Method of Vehicle Speed Estimation Adapted in All Conditions for All-wheel Independent Drive Vehicle

doi:10.3969/j.issn.1000-1093.2015.10.025

Abstract

Abstract: A speed estimating method adapted in all conditions based on the parameter adaptive Kalman filter is established for speed estimation of the all-wheel independent drive vehicle. The left and right sides are estimated separately, and the parameters of filter are adaptively adjusted by fuzzy controller. An adaptive switching condition is designed based on drive condition and road adhesion condition. The accelerating integral is chosen when the anti-slip of the tire is higher than the preset default value. The effectiveness and accuracy of the speed estimating method are verified through hardware-in-loop real-time simulation. The simulation results show that the proposed method possesses high estimation precision under many operating condistions, and has general application value.

Key words: control science and technology, vehicle speed estimation, Kalman filter, adaption of all conditions, all-wheel drive

CLC Number:

TJ81

YANG Gui-bing, LI Chang-bing, LIAO Zi-li, MA Xiao-jun, LIU Chun-guang. Method of Vehicle Speed Estimation Adapted in All Conditions for All-wheel Independent Drive Vehicle[J]. Acta Armamentarii, 2015, 36(10): 2006-2011.

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