基于切换策略的车辆质心侧偏角高性能获取

High-Performance Acquisition for Vehicle Sideslip Angle Based on Switch Strategy

现有的基于融合策略的车辆质心侧偏角(vehicle sideslip angle,VSA)获取方法需要针对不同的场景、结构或信号进行优化和改进,计算复杂度和系统成本也随之增加。本文提出一种基于切换策略的VSA软测量方法。在传感器量测信号预处理部分,利用贝塞尔滤波器对侧向加速度信号进行时延处理和噪声滤除,设计可靠性检验模块对横摆角速度等信号中的突变实现有效清除。在此基础上,根据现有运动学和动力学方案的优势确定切换策略,尽量缩短运动学方案的连续工作区间以抑制其误差累积,同时将动力学方案限制在线性区工作以避免其性能下降,并在多个工况下进行仿真和硬件在环试验,以验证所提出的VSA获取方法的效果。试验结果表明,相较于采用典型的融合策略的对比方法,本文提出的方法在精度和运行时间方面都具有明显的优势,且二者对路况的变化均具有较强的鲁棒性。

For the existing acquisition method of vehicle sideslip angle(VSA)based on fusion strategy,optimization and improvement are required for different scenarios,structures or signals.As a result,the calculation complexity and system cost rise up.A soft-sensing method for the VSA based on switch strategy is proposed in this paper.In the pretreatment part for sensor measurement signals,the Bessel filter is employed to realize the delay pro⁃cessing and noise filtering of lateral acceleration signal,and a reliability test module is designed to effectively elimi⁃nate the mutations in the signals of yaw rate,et al.On this basis,the switch strategy is determined based on the ad⁃vantages of the existing kinematic and dynamic schemes.For the presented strategy,the continuous operating inter⁃vals of the kinematic scheme are shortened in a great deal of effort to restrain the error accumulation,and the dy⁃namic one is restricted in linear region to avoid performance degradation.Simulations and hardware-in-loop experi⁃ments are implemented in multiple conditions to verify the effect of the proposed method.The experimental results show that the proposed method in this paper has obvious advantages in accuracy and execution time compared to the one utilizing the classical fusion strategy.Moreover,they are both robust to the change of road conditions.