- Title:
- Research on Vehicle Yaw Stability Analysis Method Based on State Estimation
- Keywords:
- yaw stability; vehicle state estimation; phase plane method; extended Kalman filtering; multi-layer perceptron
- CLC:
- P13, U461.4
- DOI:
- 10.13705/j.issn.1671-6833.2024.06.015
- Abstract:
- Aimed at the problem that the state parameters were difficult to obtain and the analysis results were single in the process of vehicle yaw stability analysis, a two-degree-of-freedom vehicle model was established as a reference model for yaw stability analysis and state estimation. The phase plane was constructed by using the sideslip angle and its angular velocity to analyze the yaw stability of the vehicle, and the adaptive phase plane stability domain based on multi-layer perceptron ( MLP ) was designed. According to the real-time state of the vehicle and the phase plane stability region, the yaw stability evaluation index was constructed. A vehicle state estimation algorithm based on extended Kalman filter (EKF) was designed, and a vehicle yaw stability analysis method based on state estimation was proposed. In order to verify the effectiveness and practicability of the proposed yaw stability analysis method, simulation tests at 100km/h and real vehicle tests at 30km/h were conducted under double lane change conditions. The simulation and real vehicle test results showed that the average error of sideslip angle estimation based on state estimation was less than 0.1°, and the average error of longitudinal velocity estimation was less than 0.03 m/s. This method could quantify the yaw stability from 0 to 1 based on the estimated vehicle state parameter input, reflecting the dynamic changes in vehicle yaw stability
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