基于HSRI模型的汽车质心侧向速度估计

Lateral Velocity Estimation of Vehicle Mass Center Based on HSRI Model

建立了二自由度(2DOF)四轮车辆动力学模型,并选用HSRI非线性轮胎模型,利用扩展卡尔曼滤波理论设计了汽车质心侧向速度观测器。应用Simulink与Trucksim软件进行了双移线等工况的联合仿真,结果显示估计值与Trucksim运行结果吻合。表明所建模型及观测器准确有效,可以用于后续的研究。

A 2DOF four-wheel dynamic model was established, and the HSRI model was selected. A vehicle lateral speed observer based on EKF（ Extended Kahnan Filter） theory was created. A co-simulation using Trucksim and Simulink was discussed under double lane change condition etc. The results show that the estimate value is coincide with the simulation value. It shows that the model and observer are precise and practical, they can be used to research in the future.