Title:
VEHICLE SIDESLIP ANGLE ESTIMATION METHOD AND SYSTEM BASED ON EVENT TRIGGER STATE ESTIMATION
Document Type and Number:
WIPO Patent Application WO/2022/166046
Kind Code:
A1
Abstract:
A vehicle sideslip angle estimation method and system based on event trigger state estimation. The method comprises: carrying out iteration by taking estimation of the yaw velocity of a vehicle as a target by adopting a Kalman filtering algorithm for observed quantity; in the iteration, at the moment, setting εk as 1, or otherwise, setting εk as 0; when the εk is 0, or when the εk is 1 and a GPS course angle is updated, estimating the state quantity, and calculating a sideslip angle of the vehicle according to the yaw velocity obtained by adopting the Kalman filtering algorithm; and when εk is 1 and the GPS course angle is not updated, fusing measured data of a GPS and measured data of an IMU to estimate the sideslip angle of the vehicle. The estimation method and system are more stable due to the fact that the stability of the whole architecture is considered.
Inventors:
ZHANG LEI (CN)
WANG ZHENPO (CN)
DING XIAOLIN (CN)
WANG ZHENPO (CN)
DING XIAOLIN (CN)
Application Number:
PCT/CN2021/097607
Publication Date:
August 11, 2022
Filing Date:
June 01, 2021
Export Citation:
Assignee:
BEIJING INSTITUTE TECH (CN)
International Classes:
B60W40/103
Foreign References:
| CN107600073A | 2018-01-19 | |||
| CN111152795A | 2020-05-15 | |||
| CN107074241A | 2017-08-18 | |||
| KR100599567B1 | 2006-07-13 | |||
| US20040128060A1 | 2004-07-01 |
Attorney, Agent or Firm:
BEIJING GAOWO LAW FIRM (CN)
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