Study On Vehicle Handing Stability Testing System And Testing Method Based On BDS

With the development of automobile industry,automobile handing stability control technology is becoming more and more important.So the methods of obtaining vehicles handing stability parameters have become research focus.In USA and European countries,Global Positioning System(GPS)is used to measure the parameters of vehicles handing stability control system.The Beidou Satellite Navigation System(BDS)built in China is developing rapidly.Its positioning accuracy has been improved,and its application field has gradually become increasing wide.Nowadays,Beidou system has been breaking GPS monopoly position in the field of vehicle handing stability measurement.This work presents a method to estimate and test vehicle handing stability based on Beidou Satellite Navigation System.This method can enhance the design level of the vehicle handing stability control system,and also it can improve the design of the automobile structure.This method makes a new application for Beidou system,and expands the application field of Chinese Beidou system.In this work,vehicle handing stability parameter measurement method and multi-sensor data fusion are studied.A lot of vehicle handing stability simulation and real vehicle testing are done under a variety of working conditions and road conditions.In this dissertation,the testing methods of vehicle handing stability key parameters such as vehicle sideslip angle and yaw angular velocity are studied.Those methods which are based on GPS measurement technology,Beidou Satellite Navigation System measurement technology and the multi-sensor data fusion technology can measure the vehicle's body posture,centroid trajectory,sideslip angle,yaw angular velocity and other parameters.The main content of this dissertation includes:The vehicle handing stability key parameters measurement and testing methods are summarized.Specially,the vehicle handing stability parameters measurement methods and the related theories based on GPS are introduced.The main research content in this thesis includes the Beidou satellite navigation system error analysis,GPS velocity determination theory,vehicle dynamics performance research,multi-sensor data fusion research and the research of vehicle handing stability parameters testing method.The research status,problems and the experience in the related fields are also summarized.This thesis studies the measurement model of vehicle handing stability testing system,and a multi degree of freedom vehicle dynamic model is established.The vehicle handing stability state parameter calculation formula is studied.The vehicle handing stability simulation shows the real vehicle test scheme.In order to fuse the information from GPS and INS well,the fuzzy logic clustering method is used in preprocessing the data for further integration.The preprocessing step can reduce data errors and eliminate data delay.In addition,Kalman filter is used in fusing vehicle speed data from the two single antenna of a Beidou Satellite Navigation System receiver.This thesis discusses the theory and method of GPS/INS measurement for vehicles handing stability parameters,and also studies the vehicle handing stability parameter measurement method of Beidou Satellite Navigation System receiver with single antenna.A method is proposed,in which fusion data received from two Beidou system receivers with a single antenna and INS are applied to achieve the measurement and estimation for vehicle centroid sideslip angle which is one of vehicle handing stability key parameters.Then,a vehicle kinematics model is built.In this model,the vehicle side slip angle can be calculated by the four vehicle speed received from the two antennas of two BDS receivers.The data measured by both Beidou system and INS are fused by Kalman filter.In this work,the data synchronization of two Beidou receivers is discussed.The delay and unsynchronized problems have been solved by the existing "measurement conversion" and "asynchronous measurement update" method.Through the analysis of vehicle kinematics equations,the further discussion about the relationship between the side slip angle and yaw angular velocity is done.In this work,a complementary method for the measurement of vehicle side slip angle in a straight line running is also proposed.Finally,the feasibility and superiority of the method are proved by experiments.