【摘要】 准确地测量计算车辆的纵横向速度是现代汽车控制系统的关键,在横摆角速度传感器、加速度计和车轮角速度传感器等多种汽车传感器所测得的信号基础上建立估计系统的状态方程和测量方程,通过汽车动力学模型计算出车辆的纵横向参考速度,最后用卡尔曼滤波技术对车速进行估计.并对参考车速误差的影响进行分析.仿真结果表明该方法估计效果好,误差小,具有可靠性和有效性.更多还原

【Abstract】 Modern control systems for vehicles often depend on accurately calculating the vehicle′s longitudinal and lateral velocities.Based on the information from yaw rate sensor,accelerometers and wheel speed sensor,the system′s state equations and measurement equations were established.The approximated velocities were calculated using vehicle dynamic model.Finally the vehicle velocities were estimated by the Kalman Filter technique and the influence of approximated velocities′ error was analyzed.Simulation results show that this method has favorable quality and small error.The reliability and validity of this method are also verified.vehicle velocity;vehicle dynamic;sensor information fusion;Kalman Filter;estimation更多还原