Slip-angle estimation for vehicle stability control
Slip-angle estimation for vehicle stability control
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DOI：
10.1076/vesd.32.4.375.2079
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发表时间：
1999-11-01
影响因子：
3.6
通讯作者：
Fukada, Y
中科院分区：
文献类型：
--
作者：
Fukada, Y
最近，一些直接横摆力矩控制系统已经在开发中。显然，这样的系统需要精确的滑移角信息。本文提出了一种汽车侧偏角的估计策略。由于轮胎的非线性特性和路面相对倾斜的影响，使得侧偏角估计困难。针对这一问题，提出了一种模型观测器与直接积分相结合的方法。在该方法中，提供了两种车轮侧力值，即，直接由G传感器检测到的值和来自轮胎模型的值。然后，这些值进行适当的组合，这导致模型观测器和直接积分的组合。在观测器中，设计了一种反馈算法来抑制轮胎模型误差的影响。考虑到路面干扰及其规避，对路面倾斜角进行估计，从而对车辆模型进行修正。路面摩擦系数的估计值由加速度给出，并根据横摆偏差添加适当的偏差。改进了参考横摆角速度的计算方法，避免了路面倾斜的干扰和车辆动态特性的变化。
Recently, some direct yaw-moment control systems have been in development. Obviously, such systems need accurate slip-angle information. This paper describes a strategy of vehicle slip angle estimation. The difficulty in slip angle estimation is due to nonlinear characteristics of tyres and influence of relative slant of the road surface. To solve this difficulty, a combined method of model observer and direct integration method is proposed. In this method, two kinds of values of the side forces of the wheels are provided, i.e., direct detected Values by the G-sensor and Values from a tyre model. Then those values are combined appropriately which results in the combination of model observer and direct integration. A feedback algorithm, redesigned to suppress the influence of tyre model error, is applied in the observer. Considering interference of road surface and its avoidance, road slant angle is estimated and consequently vehicle model is corrected. The estimated value of the road friction coefficient is given by the acceleration, and an adequate bias, depending on yaw-deviation, is added. The calculation method of reference yaw-velocity is improved, in order to avoid interference of road slant and Variation of dynamic characteristic of vehicle.