关键词: 车辆工程, 质心侧偏角, 状态空间模型, 自回归最小二乘, 轮胎模型, 非线性估计

Abstract:

A model-based estimator of sideslip angle was proposed, and a time-varying parameter was introduced in Magic Formula tire model to be adapted to the roads with different friction coefficients. State space RLS was used and a nonlinear vehicle model was established to design the estimator. The slalom test on the high friction road and three double lance change tests on different friction roads were conducted to evaluate the estimator, and the results show that this method can estimate the sideslip angle accurately even when the vehicle has the large sideslip and the tire takes on the severe nonlinearity. Finally, the RLS is compared with the extended Kalman filter in the terms of the accuracy, computational efficiency and utility condition then to further indicate the performance of the estimator.

Key words: automotive engineering;vehicle sideslip angle;state space model;autoregressive least square(RLS); tire model, nonlinear estimation