基于无迹Kalman滤波的车辆速度和质心侧偏角的估计

doi:10.3969/j.issn.1674-8484.2023.01.004

汽车安全与节能学报 ›› 2023, Vol. 14 ›› Issue (1): 31-37.DOI: 10.3969/j.issn.1674-8484.2023.01.004

基于无迹Kalman滤波的车辆速度和质心侧偏角的估计

刘兆勇¹^,²(), 刘武东¹, 邵卫澍¹, 谭小强¹, 吴光强¹^,^*()

1.同济大学汽车学院，上海 200240，中国
2.格陆博科技有限公司，南通 226000，中国

收稿日期:2022-08-24 修回日期:2022-09-01 出版日期:2023-02-28 发布日期:2023-03-07
通讯作者: 吴光强
作者简介:*吴光强，教授，E-mail：wuguangqiang@tongji.edu.cn。
刘兆勇（1979—），男（汉），山东，博士研究生。E-mail：liuzhaoyong@glb-auto.com。
基金资助:
上海汽车工业科技发展基金会项目(2007)

Estimation of vehicle velocities and side-slip angles based on the unscented Kalman filter

LIU Zhaoyong¹^,²(), LIU Wudong¹, SHAO Weishu¹, TAN Xiaoqiang¹, WU Guangqiang¹^,^*()

1. School of Automotive Engineering, Tongji University, Shanghai 200240, China
2. Gelubo Technology Co., Ltd., Nantong 226000, China

Received:2022-08-24 Revised:2022-09-01 Online:2023-02-28 Published:2023-03-07
Contact: WU Guangqiang

摘要/Abstract

摘要：

为满足车辆主动安全控制功能需求，需提升车辆在强非线性特性下的状态观测精度，提出一种基于无迹Kalman滤波(UKF)的模块化车辆横纵向速度状态观测器结构。该结构利用车载传感器信息，结合UKF观测纵向和横向速度，根据质心侧偏角的定义，计算车辆质心侧偏角。在干燥路面上，进行数字仿真以及实车实验。结果表明：在强非线性状态下，基于UKF的车辆质心侧偏角估计的仿真结果的均方根误差(RMSE)为0.425°，实车实验的RMSE为0.001°，而使用扩展Kalman滤波(EKF)估计的仿真结果RMSE为0.968°，实车实验的RMSE为0.009°。因此，UKF可以抑制车辆行驶中的干扰对观测的影响，使本观测器结构有较高的观测精度，可满足工程需要。

关键词: 车辆主动安全控制, 车辆速度, 模块化状态观测器, 质心侧偏角, 无迹Kalman滤波(UKF)

Abstract:

A modular state observer structure of vehicle lateral and longitudinal velocity based on the Unscented Kalman Filter (UKF) was proposed to meet the requirements of vehicle active safety control function and to improve the accuracy of vehicle state observation under strong nonlinear characteristics. The structure used the information of vehicle sensors combined with UKF to observe the longitudinal and lateral velocity, and calculated the vehicle side-slip angle according to the definition of side-slip angle. Numerical simulations and real vehicle experiments were carried out on dry road surfaces. The results show that in the strong nonlinear state, the root mean square error (RMSE) of the simulation results of the UKF-based vehicle side-slip angle estimation is 0.425°, the RMSE of the real vehicle experiment is 0.001°, while the RMSE of the simulation results using the Extended Kalman Filter (EKF) estimation is 0.968°, and the RMSE of the real vehicle experiment is 0.009°. Therefore, the UKF can suppress the influence of vehicle driving interference on observation, so that the observer structure has high observation accuracy and can meet the needs of engineering.

Key words: vehicle active safety control, vehicle velocity, modular state observer structure, side-slip angle, unscented Kalman filter (UKF)

中图分类号:

U461.6

刘兆勇, 刘武东, 邵卫澍, 谭小强, 吴光强. 基于无迹Kalman滤波的车辆速度和质心侧偏角的估计[J]. 汽车安全与节能学报, 2023, 14(1): 31-37.

LIU Zhaoyong, LIU Wudong, SHAO Weishu, TAN Xiaoqiang, WU Guangqiang. Estimation of vehicle velocities and side-slip angles based on the unscented Kalman filter[J]. Journal of Automotive Safety and Energy, 2023, 14(1): 31-37.

图/表 7

图1 车辆动力学模型

图2 模块化估计器

车辆重心到前轴的距离, l_r	1.895 m
车辆重心到后轴的距离, l_f	1.015 m
转动惯量, I_z	1.537 kNm
整车质量, m	1.270 t
左右轮的中心距离, b	1.675 m

表1 CarSim动力学模型参数

图3 CarSim-MATLAB联合仿真仿真流程图

图4 实验设备及处理流程图

图5 干燥路面纵向速度、质心侧偏角参数估计的仿真结果和试验结果

估计方法	RMSE [v_x / (m·s^-1)]		RMSE [β / (°)]
估计方法	仿真	试验	仿真	试验
UKF	0.002	0.035	0.425	0.001
EKF	0.430	0.923	0.968	0.009

表2 纵向速度和质心侧偏角估计的仿真、试验结果的误差

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基于无迹Kalman滤波的车辆速度和质心侧偏角的估计

Estimation of vehicle velocities and side-slip angles based on the unscented Kalman filter

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