Research On The Stability Of Commercia Vehicle Based On Dual Extended Kalman Filter

Commercial vehicles is gradually toward the high performance, high speed, efficient development, continued high-speed driving to the stability of vehicle put forward higher requirement. This requires the key of commercial vehicle must be accurate grasped in the process of long mileage, heavy load, high speed driving. Vehicle states are used to prevent vehicle rollover as the warning data. However, in the actual environment, still can not directly use the low-cost sensor acquisition to the running state of the vehicle accurately. Therefore, this paper proposes the use of nonlinear filtering state estimation method to solve the above problem. This method can estimate the unknown vehicle state value, which is difficult to measure, by the easily collected measurement value used of sensors.This article first through the sensor measurements combined with HSRI tire model, get the tire longitudinal force and lateral tire forces. Then the tire longitudinal force and lateral force into four degree of freedom vehicle model, application of double extended Kalman filter theory(DEKF), get the vehicle longitudinal/lateral acceleration, yaw rate and vehicle roll angle status. The vehicle state values obtained by estimation are used to prevent vehicle rolovering, improve the stability of commercial vehicles. Considering the actual traffic environment, road condition changing will affect the estimation results. This paper will control the process of differential braking and estimation of vehicle state process linked to a closed-loop feedback, to realize the real-time control of the vehicle and the vehicle state estimation accuracy value. For the validity of controlling and the accuracy of vehicle state estimation, this paper will be applied before and after the vehicle state of controlling comparison the forming of commercial software TruckSim simulation values. The results show that:the vehicle state estimation is more accurate, and differential braking can effectively reduce sideslip angle control the braking of vehicle attitude change, to improve the stability of the vehicle..