电子科技2012，Vol.25Issue(4)：13-15,46,4.
基于Kalman预测的四轮转向状态估计算法
Research on Four-wheel Steering State Estimate Based on Kalman Forecast
摘要
Abstract
In view of the high cost of and difficulty in vehicle motion measuring,this paper proposes the Kalman filtering technology for the state estimation of vehicle.The estimation algorithm is based on linear two degrees of freedom vehicle model for the foundation,and yaw-rate,lateral acceleration in the process of four-wheel steering are estimated respectively.An analysis of the results shows that Kalman filtering algorithm can estimate with better accuracy the yaw-rate lateral acceleration in the process of four-wheel steering;4 WS car uses reverse to control vehicle at low speed and homonymous turned to control vehicle at high speed,which can improve the low-speed maneuverability and high-speed operation stability of the car.关键词
Kalman预测/四轮转向/仿真算法/状态估计Key words
kalman forecast/four-wheel steering/simulate arithmetic/state estimation分类
信息技术与安全科学引用本文复制引用
张亚岐,周晨雨,李健..基于Kalman预测的四轮转向状态估计算法[J].电子科技,2012,25(4):13-15,46,4.基金项目
国家道路交通安全科技行动计划基金资助项目 （）
