摘要
研究了车辆横向运动中的状态估计问题。在两自由度车辆横向动力学模型的基础上,考虑了车辆纵向速度对车辆横向运动状态的影响,设计了基于Kalman-Bucy滤波的车辆状态观测器。仿真实验结果显示,该滤波器能够有效的过滤系统的过程噪声和观测噪声,并能够准确地估计出车辆横向运动速度与横摆角速度的实际值。
This paper concentrates on the estimation of vehicle lateral states. Based on the two-degree- freedom vehicle model, considering the impacts of vehicle longitudinal velocity on vehicle lateral states, we propose a vehicle lateral state observer based on the KaJman-Bucy filter. The proposed observer has been verified by simulation experiments, The results have showed that the proposed method can effectively filter the process noise and measurement noise, and provide accurate estimation of the vehicle lateral velocity and yaw rate.
出处
《贵州师范大学学报（自然科学版）》
CAS
2011年第3期118-121,共4页
Journal of Guizhou Normal University：Natural Sciences
基金
贵州省科学技术基金(黔科合J字[2011]2196)
