CN110341714B - 一种同时估计车辆质心侧偏角和扰动的方法 - Google Patents
一种同时估计车辆质心侧偏角和扰动的方法 Download PDFInfo
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- CN110341714B CN110341714B CN201910559269.6A CN201910559269A CN110341714B CN 110341714 B CN110341714 B CN 110341714B CN 201910559269 A CN201910559269 A CN 201910559269A CN 110341714 B CN110341714 B CN 110341714B
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- 239000000463 material Substances 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
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Classifications
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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
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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
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Abstract
Description
名称 | 符号 | 值(单位) |
车辆质量 | m | 1464kg |
转动惯量 | I<sub>z</sub> | 1523kg.m<sup>2</sup> |
车辆前轴到质心的距离 | a | 1.256m |
车辆后轴到质心的距离 | b | 1.368m |
前轴侧偏刚度 | K<sub>f</sub> | 25575 |
后轴侧偏刚度 | K<sub>r</sub> | 29203 |
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CN110341714B true CN110341714B (zh) | 2021-02-12 |
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CN110217239B (zh) * | 2019-05-20 | 2023-09-01 | 福瑞泰克智能系统有限公司 | 一种车辆横摆角速度测量方法及设备 |
CN111361571B (zh) * | 2020-02-13 | 2022-12-16 | 江苏大学 | 一种基于gpi的同时估计车辆质心侧偏角和扰动的方法 |
CN111469855A (zh) * | 2020-04-20 | 2020-07-31 | 北京易控智驾科技有限公司 | 一种车辆运动参数的计算方法 |
CN111572552B (zh) * | 2020-05-21 | 2022-02-11 | 南京晓庄学院 | 一种车辆主动安全控制方法及装置 |
CN114692418B (zh) * | 2022-04-07 | 2023-03-28 | 深圳技术大学 | 质心侧偏角估计方法、装置、智能终端及存储介质 |
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JP3889260B2 (ja) * | 2001-10-11 | 2007-03-07 | 本田技研工業株式会社 | 車体スリップ角推定装置 |
JP2006256469A (ja) * | 2005-03-17 | 2006-09-28 | Bridgestone Corp | 車体スリップ角及び四輪のスリップ角の推定方法 |
CN102529976B (zh) * | 2011-12-15 | 2014-04-16 | 东南大学 | 一种基于滑模观测器的车辆运行状态非线性鲁棒估计方法 |
CN105416276B (zh) * | 2015-12-14 | 2017-09-22 | 长春工业大学 | 基于高阶滑模的电动汽车稳定性直接横摆力矩控制方法 |
CN105835889B (zh) * | 2016-04-12 | 2018-02-27 | 江苏大学 | 一种基于二阶滑模观测器的车辆质心侧偏角的估计方法 |
CN107992681B (zh) * | 2017-12-04 | 2020-06-05 | 江苏大学 | 一种电动汽车主动前轮转向系统的复合控制方法 |
CN109606352B (zh) * | 2018-11-22 | 2020-06-26 | 江苏大学 | 一种车辆路径跟踪与稳定性协调控制方法 |
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Effective date of registration: 20231220 Address after: 313100 industrial concentration area, Hongxingqiao Town, Changxing County, Huzhou City, Zhejiang Province Patentee after: ZHEJIANG JIALIFT WAREHOUSE EQUIPMENT Co.,Ltd. Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |
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