摘要对于汽车的研究我们要能准确获得汽车驾驶状态。然而，由于技术，噪声还有成本等问题，很多汽车状态参数不能直接，便捷，有效的量测出，这给汽车安全控制带来很大困难。本文实现了利用软测量和 KF 理论，结合汽车 2 自由度模型进行汽车行驶状态估计。首先采用分析法建立一般动力学模型并适当简化为 2自由度汽车模型并编程验证；接着，在 Carsim 中选取较复杂的双移线行驶线路，用实车参数进行仿真实验，为接下来的验证滤波算法做铺垫；最后，基于状态估计和 KF滤波结合汽车模型建立软测量模型，在 Matlab 环境下，利用 Carsim 中的输入信号和观测信号进行滤波算法的验证，并将 Carsim 中的实际输出值与滤波估计值进行比较。KF算法满足汽车行驶状态估计器的要求。 21138
关键词 ： 状态估计；Kalman 滤波；软测量；Carsim；二自由度
Title Vehicle state estimation based on soft computing
Abstract
It is very important for gathering status of cars accurately and real-time. However, since
some problem ,such as the technology, cost and noise, many car status parameters
cannot be measured directly, effectively and easily,which has caused great difficulties
for vehicle safety control. This paper realized using soft measurement and KF theory,
combined with the car two degrees of freedom model cars with state estimation. First,
using analysis ,establish the general dynamics model and appropriately simplified
2-DOF vehicle model and program verification; Then, select the more complex double
shift lane lines in Carsim, the simulation experiments using real vehicle parameters
preparing for the next verification of filtering algorithm; Finally, based on state
estimation and KF filtering combined soft computing, build car model. In the Matlab
environment, use the input signal and the observed signal from Carsim to validate
filtering algorithm, and compare with actual output value from Carsim and the
filtered estimates. KF algorithm satisfies the requirements of the estimator of Vehicle
driving state.
Keywords :state estimation; Kalman filters; soft computing; Carsim; two
degrees-of-freedom
目 次
1 引言 1
1.1 课题研究的提出及意义 1
1.2 软测量技术 2
1.2.1 软测量技术产生的背景 2
1.2.2 软测量技术简介 2
1.2.3 国内外研究现状 3
1.2.4 软测量技术的应用 4
1.3 汽车行驶状态估计 5
1.4 研究内容和方法 6
2 整车动力学建模 7
2.1 线性二自由度汽车动力学模型 8
2.2 模型验证 10
2.2.1 整车参数 11
2.2.2 模型仿真 12
2.3 本章小结 15
3 Carsim 仿真实验 . 16
3.1 Carsim 软件介绍 . 16
3.2 双移线试验 16
3.3 本章小结 18
4 基于软测量技术的汽车行驶状态估计 19
4.1 状态估计 19
4.2 Kalman 滤波 19
4.2.1 Kalman 简介 20
4.2.2 经典 Kalman 滤波算法 . 21
4.3 软测量模型 23
4.4 试验验证 24
4.4.1 有无噪声对结果的影响 24 Matlab基于软测量技术的汽车行驶状态估计:http://www.751com.cn/zidonghua/lunwen_13217.html