研究,并检验了本方法在车辆参数不准确或车载传感器信号丢失时的估计效果。仿真结果表明,本方法具有较好的估计性能。

Using Dugoff＇s tire model,nonlinear equations of vehicle dynamics were established.Then,a nonlinear estimator for longitudinal velocity,lateral velocity and yaw rate was proposed,and a sufficient condition was derived to guarantee convergence of the estimator based on Lyapunov stability theory.Finally,in a high precision vehicle dynamics simulation environment,the proposed estimator was compared with other approaches under a variety of maneuvers and road conditions,and the robustness of the estimator was validated in the conditions that vehicle parameters were inexact or sensor measurement data was missing.The simulation results show the effectiveness of the proposed estimator.