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首页> 外文期刊>IEEE Transactions on Industrial Electronics >Finite-Memory Estimation for Vehicle Roll and Road Bank Angles
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Finite-Memory Estimation for Vehicle Roll and Road Bank Angles

机译：车辆侧倾和路堤倾角的有限记忆估计

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摘要

This paper proposes a novel finite-memory (FM) estimation method for vehicle roll and road bank angles. We consider a three-degree-of-freedom model based on bicycle and vehicle roll models, where there exist uncertainties in the model parameters. The existing estimation methods may show poor performance for the considered model with uncertainties. The accumulated errors, which might be caused by modeling uncertainties and numerical errors, may degrade the performance of existing methods because they use all past measurements. To overcome the weaknesses of the existing methods, a new FM estimation method is proposed and can prevent accumulated errors by using recent finite measurements. Both the simulation and experimental results show that the proposed estimation method ensures more reliable and accurate performance than the existing methods under various driving conditions.
机译：提出了一种新的车辆侧倾角和路堤倾角有限记忆（FM）估计方法。我们考虑基于自行车和车辆侧倾模型的三自由度模型，其中模型参数存在不确定性。对于具有不确定性的已考虑模型，现有的估计方法可能显示出较差的性能。可能由建模不确定性和数值误差引起的累积误差可能会降低现有方法的性能，因为它们使用了所有过去的测量值。为了克服现有方法的缺点，提出了一种新的调频估计方法，该方法可以通过使用最近的有限测量来防止累积误差。仿真和实验结果均表明，所提出的估计方法在各种驾驶条件下均能确保比现有方法更可靠，更准确的性能。

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