This paper mainly attempts to design an interval observer for vehicle dynamic system, and make interval observation of the state for moving vehicles. For this purpose, a novel robust estimation method was introduced to apply interval state estimation in vehicle control system. Considering the change of the turning angle, the cornering force of the tires, and the change of driving conditions, we designed a linear parameter varying interval observer, and proposed a estimation algorithm which proved effective through simulation. The employed state estimation technique could simultaneously compute the relevant signals, and make timely and effective detection of sensor faults, thereby improving the reliability and robustness of the active control system of the vehicle.

本文主要尝试设计一种车辆动力学系统的区间观测器，并对移动车辆的状态进行区间观测。为此，引入了一种新的鲁棒估计方法，将区间状态估计应用于车辆控制系统。考虑到转弯角度的变化、轮胎的侧偏力以及驾驶条件的变化，我们设计了线性参数变化区间观测器，并提出了一种估计算法，经过仿真证明是有效的。采用的状态估计技术可以同时计算相关信号，及时有效地检测传感器故障，从而提高车辆主动控制系统的可靠性和鲁棒性。