Research On The Rapid Test Method Of In-use Vehicle Handling Stability

Vehicles handling and stability is an important performance criterion.Side slip angle of the vehicle center of mass is an important criterion,but in present,there is no any sensor could measure the side slip angle directly,so side slip angle should be estimated. Currently,China's vehicle handling and stability test commonly used traditional inertial sensors to obtain the motion state of the vehicle.For example,useing acceleration sensor to measure vehicle acceleration,gyroscopes to measure yawrate,GPS to measure vehicle speed and yaw angular velocity and so on.Often at the same time there are several sensors measuring the same parameters of vehicles,as well as to make full use of these inertial sensors with GPS,a growing body of research begin to take advantage of the use of multi-sensor fusion algorithms to measure,calculate the state parameters of vehicles. Multi-sensor information fusion technology research began in the 20th century,the 80's military sphere,then rapidly expanding to all non-military applications.Multi-sensor fusion technology is the use of multiple sensors to work together,to be described in the same environmental characteristics of redundant or complementary information,the algorithm must re-use analysis,synthesis and balance characteristics to obtain a more accurate and reliable environment for the description of the information.Multi-sensor data fusion method can get the merits of the various sensors effectively,improving the test accuracy. This paper,in accordance with the requirements of vehicle handling and stability tests,based on the idea of multi-sensor fusion designs the in-use vehicle handling and stability test platform.The platform includes hardware and software systems.Hardware systems are sensors for the test vehicle.Software system is mainly for the experimental data pre-processing and vehicle side slip angle estimation algorithm.Vehicle test platform hardware includes a three-axis DC acceleration sensor,an optical fiber and a GPS product D-sensor.D-sensor and gyroscope can measure yaw angular velocity of the vehicle.D-sensor and three-axis acceleration sensor can measure at the same time the longitudinal and lateral vehicle acceleration.This provides the basic conditions for multi-sensor fusion technology.Vehicle test platform software systems are mainly the side slipe angle estimation algorithm using extended Kalman filter.The quality of side-angle estimation accuracy will be improved by using sensor data fusion.In this paper,the main work can be summarized as follows:(1) Analysed the multi-sensor information fusion technology,and introduced the basic theory and basic methods of multi-sensor fusion technology,then this paper decides to use extended Kalman filtering method.And detailedly account of the test system used a variety of sensors,developed for vehicle handling and stability test of multi-sensor fusion software system,and proposed a test process,as well as multi-sensor fusion method.(2) Based on the study of extended Kalman filter algorithm,deriving from the Kalman filter algorithm,determining the vehicle side slip angle extended Kalman filter estimation algorithm and model.(3) Real vehicle test experiment,analyzed the test data and and a few state variables.Based on the data resourse,estimated the side slip angle using EKF method proposed in chapterâ…¢, and a preliminary verification of the validity of the estimation method.In one word,this article developed a vehicle handling and stability tests platform.Through the real vehicle test experiment,conducting a preliminary analysis and processing based on multi-sensor information fusion using the extended Kalman filter algorithm for the side slip angle estimation.Validation results show that the proposed multi-sensor fusion-based vehicle side slip angle estimation algorithm is feasible.