Semitrailer lateral speed estimation method considering measurement zero offset and noise abnormity
Semitrailer lateral speed estimation method considering measurement zero offset and noise abnormity
- Neue Suche nach: ZHANG ZHIDA
- Neue Suche nach: XU ZHENGHAO
- Neue Suche nach: ZENG CHAO
- Neue Suche nach: LI TAO
- Neue Suche nach: LIU CAN
- Neue Suche nach: CHEN ZIJIAN
- Neue Suche nach: AN KAI
- Neue Suche nach: YE YUBO
- Neue Suche nach: LIU FENG
- Neue Suche nach: ZHANG ZHIDA
- Neue Suche nach: XU ZHENGHAO
- Neue Suche nach: ZENG CHAO
- Neue Suche nach: LI TAO
- Neue Suche nach: LIU CAN
- Neue Suche nach: CHEN ZIJIAN
- Neue Suche nach: AN KAI
- Neue Suche nach: YE YUBO
- Neue Suche nach: LIU FENG
The invention discloses a semi-trailer lateral speed estimation method considering measurement zero offset and noise abnormity. The method mainly comprises a vehicle dynamics model, a lateral speed estimator, feedback regulation and noise covariance self-adaption. The influence of trailer load change is considered, and the accuracy of a semi-trailer dynamical model is improved; the zero offset of a sensor measurement signal is considered, a feedback adjustment module is designed, and the measurement signal and an estimation result are corrected, so that the transfer relation between a state variable and a measurement variable is more accurate; statistical estimation and correction processing are performed on the process noise covariance and the measurement noise covariance, so that the adaptability of lateral velocity estimation and the robustness of the algorithm when the noise is abnormal can be ensured. The lateral speed estimation method considering measurement of zero offset and noise abnormity provides a new thought for state estimation of an automatic driving semi-trailer, and has important reference significance for optimization and evaluation of an automatic driving control module.
本发明公开了一种考虑测量零偏和噪声异常的半挂车辆侧向速度估计方法，主要包括车辆动力学模型、侧向速度估计器、反馈调节和噪声协方差自适应。考虑了挂车载重变化的影响，提高了半挂车辆动力学模型的准确性；考虑了传感器测量信号的零偏，并设计了反馈调节模块，纠正了测量信号和估计结果，使得状态变量与测量变量之间的传递关系更加准确；对过程噪声协方差和测量噪声协方差进行统计估计和校正处理，可以保证侧向速度估计的适应性和算法在噪声异常时的鲁棒性。所提出的考虑测量零偏和噪声异常的侧向速度估计方法，为自动驾驶半挂车辆的状态估计提供了新思路，对自动驾驶控制模块的优化与评估具有重要的参考意义。
Dokumentinformationen
Semitrailer lateral speed estimation method considering measurement zero offset and noise abnormity
考虑测量零偏和噪声异常的半挂车辆侧向速度估计方法
2023-06-06
Patent
Elektronische Ressource
Chinesisch
| IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Ähnliche Titel
Auxiliary driving device of semitrailer, semitrailer and control method of semitrailer
| Europäisches Patentamt | 2023