汽车行驶状态与道路参数非线性一体化估计方法研究

The improvement of vehicle active safety control system depends on the comprehensive and reliable vehicle driving states and road parameters information. Due to the price and measurement accuracy of sensors, these information could not be measured directly on the mass-production vehicles, and it could be obtained using estimation method. However, the existing estimation schemes could not obtain the entire information requirement of active safety control. The strong couple of vehicle system makes it become round-circle coupled estimation problem. In addition, the estimation methods lack of theoretical guarantee, such as stability, robustness. Moreover, the estimators face the miniaturization and real-time problem. Motivated by these observations, this project estimates the vehicle driving states and road parameters from the point of theory and method. It is focus on (1) integrated estimation scheme of vehicle driving states and road parameters, (2) modular nonlinear estimation method of vehicle driving states and road parameters, (3) the entire stability and robustness of the integrated estimation scheme, (4) the high-efficiency and low-computational embedded implementation scheme for integrated estimation scheme. Thereby, this research project would be expected to propose the estimation scheme of the round-circle coupled estimation problem, obtain the comprehensive and accurate vehicle driving states and road parameters, and enhanced the performance of vehicle active safety control. Moreover, it will promote the interdisciplinary of control science and vehicle engineering, and broaden control application area..

汽车主动安全控制性能的提高依赖于完整、可靠的行驶状态及道路参数信息。由于传感器价格、测量精度问题，这些信息无法在量产车中全部测量得到，只能通过估计方法获得。针对现有估计方案难以获得主动安全控制全部信息、汽车系统强耦合性使其成为循环耦合估计问题，整体估计方法缺少稳定性与鲁棒性的理论保证，以及估计器实现面临实时性与小型化问题，本项目从理论和方法的角度对汽车行驶状态与道路参数估计展开研究。重点研究：(1) 汽车行驶状态与道路参数一体化估计总体结构；(2) 模块化的汽车行驶状态与道路参数非线性估计方法；(3) 一体化估计策略的整体稳定性与鲁棒性；(4) 一体化估计策略的高效低成本实现方法。通过本项目的研究提出循环耦合估计问题的解决方案，获得完整、准确的汽车行驶状态与道路参数信息，提高汽车主动安全控制性能，促进控制与车辆工程的学科交叉，拓宽控制应用领域。

汽车主动安全控制性能的提高依赖于完整、可靠的行驶状态及道路参数信息。考虑传感器价格昂贵、测量精度低等问题，本项目对车辆行驶状态及道路参数估计问题进行研究。针对现有估计方案难以获得主动安全控制全部信息、汽车系统强耦合性使其成为循环耦合估计问题，整体估计方法缺少稳定性与鲁棒性的理论保证，以及估计器实现面临实时性与小型化问题，本项目从理论和方法的角度对汽车行驶状态与道路参数估计展开研究。重点进行了如下研究：(1) 提出了汽车行驶状态与道路参数一体化估计总体结构；(2) 提出了模块化的汽车行驶状态与道路参数非线性估计方法；(3) 分析了一体化估计策略的整体稳定性与鲁棒性；(4) 采用FPGA/SoPC及FPGA全硬件实现方案解决了一体化估计策略的高效低成本实现问题。通过本项目的研究提出循环耦合估计问题的解决方案，获得完整、准确的汽车行驶状态与道路参数信息，提高汽车主动安全控制性能，促进控制与车辆工程的学科交叉，拓宽控制应用领域。