《Automotive Innovation》好文推荐：基于非线性卡尔曼滤波的汽车动态稳定性状态估计

武汉理工大学裴晓飞副教授发表题为“State Estimation of Vehicle’s Dynamic Stability Based on the Nonlinear Kalman Filter（基于非线性卡尔曼滤波的汽车动态稳定性状态估计）”的文章，论文的摘要如下所示，全文及具体内容详见网址。其中，摘要的中文译文仅供参考。

https://link.springer.com/article/10.1007/s42154-018-0028-6

引用词条为：Pei, X., Hu, X., Liu, W., et al.: State estimation of vehicle’s dynamic stability based on the nonlinear Kalman filter. Automot. Innov. 1(3), 281-289(2018)

State Estimation of Vehicle’s Dynamic Stability Based on the Nonlinear Kalman Filter

Xiaofei Pei · Xu Hu · Wei Liu · Zhenfu Chen · Bo Yang

Abstract

An accurate estimation of a vehicle’s state of motion is the basis of dynamic stability control. Two different nonlinear Kalman filters are adopted for the estimation of the vehicle’s lateral/rollover stability state. First, the overall structure of the state estimation with four inputs and four outputs is introduced. After determining tire-cornering stiffness using a recursive least-squares (RLS) method, the equations of state and of observation for the nonlinear Kalman filter are established based on a vehicle model with four degrees of freedom including planar and rollover dynamics. Then, the specific steps of real-time state estimation using the extended Kalman filter (EKF) and unscented Kalman filter (UKF) are both given. In a co-simulation,we find that the RLS algorithm estimates tire-cornering stiffness accurately and quickly, and the UKF improves the effect of state estimation compared with EKF. In addition, the UKF is verified against data from vehicle tests. The results show the proposed method is reliable and practical in estimating vehicle states.

Keywords  Vehicle dynamic · State estimation · EKF · UKF · Vehicle test

基于非线性卡尔曼滤波的汽车动态稳定性状态估计

裴晓飞 · 胡旭 · 刘伟 · 陈祯福 · 杨波

摘要

车辆运动状态的准确估计是动态稳定控制的基础。本文采用两种不同的非线性卡尔曼滤波器估计车辆的横向/侧倾稳定性状态。首先介绍了四输入与四输出状态估计的总体结构，采用递推最小二乘(RLS)方法确定轮胎侧偏刚度后，建立了基于平面和侧倾动力学四自由度车辆模型的非线性卡尔曼滤波状态方程和观测方程。然后给出了利用扩展卡尔曼滤波(EKF)和无迹卡尔曼滤波(UKF)进行实时状态估计的具体步骤。在联合仿真中，发现RLS算法能够准确快速地估计轮胎侧偏刚度；同时与EKF相比，UKF提高了状态估计的精度。最后，根据车辆测试数据对UKF进行验证，结果表明，该方法对车辆状态估计是可靠和实用的。

关键词 汽车动力学 · 状态估计 · EKF · UKF · 车辆试验

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