Method and system for vehicle sideslip angle estimation based on event-triggered state estimation
US12377861B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 1, 2021 |
| Grant date | Aug 5, 2025 |
| Priority date | — |
| Expiry date | Nov 15, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2520/14
- WIPO fieldTransport
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.