Sideslip Angle Fusion Estimation Method of an Autonomous Electric Vehicle Based on Robust Cubature Kalman Filter with Redundant Measurement Information
Accurate and reliable estimation information of sideslip angle is very important for intelligent motion control and active safety control of an autonomous vehicle. To solve the problem of sideslip angle estimation of an autonomous vehicle, a sideslip angle fusion estimation method based on robust cu...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-05-01
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| Series: | World Electric Vehicle Journal |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2032-6653/10/2/34 |
| _version_ | 1798042877991845888 |
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| author | Te Chen Long Chen Xing Xu Yingfeng Cai Haobin Jiang Xiaoqiang Sun |
| author_facet | Te Chen Long Chen Xing Xu Yingfeng Cai Haobin Jiang Xiaoqiang Sun |
| author_sort | Te Chen |
| collection | DOAJ |
| description | Accurate and reliable estimation information of sideslip angle is very important for intelligent motion control and active safety control of an autonomous vehicle. To solve the problem of sideslip angle estimation of an autonomous vehicle, a sideslip angle fusion estimation method based on robust cubature Kalman filter and wheel-speed coupling relationship is proposed in this paper. The vehicle dynamics model, tire model, and wheel speed coupling model are established and discretized, and a robust cubature Kalman filter is designed for vehicle running state estimation according to the discrete vehicle model. An adaptive measurement-update solution of the robust cubature Kalman filter is presented to improve the robustness of estimation, and then, the wheel-speed coupling relationship is introduced to the measurement update equation of the robust cubature Kalman filter and an adaptive sideslip angle fusion estimation method is designed. The simulations in the CarSim-Simulink co-simulation platform and the actual vehicle road test are carried out, and the effectiveness of the proposed estimation method is validated by corresponding comparative analysis results. |
| first_indexed | 2024-04-11T22:41:36Z |
| format | Article |
| id | doaj.art-a791810e70e142398e4f6310bcdd2b84 |
| institution | Directory Open Access Journal |
| issn | 2032-6653 |
| language | English |
| last_indexed | 2024-04-11T22:41:36Z |
| publishDate | 2019-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | World Electric Vehicle Journal |
| spelling | doaj.art-a791810e70e142398e4f6310bcdd2b842022-12-22T03:58:57ZengMDPI AGWorld Electric Vehicle Journal2032-66532019-05-011023410.3390/wevj10020034wevj10020034Sideslip Angle Fusion Estimation Method of an Autonomous Electric Vehicle Based on Robust Cubature Kalman Filter with Redundant Measurement InformationTe Chen0Long Chen1Xing Xu2Yingfeng Cai3Haobin Jiang4Xiaoqiang Sun5School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaAccurate and reliable estimation information of sideslip angle is very important for intelligent motion control and active safety control of an autonomous vehicle. To solve the problem of sideslip angle estimation of an autonomous vehicle, a sideslip angle fusion estimation method based on robust cubature Kalman filter and wheel-speed coupling relationship is proposed in this paper. The vehicle dynamics model, tire model, and wheel speed coupling model are established and discretized, and a robust cubature Kalman filter is designed for vehicle running state estimation according to the discrete vehicle model. An adaptive measurement-update solution of the robust cubature Kalman filter is presented to improve the robustness of estimation, and then, the wheel-speed coupling relationship is introduced to the measurement update equation of the robust cubature Kalman filter and an adaptive sideslip angle fusion estimation method is designed. The simulations in the CarSim-Simulink co-simulation platform and the actual vehicle road test are carried out, and the effectiveness of the proposed estimation method is validated by corresponding comparative analysis results.https://www.mdpi.com/2032-6653/10/2/34electric vehiclesideslip angleKalman filterfusion estimationredundant measurement information |
| spellingShingle | Te Chen Long Chen Xing Xu Yingfeng Cai Haobin Jiang Xiaoqiang Sun Sideslip Angle Fusion Estimation Method of an Autonomous Electric Vehicle Based on Robust Cubature Kalman Filter with Redundant Measurement Information World Electric Vehicle Journal electric vehicle sideslip angle Kalman filter fusion estimation redundant measurement information |
| title | Sideslip Angle Fusion Estimation Method of an Autonomous Electric Vehicle Based on Robust Cubature Kalman Filter with Redundant Measurement Information |
| title_full | Sideslip Angle Fusion Estimation Method of an Autonomous Electric Vehicle Based on Robust Cubature Kalman Filter with Redundant Measurement Information |
| title_fullStr | Sideslip Angle Fusion Estimation Method of an Autonomous Electric Vehicle Based on Robust Cubature Kalman Filter with Redundant Measurement Information |
| title_full_unstemmed | Sideslip Angle Fusion Estimation Method of an Autonomous Electric Vehicle Based on Robust Cubature Kalman Filter with Redundant Measurement Information |
| title_short | Sideslip Angle Fusion Estimation Method of an Autonomous Electric Vehicle Based on Robust Cubature Kalman Filter with Redundant Measurement Information |
| title_sort | sideslip angle fusion estimation method of an autonomous electric vehicle based on robust cubature kalman filter with redundant measurement information |
| topic | electric vehicle sideslip angle Kalman filter fusion estimation redundant measurement information |
| url | https://www.mdpi.com/2032-6653/10/2/34 |
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