基于改进卡尔曼滤波的汽车路试制动性能检测方法

Test method of vehicle braking performance based on improved Kalman filtering

针对传统汽车路试制动性能检测方法的不足,提出了一种基于改进卡尔曼滤波的汽车路试制动性能检测方法。根据卡尔曼滤波理论,以单频载波相位单点GPS接收机输出的速度和方位角作为观测量,通过改进的卡尔曼滤波递推算法高频率、高精度地推算出汽车制动过程的平面运动坐标和速度,进而确定汽车制动距离和平均减速度MFDD,以检测汽车的制动性能。实车试验表明,该方法的制动距离测量精度可达0.2~0.3 m,速度精度小于0.1 m/s,输出频率可达100 Hz,具有成本低、输出频率高、精度高、环境适应力强的优点,克服了传统方法的不足。

In view the shortcomings of traditional test methods,a novel test method of vehicle braking performance based on improved Kalman filtering is proposed.The speed and azimuth outputted by single-frequency carrier phase single-point GPS receiver is selected as the observed information of Kalman filter.By improving Kalman filter recursion algorithm,the speed and plane coordinates of vehicle braking process are calculated with high frequency and high precision.Then,the vehicle braking distance and mean fully developed deceleration（MFDD） can be easily determined to judge vehicle braking performance.The real vehicle tests demonstrate that the measurement precision of braking distance of the proposed method can reach 0.2 m to 0.3 m,the speed precision is lower than 0.1 m/s,and the output frequency is up to 100 Hz.The proposed test method has such advantages as low cost,high output frequency,high precision and environmental adaptability,which overcomes the shortcomings of traditional methods.