关键词: EKF 算法；质心侧偏角；横摆角速度；Dugoff 轮胎模型

Abstract: In order to solve the problem of high cost of measurement of centroid side deflection angle by intelligent vehicle sensor, a low-cost measurement method using extended kalman filter (EKF) algorithm is proposed in this paper. Based on Dugoff tire model, a vehicle nonlinear two-degree- of-freedom simulation model is constructed in MATLAB/Simulink software. The state observer of vehicle parameters and tire side force is designed by using EKF, and an adaptive covariance matrix is designed to adapt to multi-operating conditions. The designed algorithm is verified by experimental simulation in a variety of typical working conditions, and the curve is compared with that of CarSim, the vehicle dynamics software, under the same working conditions, and the simulated value is basically consistent with the estimated value. The results show that the designed vehicle parameter estimation algorithm has good adaptability to multiple operating conditions and has certain practicability.

Key words: EKF algorithm; Centroid side deflection angle; Angular velocity of pendulum; Dugoff tire model