Body height observation based on Kalman filter algorithm
Since the direct use of ultrasonic and lidar ranging was easily interfered by road conditions,in order to solve the above contradiction,a Kalman filtering algorithm was proposed.Using MATLAB/Simulink,a vehicle model and a body height observer were established,so as to achieve real-time and accurate acquisition of body height.Accurate vehicle centroid height parameters for vehicle control strategies were provided.The simulation model was used to simulate and analyze the double-line shift condition and speed bump condition,and the random excitation was applied to the stationary vehicle to carry out the real vehicle experiment.Simulation and experimental results showed that the body height observer of Kalman filter algorithm can obtain the body height in real time and accurately,with good accuracy.
NETL
NSTL
万方数据
维普
