汽车质心侧偏角估计的研究现状及发展

摘要/Abstract

摘要：

阐述了汽车质心侧偏角估计对于汽车稳定性控制的重要意义。从量测仪器、估计算法、物理模型、轮胎模型四个方面对国内外的质心侧偏角估计的研究进行了归纳、分析,重点列举比较了各类估计算法的优缺点,最后指出了建模的准确性、不同传感器信号的融合问题、传感器误差的处理、参数的自适应四个方面存在的问题以及发展趋势,并着重指出了参数自适应将是算法研究的重点。

关键词: 汽车, 质心侧偏角, 状态估计, 参数自适应

Abstract:

The significance of the side slip angle estimation for vehicle stability control was discussed. The research of vehicle side slip angle estimation was divided into four aspects: measuring instrument, estimation algorithm, physical model and tire model. Then research progresses on vehicle side slip angle estimation were summarized and analyzed both at home and abroad. The emphasis was put on the comparison of advantages and disadvantages for each estimation algorithm. Finally, the problems and development were presented, which contained model accuracy, signal fusion, error elimination of sensors and parameter adaptation. The parameter adaptation will be the key for research of estimation algorithm.

Key words: vehicle, side slip angle, state estimation, parameter adaptation

中图分类号:

U461.6

林棻, 黄超. 汽车质心侧偏角估计的研究现状及发展[J]. 中国机械工程, 2013, 24(1): 135-141.

LIN Fen, HUANG Chao. State-of-the-Art of Vehicle Side Slip Angle Estimation[J]. China Mechanical Engineering, 2013, 24(1): 135-141.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: https://www.cmemo.org.cn/CN/

https://www.cmemo.org.cn/CN/Y2013/V24/I1/135

参考文献

[1]李亮，宋健，祁雪乐. 汽车动力学稳定性控制系统研究现状及发展趋势[J]. 农业机械学报, 2006,37(2): 141-144.
Li Liang, Song Jian, Qi Xuele. Investigation and Development of Vehicle Dynamics Stability Control System[J]. Transactions of the Chinese Society for Agricultural Machinery,2006, 37(2): 141-144.
[2]Sabbioni E, Cheli F, D’Alessandro V. Analysis of ABS/ESP Control Logics Using a HIL Test Bench[C]//Detroit, MI, United states: SAE International, 2011.
[3]余卓平，高晓杰. 车辆行驶过程中的状态估计问题综述[J]. 机械工程学报,2009,45(5): 20-33.
Yu Zhuoping, Gao Xiaojie. Review of Vehicle State Estimation Problem under Driving Situation[J]. Chinese Journal of Mechanical Engineering,2009, 45(5): 20-33.
[4]Hac A,Simpson M. Estimation of Vehicle Side Slip Angle and Yaw Rate[C]//SAE 2000 World Congress．Detroit：SAE，2000-01-0696．
[5]郭孔辉，付皓，丁海涛. 基于扩展卡尔曼滤波的汽车质心侧偏角估计[J]. 汽车技术, 2009(4): 1-3.
Guo Konghui, Fu Hao, Ding Haitao. Estimation of CG Sideslip Angle Based on Extended Kalman Filter[J]. Automobile Technology, 2009(4): 1-3.
[6]You S, Hahn J, Lee H. New Adaptive Approaches to Real-time Estimation of Vehicle Sideslip Angle[J]. Control Engineering Practice,2009, 17(12): 1367-1379.
[7]Melzi S, Sabbioni E. On the Vehicle Sideslip Angle Estimation Through Neural Networks: Numerical and Experimental Results[J]. Mechanical Systems and Signal Processing,2011, 25(6): 2005-2019.
[8]Melzi S, Resta F, Sabbioni E. Vehicle Sideslip Angle Estimation Through Neural Networks: Application to Numerical Data[C]//8th Biennial ASME Conference on Engineering System Design and Analysis. Torino: ASME, 2006:167-172.
[9]Cheli F, Melzi S, Sabbioni E. An Adaptive Observer for Sideslip Angle Estimation: Comparison with Experimental Results[C]//
Proceedings of the ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. Nevada: ASME, 2007:1193-1199.
[10]赵又群，林棻. 基于UKF算法的汽车状态估计[J]. 中国机械工程,2010,21(5): 615-619.
Zhao Youqun, Lin Fen. Vehicle State Estimation Based on Unscented Kalman Filter algorithm[J]. China Mechanical Engineering,2010, 21(5): 615-619.
[11]Panzani G, Corno M, Tanelli M, et al. Control-Oriented Vehicle Attitude Estimation With Online Sensors Bias Compensation[C]//Proceedings of the ASME 2009 Dynamic Systems and Control Conference. California: ASME,2009:819-826.
[12]宗长富，潘钊，胡丹，等. 基于扩展卡尔曼滤波的信息融合技术在车辆状态估计中的应用[J]. 机械工程学报,2009,45(10): 272-277.
Zong Changfu, Pan Zhao, Hu Dan, et al. Information Fusion Algorithm for Vehicle State Estimation Based on Extended Kalman Filtering[J]. Chinese Journal of Mechanical Engineering， 2009, 45(10): 272-277.
[13]Hsu Y J, Laws S, Gadda C D, et al. A Method to Estimate the Friction Coefficient and Tire Slip Angle Using Steering Torque[C]//2006 ASME International Mechanical Engineering Congress and Exposition. Chicago: ASME, 2006:515-524.
[14]Yih P, Ryu J, Gerdes J C. Vehicle State Estimation Using Steering Torque[C]//Proceedings of the 2004 American Control Conference. Boston: 2004: 2116-2121.
[15]Chen B C, Hsieh F C. Sideslip Angle Estimation Using Extended Kalman Filter[J]. Vehicle System Dynamics,2008, 46(S): 353-364.
[16]Anderson R, Bevly D M. Using GPS with a Model-based Estimator to Estimate Critical Vehicle States[J]. Vehicle System Dynamics,2010, 48(12): 1413-1438.
[17]Yoon J, Peng H. Vehicle Sideslip Angle Estimation Using Two Single-Antenna GPS Receivers[C]//Proceedings of the ASME 2010 Dynamic Systems and Control Conference. Cambridge, MA: ASME, 2010:863-870.
[18]Bevly D M, Ryu J, Gerdes J C. Integrating INS Sensors with GPS Measurements for Continuous Estimation of Vehicle Sideslip, Roll, and Tire Cornering Stiffness[J]. IEEE Transactions on Intelligent Transportation Systems,2006, 7(4): 483-493.
[19]Hrgetic M, Deur J, Pavkovic D, et al. Adaptive EKF-Based Estimator of Sideslip Angle Using Fusion of Inertial Sensors and GPS[J]. SAE International Journal of Passenger Cars-Mechanical Systems,2011, 4(1): 700-712.
[20]Iijima T, Raksincharoensak P, Michitsuji Y, et al. Vehicle Side Slip Angle Estimation Methodology Using a Drive Recorder[J]. JVC/Journal of Vibration and Control,2010, 16(4): 571-583.
[21]Harchut F, Mueller-Bessler B. Camera Based Measurement of Side Slip Angle in an Automobile[C]//Proceedings of the ASME 2009 Dynamic Systems and Control Conference. California: ASME, 2009:835-840.
[22]李以农，赵树恩，米林，等. 基于强跟踪滤波的车辆非线性状态估计[J]. 江苏大学学报(自然科学版),2009(6): 564-568.
Li Yinong, Zhao Shuen, Mi Lin, et al. Vehicle Nonlinear State Estimation Based on Strong Tracking Filter[J]. Journal of Jiangsu University(Natural Science Edition), 2009, 30(6): 564-568.
[23]黄程程. 基于自适应卡尔曼滤波的汽车质心侧偏角估算研究[D]. 长春：吉林大学, 2011.
[24]Baffet G, Charara A, Lechner D. Estimation Process for Tire-road Forces and Vehicle Sideslip Angle[C]//4th International Conference on Informatics in Control, Automation and Robotics. Angers: INSTICC Press, 2007:5-10.
[25]Baffet G, Charara A, Stephant J. Sideslip Angle, Lateral Tire Force and Road Friction Estimation in Simulations and Experiments[C]//Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC). Munich: IEEE, 2007:903-908.
[26]朱绍中，高晓杰，余卓平. 极限行驶条件下车辆质心侧偏角观测器设计[J]. 同济大学学报(自然科学版),2009,37(8): 1070-1074.
Zhu Shaozhong, Gao Xiaojie, Yu Zhuoping. Vehicle Sideslip Angle Estimation Under Extreme Driving Condition[J]. Journal of Tongji University(Natural Science),2009, 37(8): 1070-1074.
[27]陆丹. 基于卡尔曼滤波的汽车行驶姿态的研究[D]. 镇江：江苏大学, 2005.
[28]林棻，赵又群. 基于双重扩展自适应卡尔曼滤波的汽车状态和参数估计[J]. 中国机械工程,2009,20(6): 750-755.
Lin Fen, Zhao Youqun. Vehicle State and Parameter Estimation based on Dual Extended Adaptive Kalman Filter[J]. China Mechanical Engineering, 2009, 20(6): 750-755.
[29]Antonov S, Fehn A, Kugi A. Unscented Kalman filter for vehicle state estimation[J]. Vehicle System Dynamics,2011, 49(9): 1497-1520.
[30]Doumiati M, Victorino A C, Charara A, et al. Onboard Real-time Estimation of Vehicle Lateral Tire-road Forces and Sideslip Angle[J]. IEEE/ASME Transactions on Mechatronics,2011, 16(4): 601-614.
[31]Solmaz S, Baslamisli S C. A Nonlinear Sideslip Observer Design Methodology for Automotive Vehicles Based on a Rational Tire Model[J].International Journal of Advanced Manufacturing Technology， 2012, 60(5/8): 765-775.
[32]Cherouat H, Braci M, Diop S. Vehicle Velocity, Side Slip Angles and Yaw Rate Estimation[C]//IEEE International Symposium on Industrial Electronics 2005. Dubrovnik: IEEE, 2005:349-354.
[33]王健，余贵珍，张为，等. 基于滑模观测理论的车辆质心侧偏角估算[J]. 北京工业大学学报,2011,37(3): 335-341.
Wang Jian，Yu Guizhen，Zhang Wei, et al. Vehicle Sideslip Angle Estimation Based on Principles of Sliding Mode[J]. Journal of Beijing University of Technology,2011, 37(3): 335-341.
[34]Ouladsine M, Shraim H, Fridman L, et al. Vehicle Parameter Estimation and Stability Enhancement Using the Principles of Sliding Mode[C]//2007 American Control Conference. New York: IEEE, 2007:5224-5229.
[35]张小龙，李亮，李红志，等. 基于改进RBF网的汽车侧偏角估计方法试验研究[J]. 机械工程学报,2010,46(22): 105-110.
Zhang Xiaolong, Li Liang, Li Hongzhi, et al. Experimental Research on Vehicle Sideslip Angle Estimation Based on Improved RBF Neural Networks[J]. Chinese Journal of Mechanical Engineering, 2010,46(22): 105-110.
[36]Broderick D J, Bevly D M, Hung J Y. An Adaptive Non-linear State Estimator for Vehicle Lateral Dynamics[C]//35th Annual Conference of the IEEE Industrial Electronics Society. Porto: IEEE Computer Society, 2009:1450-1455.
[37]施树明，Lupker Henk，Bremmer Paul，等. 基于模糊逻辑的车辆侧偏角估计方法[J]. 汽车工程,2005,27(4): 426-430.
Shi Shuming, Lupker H, Bremmer P, et al. Estimation of Vehicle Side Slip Angle Based on Fuzzy Logic[J]. Automotive Engineering, 2005,27(4)：426-430.
[38]杨财，宋健，黄全安，等. 车身侧偏角实用算法仿真[J]. 江苏大学学报(自然科学版),2008,29(6): 482-485.
Yang Cai, Song Jian, Huang Quanan, et al. Practical Algorithm Simulation for Vehicle Side Slip Angle[J]. Journal of Jiangsu University(Natural Science Edition), 2008, 29(6): 482-485.
[39]林棻，赵又群，徐朔南. 基于粒子滤波算法的汽车状态估计技术[J]. 农业机械学报,2011,42(2): 23-27.
Lin Fen, Zhao Youqun, Xu Shuonan. Vehicle States Estimation Technology Based on Particle Filter Algorithm[J]. Transactions of the Chinese Society for Agricultural Machinery. 2011, 42(2): 23-27.
[40]Milanese M, Regruto D, Fortina A. Direct Virtual Sensor (DVS) Design in Vehicle Sideslip Angle Estimation[C]//2007 American Control Conference. New York: IEEE, 2007:3654-3658.
[41]Canale M, Fagiano L, Novara C. Vehicle Side-slip Angle Estimation Using a Direct MH Estimator[C]//2010 IEEE International Conference on Control Applications. Yokohama: IEEE, 2010:167-172.
[42]Canale M, Fagiano L, Novara C. A Direct Moving Horizon Approach to Vehicle Side-slip Angle Estimation[C]//2010 49th IEEE Conference on Decision and Control. Atlanta: IEEE, 2010:2898-2903.
[43]时艳茹. 基于UKF滤波的汽车纵向和侧向速度估计算法研究[D]. 长春：吉林大学, 2011.
[44]耿师导，张春熹，杨功流. 惯性信息状态观测器在车辆稳定系统中的应用[J]. 传感器与微系统,2011,30(4): 138-140.
Geng Shidao，Zhang Chunxi，Yang Gongliu. Application of State Observer on Inertia information in The Vehicle Stability System[J]. Transducer and Microsystem Technologies, 2011, 30(4): 138-140.
[45]宗长富，胡丹，杨肖，等. 基于扩展Kalman滤波的汽车行驶状态估计[J]. 吉林大学学报(工学版),2009,39(1): 7-11.
Zong Changfu, Hu Dan, Yang Xiao, et al. Vehicle Driving State Estimation Based on Extended Kalman Filter[J]. Journal of Jilin University Engineering and Technology Edition, 2009, 39(1): 7-11.
[46]郭洪艳，陈虹，丁海涛，等. 基于Uni-Tire轮胎模型的车辆质心侧偏角估计[J]. 控制理论与应用,2010,27(9): 1131-1139.
Guo Hongyan, Chen Hong, Ding Haitao, et al. Vehicle Sideslip Angle Estimation Based on Uni-Tire Model[J]. Control Theory and Applications,2010, 27(9): 1131-1139.
[47]Cheli F, Sabbioni E, Pesce M, et al. A Methodology for Vehicle Sideslip Angle Identification: Comparison with Experimental Data[J]. Vehicle System Dynamics,2007, 45(6): 549-563.
[48]Kim H H, Ryu J. Sideslip Angle Estimation Considering Short-duration Longitudinal Velocity Variation[J]. International Journal of Automotive Technology,2011, 12(4): 545-553.
[49]郑智忠，李亮，杨财，等. 基于扩展卡尔曼滤波的汽车质心侧向速度观测器[J]. 农业机械学报,2008,39(5): 1-5.
Zheng Zhizhong, Li Liang, Yang Cai, et al. Vehicle Lateral Velocity Observer Using Extended Kalman Filter[J]. Transactions of the Chinese Society for Agricultural Machinery,2008, 39(5): 1-5.
[50]陈无畏，刘翔宇，黄鹤，等. 车辆转向工况下的路面附着系数估计算法[J]. 汽车工程,2011,33(6): 521-526.
ChenWuwei, Liu Xiangyu, Huang He, et al. An Algorithm for Estimating Road Adhesion Coefficient in Vehicle Steering Condition[J]. Automotive Engineering, 2011, 33(6): 521-526.
[51]Ryan J, Lu J, Bevly D. State Estimation for Vehicle Stability Control: A Kinematic Approach Using Only GPS and VSC Sensors[C]//ASME 2010 Dynamic Systems and Control Conference. Cambridge: ASME, 2010:773-780.
[52]张素民. 基于GF-INS和GPS的汽车状态信息测试系统算法的研究[D]. 长春：吉林大学, 2006.
[53]毕春光. 极限工况下汽车质心侧偏角的估计方法研究[D]. 长春：吉林大学, 2007.
[54]武建勇，唐厚君，欧阳涛，等. 基于AFS与DYC集成控制提高车辆操纵稳定性的研究[J]. 系统仿真学报,2009,21(5): 1227-1232.
Wu Jianyong, Tang Houjun, Ou Yangtao, et al. Improving Vehicle Handling Performance and Stability by Integrated Control of Active Front Steering and Direct Yaw Moment[J]. Journal of System Simulation,2009, 21(5): 1227-1232.