汽车实用技术
汽車實用技術
기차실용기술
PRACTICAL TECHNOLOGY OF AUTOMOBILE
2015年
1期
29-31,59
,共4页
解瑞春%卫绍元%李刚
解瑞春%衛紹元%李剛
해서춘%위소원%리강
中心差分卡尔曼滤波%车速估计%信息融合%仿真验证
中心差分卡爾曼濾波%車速估計%信息融閤%倣真驗證
중심차분잡이만려파%차속고계%신식융합%방진험증
Central Difference Kalman Filter%Vehicle Speed Estimation%Information Fusion%Simulation Verification
针对车辆行驶过程中车速估计问题，论文基于中心差分卡尔曼滤波理论设计了车速的估计算法。建立了非线性三自由度车辆估算模型，根据纵向加速度、侧向加速度和方向盘转角低成本传感器信号的信息融合，实现对车速的准确估计，应用CarSim与Matlab/Simulink联合仿真实验对算法进行验证。结果表明：估计算法能够准确估计车辆行驶过程中的纵向车速、侧向车速和质心侧偏角。
針對車輛行駛過程中車速估計問題，論文基于中心差分卡爾曼濾波理論設計瞭車速的估計算法。建立瞭非線性三自由度車輛估算模型，根據縱嚮加速度、側嚮加速度和方嚮盤轉角低成本傳感器信號的信息融閤，實現對車速的準確估計，應用CarSim與Matlab/Simulink聯閤倣真實驗對算法進行驗證。結果錶明：估計算法能夠準確估計車輛行駛過程中的縱嚮車速、側嚮車速和質心側偏角。
침대차량행사과정중차속고계문제，논문기우중심차분잡이만려파이론설계료차속적고계산법。건립료비선성삼자유도차량고산모형，근거종향가속도、측향가속도화방향반전각저성본전감기신호적신식융합，실현대차속적준학고계，응용CarSim여Matlab/Simulink연합방진실험대산법진행험증。결과표명：고계산법능구준학고계차량행사과정중적종향차속、측향차속화질심측편각。
For the vehicle speed estimated problem in the process of vehicle driving.the algorithm was Proposed to estimate the vehicle speed based on Central Difference Kalman Filter. The Nonlinear 3-DOF vehicle estimated model was build. Through the information fusion between the Longitudinal Acceleration, Lateral Acceleration and steering wheel angle. The algorithm is verified by CarSim and Matlab/Simulink Co-Simulation. The results show that the estimation algorithm can accurately estimate the Longitudinal speed, Lateral speed and vehicle slip angle.
