基于卡尔曼滤波和ABS控制输入的车速估计

Estimation of vehicle speed based on Kalman filter and ABS control inputs

在现有的轮速估计算法基础上,研究了一种基于参数自适应卡尔曼滤波和ABS(Anti-lock Braking System)控制输入的车速估计算法.该算法首先以四轮轮速为输入,利用ABS控制状态信息估计车辆的制动减速度,然后综合减速度和轮速信息分别估计左、右侧的参考车速.使用自适应卡尔曼滤波针对不同的滑移状况更新协方差矩阵,并采用真实的ABS制动试验数据检验所提出的算法,结果表明:该算法在各种路面条件下都能估计得到合理的参考车速.

Based on the existing algorithms,an algorithm of vehicle speeds for anti-lock braking system（ABS） was investigated using parameter adaptive Kalman filter and ABS control inputs.With the four wheel speeds as inputs,the vehicle braking deceleration was estimated utilizing ABS control inputs.Then the speeds on both left and right sides were estimated independently using information of wheel speeds and deceleration.According to different slip conditions,the covariances were tuned using the parameter adaptive Kalman filter.At last,the proposed algorithm was evaluated using real test data of ABS braking,and results show that the estimated speeds are reasonable under various road conditions.