关键词: Kalman预测, 四轮转向, 仿真算法, 状态估计

Abstract:

In view of the high cost of and difficulty in vehicle motion measuring,this paper proposes the Kalman filtering technology for the state estimation of vehicle.The estimation algorithm is based on linear two degrees of freedom vehicle model for the foundation,and yaw-rate,lateral acceleration in the process of four-wheel steering are estimated respectively.An analysis of the results shows that Kalman filtering algorithm can estimate with better  accuracy the yaw-rate lateral acceleration in the process of four-wheel steering;4 WS car uses reverse to control vehicle at low speed and homonymous turned to control vehicle at high speed,which can improve the low-speed  maneuverability and high-speed operation stability of the car.

Key words: kalman forecast;four-wheel steering;simulate arithmetic;state estimation