测控技术2024，Vol.43Issue(12)：56-65,75,11.DOI:10.19708/j.ckjs.2024.10.262
基于无迹卡尔曼滤波的智能汽车驾驶员转向手力矩估算方法
Driver Steering Hand Torque Estimation Method of Intelligent Vehicle Based on Unscented Kalman Filter
郑灵欢 1郭唯浩 2郭世永1
作者信息
- 1. 青岛理工大学机械与汽车工程学院,山东青岛 266033
- 2. 歌尔科技有限公司,山东青岛 266101
- 折叠
摘要
Abstract
In order to effectively sense the steering hand torque of the driver in L3 and L4 level intelligent driv-ing vehicle,so that the driver can take over the vehicle control quickly and smoothly when necessary,a dynam-ic estimation method of driver torque based on unscented Kalman filter is proposed.A biased unscented observ-er and unknown input estimation method are designed.The estimated result and state variables are filtered by unscented Kalman filter.The co-simulation model of the system in Carsim and MATLAB/Simulink environment is set up,and the hardware-in-the-loop experiment is carried out in the PXI real-time system.The results show that the estimated error is less than 0.2 N·m when the driver has zero manual torque in autonomous driving mode and less than 0.7 N·m when the driver intervenes in autopilot with 2 N·m manual torque.When the steering motor is in power assist mode,the root mean squared error(RMSE)of the estimated hand torque is 0.198 N·m,accounting for 1.6%of the input range.The results can effectively meet the requirement of driv-er hand torque identification,so it can effectively identify the driver's intervention behavior in the course of au-tomatic driving.关键词
驾驶员手力矩/驾驶员干预识别/无迹卡尔曼滤波/未知输入观测Key words
driver hand torque/driver intervention identification/unscented Kalman filter/unknown input ob-server分类
交通运输引用本文复制引用
郑灵欢,郭唯浩,郭世永..基于无迹卡尔曼滤波的智能汽车驾驶员转向手力矩估算方法[J].测控技术,2024,43(12):56-65,75,11.
