摘要
针对车用MEMS陀螺受成本限制,性能难以进一步提升并成为车身稳定控制系统瓶颈的问题,基于卡尔曼滤波算法融合多个陀螺的数据,结合该类型陀螺在真实场景下的实测误差值和差分法消除车载混杂噪声对于其真实量测值的影响。试验结果表明,相比于单个陀螺,由3个陀螺组成的虚拟陀螺在数据均方根误差上降低了49.74%;基于该虚拟陀螺技术设计了车辆质心侧偏角积分估计器,与采用单个陀螺相比,质心侧偏角估计误差降低了82.5%,可有效提升车辆在极限工况下的行驶稳定性,达到了车用MEMS陀螺仪成本与性能之间的良好平衡。
For the problem of cost limitation and weak performance,the MEMS vehicle gyroscope has become the bottleneck of electronic stability program.In this paper,the data of multiple gyroscopes were fused based on Kalman filter algorithm,combined with the measured error value of this type of gyroscope in the real scene and the difference method to eliminate the influence of vehicle hybrid noise on its real measured value.The results show that compared with single gyroscope,the RMS error of virtual gyroscope was reduced by 49.74%.Based on the virtual gyro technology,a vehicle centroid sideslip angle integral estimator was designed.Compared with a single gyroscope,the estimation error of vehicle sideslip angle was reduced by 82.5%.Furthermore,the driving stability of the vehicle was improved under the limit condition and a good balance between cost and performance was achieved.
作者
刘蓬勃
王威
赵剑
贾博文
范科峰
LIU Pengbo;WANG Wei;ZHAO Jian;JIA Bowen;FAN Kefeng(School of Automotive Engineering,Dalian University of Technology,Dalian 116024,China;Digital Technology Research Center,China Electronics Standardization Institute,Beijing 100007,China)
出处
《实验科学与技术》
2022年第3期1-6,共6页
Experiment Science and Technology
基金
国家重点研发计划(2018YFA0703200)
工业和信息化领域公共服务能力提升专项(2019-00910-5-1)。
关键词
车辆稳定性控制
虚拟陀螺
质心侧偏角
积分估计法
vehicle stability control
virtual gyro
sideslip angle of centroid
integral estimation method
