| 基于Kalman—Bucy滤波的车辆横向运动状态估计 |
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| 引用本文： | 赵津,王婷.基于Kalman—Bucy滤波的车辆横向运动状态估计[J].贵州师范大学学报(自然科学版),2011,29(3):118-121. |
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| 作者姓名： | 赵津 王婷 |
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| 作者单位： | 贵州大学机械工程学院,贵州贵阳550003 [2]贵州大学管理学院,贵州贵阳550025 |
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| 摘 要： | 研究了车辆横向运动中的状态估计问题。在两自由度车辆横向动力学模型的基础上，考虑了车辆纵向速度对车辆横向运动状态的影响，设计了基于Kalman-Bucy滤波的车辆状态观测器。仿真实验结果显示，该滤波器能够有效的过滤系统的过程噪声和观测噪声，并能够准确地估计出车辆横向运动速度与横摆角速度的实际值。
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| 关 键 词： | 车辆横向动力学 车辆状态估计 观测器 卡尔曼-布西滤波器 |
Lateral states using Kalman-Bucy filter estimation of vehicle |
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| ZHAO Jin,WANG Ting.Lateral states using Kalman-Bucy filter estimation of vehicle[J].Journal of Guizhou Normal University(Natural Sciences),2011,29(3):118-121. |
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| Authors: | ZHAO Jin WANG Ting |
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| Institution: | ZHAO Jin1,WANG Ting2(1.School of Mechanical Engineering,Guizhou University,Guiyang,Guizhou 550003,China,2.School of Management,Guizhou 550025,China) |
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| Abstract: | This paper concentrates on the estimation of vehicle lateral states. Based on the two-degree- freedom vehicle model, considering the impacts of vehicle longitudinal velocity on vehicle lateral states, we propose a vehicle lateral state observer based on t |
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| Keywords: | vehicle lateral dynamics vehicle state estimation observer Kalman-Bucy filter |
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