Method and device for predicting transverse motion state of vehicle based on sliding window mechanism

• Main Authors: WEI WENPENG, YIN GUODONG, ZHUANG WEICHAO, WANG JINXIANG, GAO QIANG, XU LIWEI
• Format: Patent
• Language: Chinese; English
• Published: 05.01.2024
• Subjects: CALCULATING; COMPUTING; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The invention relates to a vehicle transverse motion state prediction method and device based on a sliding window mechanism, and the method comprises the steps: S1, obtaining a pre-configured sliding window length, and initializing a vehicle transverse motion state prediction model based on the sliding window length and historical data; s2, after the latest collected vehicle front wheel steering angle, the latest collected vehicle front wheel slip rate and the latest collected vehicle transverse motion state are received, a system evolution matrix of the prediction model is generated based on the latest collected vehicle front wheel steering angle, the latest collected vehicle front wheel slip rate and the latest collected vehicle transverse motion state, the system evolution matrix of the prediction model acts on the vehicle transverse motion state prediction model, and the vehicle transverse motion state comprises a vehicle transverse speed and a vehicle yaw velocity; s3, correcting the vehicle transverse m