汽车行驶道路侧向坡度估计

Estimation of lateral slope of vehicle driving road

为了解决侧向坡度估计依赖于轮胎模型精度、受路面附着系数影响较大、对车辆动态响应和车体信息考虑不充分的问题,运用车辆动力学理论,考虑二自由度车辆模型在含侧向坡度路面上的动力学特性,提出了一种能够解耦车辆状态与路面信息的侧向坡度估计方法。综合考虑车辆模型复杂度和辨识误差,采用二自由度车辆模型推导出车体侧倾角与侧向坡度的叠加项,并通过悬架高度信息求解出车体侧倾角,最终实现道路侧向坡度的准确估计。利用Simulink-Carsim搭建的车辆模型以及侧向坡度估计算法进行了离线仿真,结果验证了该方法的有效性。

The theory of vehicle dynamics is applied to solve the problems that the lateral slope estimation relies on the precision of the tire model and is influenced by the road surface adhesion coefficient,the dynamic response of the vehicle and the information of the vehicle body are not fully considered.Considering the dynamic characteristics of a two-degree-of-freedom(2-DOF)vehicle model on a pavement with a lateral slope,a lateral slope estimation method is proposed,which can decouple vehicle state and road information.Considering the complexity of the vehicle model and the identification error,the superposition terms of the inclination angle and the lateral slope of the vehicle are derived by using the 2-DOF vehicle model,and the inclination angle of the vehicle is solved by the suspension height information.Finally,the accurate estimation of the lateral slope of the road is realized.The vehicle model and lateral slope estimation algorithm are built by Simulink-Carsim,and the off-line simulation is carried out to verify the effectiveness of the method.