Simulation and Test of Speed Estimation for Vehicle Dynamic Systems

• Main Authors: LIN, JIAN-YU, 林建宇
• Other Authors: CHEN, CHIT-KENG
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/br8k87

碩士 === 國立臺北科技大學 === 車輛工程系 === 107 === This research mainly design a set of key technologies for estimating the speed of the vehicle during the driving process. It can avoid the accuracy problem of the evaluator due to the drastic change of vehicle dynamics and noise effect struck by the brake, and the vehicle dynamic mathematical model is set up with CarSim software similar to the real car. The method used two modes to estimate the vehicle speed, the Kalman filter and the amplification Kalman filter, both of which used the wheel speed signal and acceleration signal to calculate the vehicle speed, and finally compared the speed of the two modes. And connect the hardware circuit to experiment, construct the vehicle dynamic model by CarSim-RT. When the pressure down the driver, the platform began to establish the oil pressure signal, through the A/D card to target end for real-time operation, and then through CAN transmission back to the platform control board, drive the ABS actuator, so that it is a closed-loop control. Combined with the vehicle speed estimate of mode one, the difference of vehicle speed estimation between CarSim and the brake platform is tested. In this paper, the vehicle speed estimator design in two modes, and the vehicle dynamics model is constructed by using CarSim software. The vehicle speed results of the coefficient of friction on high, medium and low road surfaces were tested separately. And connect the hardware loop to do experiments to improve the fidelity of the simulated vehicle dynamics. Combine the estimators designed in the previous chapters, respectively, in the CarSim software and hardware loop experiments, and compare the vehicle speed estimation error.