Estimation of Vehicle Side Slip Angle and Yaw Rate
Estimation of Vehicle Side Slip Angle and Yaw Rate
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DOI：
10.4271/2000-01-0696
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发表时间：
2000-03
期刊：
影响因子：
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通讯作者：
A. Hać;M. Simpson
中科院分区：
文献类型：
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作者：
A. Hać;M. Simpson
提出了一种利用方向盘角、车轮速度和横向加速度传感器估计车辆横摆角速度和侧滑角的算法。它旨在应用于车辆稳定性增强系统，使用控制刹车或转向。该算法首先根据车轮速度和横向加速度对横摆角速度进行初始估计。一个新的估计随后被计算为两个初始估计的加权平均值，其权重与每个估计的置信水平成正比。该初步估计被送入闭环非线性观测器，该观测器产生横摆角速度的最终估计以及横向速度和侧滑角的估计。观测器的参数依赖于估计的表面附着系数，从而能够适应路面附着系数的变化。使用车辆测试数据，包括在各种路面上进行的代表性机动，对算法的性能进行了评估。
An algorithm for estimation of vehicle yaw rate and side slip angle using steering wheel angle, wheel speed, and lateral acceleration sensors is proposed. It is intended for application in vehicle stability enhancement systems, which use controlled brakes or steering. The algorithm first generates two initial estimates of yaw rate from wheel speeds and from lateral acceleration. A new estimate is subsequently calculated as a weighted average of the two initial ones, with the weights proportional to confidence levels in each estimate. This preliminary estimate is fed into a closed loop nonlinear observer, which generates the final estimate of yaw rate along with estimates of lateral velocity and side slip angle. Parameters of the observer depend on the estimated surface coefficient of adhesion, thus providing adaptation to changes in road surface coefficient of adhesion. Performance of the algorithm is evaluated using vehicle test data involving representative maneuvers performed on various road surfaces.