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首页> 外文会议>2012 IEEE International Conference on Vehicular Electronics and Safety >Real-time experimental validation of nonlinear observer for vehicle dynamics parameters estimation: A laboratory vehicle description
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Real-time experimental validation of nonlinear observer for vehicle dynamics parameters estimation: A laboratory vehicle description

机译：用于车辆动力学参数估计的非线性观测器的实时实验验证：实验室车辆描述

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摘要

Vehicle safety system has been developed to improve the handling performance of the vehicle and the driving security recently. However, these systems are limited because of the shortage of knowledge of vehicle dynamics variables which can illustrate the vehicle's state and dynamics characteristic. Actually the technologies and economics reasons restrict the acquisition of these variables on the vehicle onboard system. Consequently, we develop the algorithm to estimate these variables using standard sensors in our laboratory. This paper presents our laboratory vehicle and methodology of estimation of the wheel-ground forces. On considering the nonlinearity system, we propose the comparison between the Extended Kalman filter and Particle filter techniques. Particularly we construct our laboratory vehicle which has already equipped with varies of sensors and real-time sampling and processing system. The systems are tested by using our experiment car in real driving situation. The experiment results can demonstrate the performance of our theoretical research and the real-time processing system.
机译：最近，已经开发了车辆安全系统以改善车辆的操纵性能和驾驶安全性。然而，由于缺乏可说明车辆状态和动力学特性的车辆动力学变量的知识，因此这些系统受到限制。实际上，技术和经济原因限制了在车载系统上获取这些变量。因此，我们开发了在实验室中使用标准传感器估算这些变量的算法。本文介绍了我们的实验室车辆和估算车轮接地力的方法。考虑到非线性系统，我们提出了扩展卡尔曼滤波和粒子滤波技术之间的比较。特别是，我们建造的实验室车辆已经配备了各种传感器以及实时采样和处理系统。通过在实际驾驶情况下使用我们的实验车对系统进行测试。实验结果可以证明我们的理论研究和实时处理系统的性能。

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