基于质心侧偏角计算的自动转向控制

Automatic Steering Control Based on Sideslip Angle Calculation

为改善车辆高速行驶时质心侧偏角对车辆横向控制的影响,基于车辆动力学分析与辨识提出了一种基于无迹卡尔曼滤波理论的精确计算质心侧偏角的方法,并将其应用于车辆的自动转向控制系统。为验证算法的有效性,进行了相关的仿真分析。仿真结果表明:在实时计算质心侧偏角的基础上进行车辆的性能控制,可提高车辆的瞬态控制精度,有效改善车辆的舒适性。

In order to improve the influence of centroid deflection on vehicle lateral control at high speed,based on vehicle dynamics analysis and identification,a precise method for calculating centroid deflection based on traceless Kalman filter theory is proposed and applied to the automatic steering control system of vehicles.In order to verify the validity of the algorithm,the simulation analysis is carried out.The simulation results show that the vehicle performance control based on the real-time calculation of the centroid deviation angle can improve the vehicle transient control accuracy to a certain extent and effectively improve the vehicle comfort.