基于无迹粒子滤波的车辆质心侧偏角估计方法

Vehicle Side-slip Angle Estimation Based on Unscented Particle Filter

针对轮毂电机驱动车辆行驶状态参数获取困难的问题,提出了一种基于无迹粒子滤波的质心侧偏角估计方法。以采集的低成本普通车载传感器信息和驾驶信号作为输入信息,在构建非线性三自由度车辆模型基础上,建立了车辆行驶状态参数估计方程,设计了质心侧偏角无迹粒子滤波估计器。为验证该算法的适用性和优越性,利用MATLAB/Simulink和Adams进行了联合仿真,并选取典型工况进行了实车试验。结果表明:该方法具有普遍应用价值,在不同行驶工况下均具备良好的质心侧偏角估计效果。

A method for side-slip angle estimation based on unscented particle filter algorithm was proposed.In this method,information of low-cost on-board sensors and driving signals was collected and utilized as input to the estimation system.Besides,based on the non-linear three-degree-of-freedom vehicle model,the unscented particle filter algorithm was adopted to estimate the sideslip angle.Based on the co-simulation platform of Matlab/Simulink and Adams,a series of tests was conducted on a prototype of the 8×8 in-wheel motor drive armored vehicle.The simulation results validate the availability of the method for side-slip angle estimation.The method can accurately estimate the side-slip angle in different driving conditions and has general application value.