摘要
稳定性控制系统因其良好的主动安全性已经在汽车上广泛应用。横摆角速度和质心侧偏角是判断汽车运行情况的两个主要参考量。基于此,以非线性三自由度车辆模型为基础,提出了一种应用扩展Kalman滤波技术估计车辆状态参数的控制算法。并且提出了一种基于Prescan、CarSim、MATLAB(Simulink)平台的驾驶员在环仿真试验来验证算法的准确度。结果表明,扩展Kalman滤波算法结果的准确性能够满足稳定控制的要求。
Stability control system has been widely used in automobiles because of its good active safety. Yaw rate and sideslip angle are the two main references to judge the operation of the vehicle. Based on non-linear three-degree-of-freedom vehicle model, this paper proposes a control algorithm to estimate the vehicle’s state parameters by using extended Kalman filter technique. And a driver in loop simulation test based on Prescan, Car Sim and MATLAB（Simulink） platform is proposed to verify accuracy of the algorithm. The results show that accuracy of extended Kalman filter algorithm can meet the requirements of stability control.
作者
吕梦男
孙涛
李洁
Lü Mengnan;Sun Tao;Li Jie(University of Shanghai for Science and Technology, Shanghai 200093, Chin)
出处
《农业装备与车辆工程》
2018年第5期77-80,共4页
Agricultural Equipment & Vehicle Engineering
基金
上海市科研创新项目(12ZZ145)
关键词
稳定性控制
扩展卡尔曼滤波
车辆状态参数
驾驶员在环
stability control
extended Kalman filter
vehicle state parameters
driver-in-the-loop
