考虑测量零偏的半挂车辆侧向速度校正估算方法

Lateral Velocity Correction Estimation for Semi-Trailer Vehicles Considering Measurement Bias

为准确估算自动驾驶半挂车辆的牵引车侧向速度,提出了一种考虑传感器测量零偏的校正估算方法。在三自由度车辆动力学模型的基础上,将前轮转角、横摆角速度零偏和侧向加速度零偏等扩围到状态变量中,建立了测量零偏估计模型,考虑到动力学模型失配的影响,设计了基于运动学模型的反馈校正机制,对侧向速度和横摆角速度的估计结果进行反馈调节,利用平方根容积卡尔曼滤波算法实现该方法,并分析了估计器的可观性,最后,基于TruckSim与MATLAB/Simulink联合仿真平台进行了验证,结果表明:该方法不仅可以消除测量零偏的影响,还具有良好的收敛速度,性能明显优于未考虑测量零偏和仅考虑测量零偏的估算方法。

A correction estimation method considering sensor measurement bias was proposed to accurately estimate the lateral velocity of the tractor in autonomous semi-trailer vehicles.Based on the three-degree-of-freedom vehicle dynamics model,the measurement bias estimation model was established by expanding the front wheel angle,yaw rate bias,and lateral acceleration bias into the state variables.Taking into account the impact of dynamic model mismatch,a feedback correction mechanism based on the kinematic model was designed to adjust the estimation results of lateral velocity and yaw rate through feedback.The proposed method was implemented using the square-root cubature Kalman filter algorithm,and the observability of the estimator was analyzed.This method was verified on the joint simulation platform of TruckSim and MATLAB/Simulink.The results show that the proposed method not only eliminates the influence of measurement bias but also exhibits good convergence speed.Its performance is significantly better than estimation methods that do not consider measurement bias or only consider measurement bias.