CN105151047B - A kind of automobile side slip angle measurement method - Google Patents
A kind of automobile side slip angle measurement method Download PDFInfo
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- CN105151047B CN105151047B CN201510565825.2A CN201510565825A CN105151047B CN 105151047 B CN105151047 B CN 105151047B CN 201510565825 A CN201510565825 A CN 201510565825A CN 105151047 B CN105151047 B CN 105151047B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/103—Side slip angle of vehicle body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Abstract
The invention discloses a kind of automobile side slip angle measurement methods, include the following steps：Step 1: using the side acceleration a in sensor measurement vehicle traveling processy, yaw velocity ωr, longitudinal velocity Vx, γ and δ；Step 2: carrying out Chemical kinetic parameter estimation using linear two-freedom model, the first side slip angle of automobile β is obtainedL；Step 3: blending the second side slip angle β of estimation automobile using the filtering algorithm of non-linear Three Degree Of Freedom auto modelN；Step 4: calculating the side slip angle β of automobile using following formula：β=(1 ζ) βL+ζβN.Automobile side slip angle measurement method provided by the present invention, it is only necessary to using side acceleration, yaw velocity and longitudinal velocity these three parameters in sensor measurement vehicle traveling process, the accuracy of calculating is ensure that while smaller calculation amount.
Description
Technical field
It is the invention belongs to running car parameter testing technical field, more particularly to right in a kind of automobile stability control system
The measurement method of vehicle centroid side drift angle.
Background technology
Automobile quantity increases year by year, and the safety problem of vehicle traveling causes extensive concern.Correlative study shows vehicle
The traffic accident occurred during high speed driving, caused by about 45% car accident is vehicle loss of control stability.
Therefore the entrucking rate of vehicle steadily control system increases year by year, and American-European countries, which even makes laws, forces vehicle installation electronic stability system
System.
The major function of vehicle electronic stability system includes Vehicular yaw control, brakeing during cornereing control etc..Determine automobile
The control targe of stabilitrak, it is necessary to accurately obtain the operating status of current automobile, vehicle in machine vehicle traveling process
State parameter.The main control variable of the system is side slip angle.
Current market sales of most of electric stabilizing system products are also using vehicle centroid side drift angle size as vehicle
The basis for estimation whether stablized, but side slip angle can not be measured directly, and existing side slip angle observation procedure mainly has root
It is connect according to the method that the preset parameters such as car gage, wheelbase, radius of wheel and each wheel wheel speed signal are observed, and using non-
The method that tactile optical sensor obtains data indirectly since such optical sensor is expensive, and is easy complicated severe
Operating mode is interfered, and influences normal use, is also not suitable for promoting and applying on a large scale from a cost perspective.Therefore offshore company
The method that electric stabilizing system product uses hard measurement, the data information using other sensors estimate side slip angle
Meter.External product is in monopoly position in vehicle electronic stability system selling market, domestic temporarily without ripe vehicle electric
Systems stabilisation product, wherein domestic scientific research mechanism survey quantifier elimination for side slip angle, and there has been no ripe Measurement Algorithms to be applied to
In electric stabilizing system product.
Invention content
Technical problem solved by the invention is to provide a kind of automobile side slip angle measurement method, can be relatively small
Calculation amount and lower cost under, be accurately obtained the measurement result of barycenter crab angle.
Technical solution provided by the invention is：
A kind of automobile side slip angle measurement method, includes the following steps：
Step 1: using the longitudinal acceleration a in sensor measurement vehicle traveling processx, side acceleration ay, yaw angle
Speed omegar, longitudinal velocity VxAnd steering wheel angle δ；
Step 2: carrying out Chemical kinetic parameter estimation using linear two-freedom model, the first side slip angle of automobile is obtained
βL；
Step 3: blending the second barycenter side of estimation automobile using the filtering algorithm of non-linear Three Degree Of Freedom auto model
Drift angle βN；
Step 4: calculating the side slip angle β of automobile using following formula：
Wherein,
For parameter, a1And a2For side acceleration ayThe first data point and the second data point.
Preferably, in step 2, include the following steps：
First side slip angle differential valueWith side acceleration ay, yaw velocity ωrWith longitudinal velocity VxBetween three
Relationship meet following formula：
To the first side slip angle differential valueIt is integrated, to obtain the value β of the first side slip angleL。
Preferably, parameter Estimation is carried out using the least square method with forgetting factor, it is micro- obtains the first side slip angle
Score valueValue after integrated to obtain the value β of the first side slip angleL。
Preferably, and after being estimated using the least square method with forgetting factor the micro- of the first side slip angle is obtained
Score valueReal-time first side slip angle of vehicle is obtained using following formula
Wherein, Δ t is the integration sampling period.
Preferably, in step 3, the equation of motion of Three Degree Of Freedom vehicle is：
In formula, KrAnd KfThe respectively trailing wheel cornering stiffness and front-wheel cornering stiffness of vehicle；A and b is then front axle respectively with after
Distance of the axis to barycenter；M is vehicle mass；IzFor around the rotary inertia of z-axis, VxLongitudinal direction of car speed；
And volume Kalman filtering algorithm is used, initialized, forecast step and filtering step iterate to calculate out the second barycenter side
The estimated value β of drift angleN。
Preferably, in step 1, the side acceleration a is measured by acceleration transducery, pass through yaw velocity
Yaw velocity ω described in sensor measurementr, the acceleration transducer and yaw-rate sensor are set to same circuit
On plate.
Preferably, in step 1, the longitudinal velocity VxIt is obtained by GPS module measurement.
Preferably, in step 1, the vertical of automobile is obtained by using the acceleration transducer measurement on automobile
To acceleration, using obtaining the longitudinal velocity V after integralx。
Preferably, in step 1, wheel speed signal is obtained by wheel speed sensors measurement, then use Kalman filtering mode
Estimate the longitudinal velocity V of automobilex。
The beneficial effects of the invention are as follows：
Automobile side slip angle measurement method provided by the present invention, it is only necessary to using in sensor measurement vehicle traveling process
Parameters, the measurement cost such as side acceleration, yaw velocity and longitudinal velocity it is relatively low.The side slip angle meter that the present invention is built
Model is calculated by simplifying, the accuracy of calculating is ensure that while smaller calculation amount.
Description of the drawings
Fig. 1 is side slip angle measuring method flow chart of the present invention.
Fig. 2 is the kinetic model schematic diagram of automobile two degrees of freedom linear model of the present invention.
Fig. 3 is Three Degree Of Freedom auto model schematic diagram of the present invention.
Fig. 4 is measuring device connection structure diagram of the present invention.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
The present invention provides a kind of automobile side slip angle measuring technique, being will be based on the power of two degrees of freedom linear model
The filtering algorithm for learning parameter Estimation and non-linear Three Degree Of Freedom auto model blends the method for estimating vehicle centroid side drift angle.
The slip angle estimation method of the present invention is the mould that tests the speed based on such as vehicle of the conventional sensors used in ESC system
Block, acceleration transducer (sensor can measure the side acceleration and longitudinal acceleration of vehicle), yaw velocity sensing
The designs such as device, steering wheel angle sensor.
The slip angle estimation method of the present invention is as shown in Figure 1：
Step 1 S110：First, the side acceleration a in automobile implementation process is measuredy, yaw velocity ωr, longitudinal speed
Spend VxAnd steering wheel angle δ.
Step 2 S120 is less than the first acceleration according to the measured value of automobile side angle acceleration transducer in side acceleration
a1When, Chemical kinetic parameter estimation method is carried out using linear two-freedom model, the value of the first acceleration may be because of different vehicles
Type and change.It is as one preferred, a1=0.4g, g are acceleration of gravity, are worth for 9.8m/s2, the first barycenter of automobile side at this time
Drift angle βLDefined formula：
Wherein, VyFor vehicle lateral speed, VxFor vehicular longitudinal velocity.Due to βLVery little can be incited somebody to action according to trigonometric function relationship
First automobile side slip angle βLIt is reduced to
Vehicle is during traveling, vehicular longitudinal velocity VxIt in a short time, can be by V such as within 100 millisecondsx
Regard constant as, therefore it is available to carry out differential to the side slip angle in above formula
As shown in Fig. 2, being movement of the particle under coordinate system by the model simplification of vehicle traveling, X-axis and Y-axis are vehicle
Coordinate system is horizontally and vertically.Car speed is V in component of the t moment at horizontal axis Xx, the component at longitudinal axis Y is Vy.Vehicle
With translation and rotation in Turning travel, after time Δt, the velocity magnitude of vehicle and direction are become
Change, and X-axis under vehicle axis system and Y direction are also changed, and X-axis under vehicle axis system and Y direction are also sent out
Variation is given birth to, wherein variation V of the speed along Y-axisdFor：
Vd=(Vx+ΔVx)·sinΔθ+(Vy+ΔVy)·cosΔθ-Vy
=VxsinΔθ+ΔVxsinΔθ+VycosΔθ+ΔVycosΔθ-Vy
Wherein, Δ VxFor automobile longitudinal speed increment, Δ VyFor automobile lateral velocity increment, Δ θ is that automobile turns over angle.
Due to Δ θ very littles and can to ignore its second order micro in a short time, there is following simplification：
Sin Δs θ=Δ θ
ΔVx=0
Cos Δs θ=1
So can be by VdIt is reduced to
Vd=VxΔθ+ΔVy
By above formula divided by Δ t, the limit when Δ t tends to 0 should be taken, has just obtained vehicle centroid acceleration in Y-axis
Component, the as side acceleration in vehicle travel process
Therefore, it can obtain
Wherein, ωrFor yaw velocity.
By what is obtainedIt is brought intoExpression formula in, obtain the differential value of the first side slip angle
Least Square Method is carried out to above formula, can more accurately obtain the differential value of the first side slip angle
As one preferred, the present invention estimates above formula using a kind of least square method with forgetting factor, first
Above formula is first arranged to the canonical form as least square method parameter Estimation：
In formula,Y (t) exports for measured value, Y (t)=ay-ωr·Vx,
Algorithm is as follows to be estimated to the θ (t) in formula 6 using the least square method with forgetting factor：
I is unit matrix in algorithm；ε (t) is prior uncertainty；K (t) is kalman gain；P (t) is covariance matrix；λ
It is forgetting factor, the value of λ is smaller, and weights of the historical data in the new parameter Estimation period are lower.
Parameter Estimation is carried out by using the least square method with forgetting factor, the differential of the first side slip angle can be obtained
ValueAgain by using microprocessor pairIt quadratures, you can obtain the value of real-time first side slip angle of vehicle, i.e.,：
Δ t is the sampling period of controller, the general multiple for using 5ms or 5ms.
From the above equation, we can see that the side acceleration a in obtaining vehicle traveling process using sensor measurementy, yaw angle speed
Spend ωrWith longitudinal velocity VxAfter these three parameters, so that it may to directly obtain the differential value of the first side slip angleAgain will
The first side slip angle β has just been obtained after being integratedL。
Step 3 S130：Automobile in the process of moving, when vehicle side acceleration be more than the second acceleration a2When, using base
The second slip angle estimation is carried out in the non-linear car model filtering algorithm of Three Degree Of Freedom.The value of second acceleration may be because not
With vehicle and change.It is as one preferred, a2=0.45g.
Three Degree Of Freedom auto model is as shown in figure 3, the equation of motion of vehicle is：
In formula, KrAnd KfThe respectively trailing wheel cornering stiffness and front-wheel cornering stiffness of vehicle；A and b be respectively then front axle and
Distance of the rear axle to barycenter；M is vehicle mass；IzFor around the rotary inertia of z-axis, ωrFor yaw velocity, βNSide slip angle,
δ front wheel angles (obtain steering wheel angle by steering wheel angle sensor measurement, then steering wheel angle value are substituted into transmission ratio formula
Acquire front wheel angle.)、VxLongitudinal direction of car speed, axAnd ayRespectively automobile longitudinal acceleration and vehicle side acceleration, can be by
Vehicle acceleration sensor measures.
The value of the second side slip angle can be estimated using nonlinear filtering algorithm, and volume Kalman filter usually can be used
Wave algorithm, volume Kalman filtering algorithm.
As one preferred, the present invention uses volume Kalman filtering algorithm, estimates the second side slip angle.
Arrange the canonical form for root mean square built-in capacitor G-card Thalmann filter equation structure：
X (t)=f (x (t), u (t), w (t))
Z (t)=h (x (t), u (t), v (t))
State vector is x (t)=[ω in formular,β,Vx]T；It is z (t)=[a to measure vectory]；Dominant vector be u (t)=
[δ,ax]T；W (t) is process noise；V (t) is to measure noise；It is 0 that w (t) and v (t), which meets mean value, and error covariance matrix is respectively Q
With the normal distribution of R.
Volume Kalman filtering algorithm is divided into three parts, is initialization, forecast step and filtering step respectively.According to Three Degree Of Freedom
State equation in auto model utilizes the quantity of state estimated value at k momentWith controlled quentity controlled variable uk, calculate quantity of state predicted valueThat is forecast step；It utilizesWith the controlled quentity controlled variable u at k+1 momentk+1By measuring equation calculation measurement predicted valueAnd it is rightIt is filtered and obtains k+1 moment estimated valuesThat is filtering step.
Initialization：In vehicle travel process, ωrAnd VxIt can be by the side acceleration measurement module in acceleration transducer
Initial value is obtained with speed measuring module measurement, and the second side slip angle βNIt is then set as 0, then the k=1 cycle of operation, auto models moment
State vector initial value be determined asSet the error variance initial value of vehicle state estimation to P at this time1|1=diag (10-10
10-10 10-10)
Forecast：
(1) estimated value of k moment vehicle state quantities is obtained by k-1 moment estimated resultsWith estimation error variance battle array
Pk|k.Due to the use of be volume Kalman Filter Estimation algorithm, so need generate vehicle running state amount Cubature
Point, therefore to Pk|kCarry out Cholesky decomposition, you can obtain the On Square-Rooting Matrices in k moment estimation error variance battle arrays
(3) each Cubature point of vehicle state quantity is converted using the vehicle dynamical equation of discretization, is obtained
The predicted value of the Cubature point all to vehicle state quantity：U in formulak=[δ ax]T；F
For the dynamical equation of the auto model of discrete form.
(4) predicted value of quantity of state is sought according to spherical surface-radial direction rule.To all vehicle-state vector Cubature points
It is weighted summation with newspaper.The weights of each Cubature points are 1/m, m=2n, then Cubature points weights are 1/6.Vehicle
State vector predicted value is
In formula：QkFor k moment vehicle-state vector prediction error variance matrixes.
Filtering：
(3) each quantity of state predicted value Cubature points are become by the measurement equation in dynamic state estimator model
It changes, obtains the Cubature points Z of measurement z (t)=[ay] predicted valueI, k+1 | k：ZI, k+1 | k=H (XI, k+1 | k, uk), H is amount in formula
Survey equation.
(5) the prediction error variance matrix P of measurement is calculatedZz, k+1 | k：
(9) auto model quantity of state estimation error variance battle array P is calculatedk+1|k+1：
Step 4 S140：When the first side slip angle β is calculatedLWith the second side slip angle βNAfterwards, using following formula
Obtain the side slip angle β of automobile：
Wherein,For parameter, when vehicle side acceleration is less than 0.4g, at this timeβ=βL, auto model is using base
Slip angle estimation is carried out in two degrees of freedom linear model Chemical kinetic parameter estimation method；When side acceleration is more than 0.45g
When, at this timeβ=βN, using based on Three Degree Of Freedom nonlinear model molded capacity Kalman Filter Estimation side slip angle.Work as side
When to acceleration between 0.4g and 0.45g, while estimate then obtaining using by the way of Weighted Fusion using two methods
To the final estimated result of side slip angle, i.e., as 0.4≤ayWhen≤0.45,
As shown in figure 4, the measuring device of the present invention includes microcontroller 1, acceleration transducer 2, yaw velocity sensing
Device 3 and speed measuring module 4.Microcontroller 1, acceleration transducer 2, yaw-rate sensor 3 and speed measuring module 4 are welded on double
On layer printed circuit board.Microcontroller 1 is connected with acceleration transducer 2, yaw-rate sensor 3 and speed measuring module 4 respectively
It connects, microcontroller 1 is used to acquire the lateral of the measurement of acceleration transducer 2, yaw-rate sensor 3 and speed measuring module 4 and adds
Speed ay, yaw velocity ωrWith longitudinal velocity VxData.
Microcontroller 1 uses 16 microcontroller XC2365A chips.
Acceleration transducer 2 uses ADXL203 chips.ADXL203 is that complete high-precision, low-power consumption, single shaft/twin shaft add
Speedometer provides the voltage output by signal condition, and institute is functional to be integrated in a single-chip IC.These devices are expired
Measuring range acceleration measurement range is ± 1.7g, can both measure dynamic acceleration, such as vibrate, can also measure static acceleration
Degree, such as gravity.Longitudinal acceleration a can accurately be measured using ADXL203 chipsxWith side acceleration ayValue.
Yaw-rate sensor 3 uses ADXRS61X chips.ADXRS61X chips use integrated micro-electron machinery system
The angular-rate sensor of patent technique and BIMOS techniques, it is internal to be integrated with angular rate sensor and signal processing circuit simultaneously.With
The sensor of any similar function is compared, and ADXRS61X has the advantages that small size, low in energy consumption, shock resistance and vibratility are good, energy
Enough accurately measure the yaw velocity ω of automobiler。
The speed measuring module 4 is GPS speed measuring modules, by receiving and emitting GPS signal, to measure longitudinal speed of automobile
Spend Vx。
Steering wheel angle information is sent to XC2365A microcontrollers by steering wheel angle sensor by the CAN network of automobile
In.
In another embodiment, speed measuring module 4 uses wheel speed sensors, microcontroller 1 that can be surveyed according to wheel speed sensors
The wheel speed signal of amount estimates the longitudinal velocity V of vehicle using Kalman filtering or other estimation modesx。
In another embodiment, speed measuring module 4 shares ADXL203 chips with acceleration transducer 2.Since ADXL203 is
Double-shaft acceleration sensor can measure the longitudinal acceleration and side acceleration of vehicle simultaneously, microcontroller 1 can be used right
The longitudinal acceleration value that ADXL203 measures gained is integrated, and the longitudinal velocity V of automobile is obtainedx。
The lateral acceleration signal that acceleration transducer 2 measures vehicle is input to microcontroller in the form of analog electric signal
The analog/digital amount translation interface of device 1.Yaw-rate sensor 3 measures the yaw velocity of vehicle, and by signal to simulate
The form of amount electric signal is input to the analog/digital amount translation interface of microcontroller 1.Speed measuring module 4 is responsible for measuring the vertical of vehicle
Pass through electric signal transmission to microcontroller 1 to speed, and by real-time vehicle speed.
Microcontroller 1 is according to the real-time side acceleration a of vehicley, yaw velocity ωrAnd longitudinal vehicle velocity Vx, using setting
The formula set is handled and is calculated, and obtains the side slip angle micro component of vehicleIt can be obtained matter after being integrated again
Heart side drift angle β.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (9)
1. a kind of automobile side slip angle measurement method, which is characterized in that include the following steps：
Step 1: using the longitudinal acceleration a in sensor measurement vehicle traveling processx, side acceleration ay, yaw velocity
ωr, longitudinal velocity VxAnd steering wheel angle δ；
Step 2: being less than the first acceleration a in side acceleration1When, kinetic parameter is carried out using linear two-freedom model and is estimated
Meter, obtains the first side slip angle of automobile βL；
Step 3: when vehicle side acceleration is more than the second acceleration a2When, using the filtering of non-linear Three Degree Of Freedom auto model
Algorithm blends the second side slip angle β of estimation automobileN；
Step 4: calculating the side slip angle β of automobile using following formula：
Wherein,
For parameter, a1And a2For side acceleration ayThe first data point and the second data point.
2. automobile side slip angle measurement method according to claim 1, which is characterized in that in step 2, including it is following
Step：
First side slip angle differential valueWith side acceleration ay, yaw velocity ωrWith longitudinal velocity VxPass between three
System meets following formula：
To the first side slip angle differential valueIt is integrated, to obtain the value β of the first side slip angleL。
3. automobile side slip angle measurement method according to claim 2, which is characterized in that use with forgetting factor most
Small square law carries out parameter Estimation, obtains the first side slip angle differential valueValue after integrated to obtain the first barycenter side
The value β of drift angleL。
4. automobile side slip angle measurement method according to claim 3, which is characterized in that
And obtain the differential value of the first side slip angle after being estimated using the least square method with forgetting factorUsing such as
Lower formula obtains real-time first side slip angle of vehicle
Wherein, △ t are the integration sampling periods.
5. automobile side slip angle measurement method according to claim 1, which is characterized in that in step 3, Three Degree Of Freedom
The equation of motion of vehicle is：
In formula, KrAnd KfThe respectively trailing wheel cornering stiffness and front-wheel cornering stiffness of vehicle；A and b is then that front axle and rear axle arrive respectively
The distance of barycenter；M is vehicle mass；IzFor around the rotary inertia of z-axis, VxLongitudinal direction of car speed；
And volume Kalman filtering algorithm is used, initialized, forecast step and filtering step iterate to calculate out the second side slip angle
Estimated value βN。
6. automobile side slip angle measurement method according to claim 1, which is characterized in that in step 1, pass through acceleration
Spend side acceleration a described in sensor measurementy, the yaw velocity ω is measured by yaw-rate sensorr, described to add
Velocity sensor and yaw-rate sensor are set on same circuit board.
7. automobile side slip angle measurement method according to claim 1, which is characterized in that in step 1, the longitudinal direction
Speed VxIt is obtained by GPS module measurement.
8. automobile side slip angle measurement method according to claim 1, which is characterized in that in step 1, by using
Acceleration transducer measurement on automobile obtains the longitudinal acceleration of automobile, described longitudinal fast using being obtained after integral
Spend Vx。
9. automobile side slip angle measurement method according to claim 1, which is characterized in that in step 1, pass through wheel speed
Sensor measurement obtains wheel speed signal, then the longitudinal velocity V of automobile is estimated using Kalman filtering modex。
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