公开(公告)号：US20230264700A1

公开(公告)日：2023-08-24

申请号：US18015020

申请日：2021-06-01

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Lei ZHANG ,  Zhenpo WANG ,  Xiaolin DING

IPC: B60W40/12 ,  B60W50/00

CPC classification number: B60W40/12 ,  B60W50/00 ,  B60W2050/0031 ,  B60W2520/12 ,  B60W2520/14 ,  B60W2050/0052

Abstract: A method and a system for vehicle sideslip angle estimation based on event-triggered state estimation are provided. The method includes: setting an observation variable, and adopting a Kalman filtering algorithm for iteration aiming at estimation of a vehicle yaw rate; in the iteration, setting a parameter to 1, indicating that an event is triggered, when a calculation of the observation variable satisfies a predetermined condition, otherwise setting the parameter to 0, indicating that the event is not triggered; when the parameter is set and a GPS heading angle is updated, estimating a state variable according to a formula, and calculating a vehicle sideslip angle according to the vehicle yaw rate obtained by adopting the Kalman filtering algorithm; and when the parameter is 1 and the GPS heading angle is not updated yet, estimating the vehicle sideslip angle by fusing measurement data of both a GPS and an IMU.