Estimation Of The Sideslip Angle Of Vehicle Implemented FPGA

With the development of electronic technology and the soaring demand of secu-rity for the driver, the proportion of vehicles electron system is getting biger and biger in automobile. On common vehicles, the electronic installation takes up above 23% of the entire vehicles'cost, and in some luxury cars, this proportion goes up to 50%.This shows that automotive electronics has become a trend in automotive development.The main goal of this article is to estimatethe sideslip angle rapidly and accurately in vehicle driving through FPGA technology.Firstly, this paper introduces the research background and its significance as well as the concept of the sideslip angle, which demonstrates the importance of accurate and fast accessto the sideslip angle ofa moving car. this article is based on FPGA to research the sideslip angle of car,so much effort is put on FPGA technology. For a better study of the sideslip angle, a detailed description of research status on the sideslip angle has been made In this paper.Secondly, close study of vehicle models, algorithms, and the software, includeing the eight-degrees-freedom-vehicle-model, simplified Sage-Husa adaptive Kalman filter algorithm; DSP Builder software, Modelsim software, Quartus II software and hardware FPGA development board DE2- 70. Vehicle model is the unified index of tire model proposed by academicians Guo Konghui, where details of the uniform tire model of the lateral parameters, uniform tire model vertical parameters, uniform tire model aligning torque parameters, uniform tire model geometry parameters, vehicle dynamics equations and the implementation of vehicle model in Simulink are give. for the algorithm, we study both the adaptive Kalman filter algorithm and simplified the Sage-Husa adaptive Kalman filter algorithm, and choose the simplified Sage-Husa adaptive Kalman filter algorithm in sideslip angle of the argument. Sideslip angle is calculated by taking the vertical horizontal speed devided by vertical speed, then get the tangent for the ratio of this operations, after which details of how to implement in DSP Builder vehicle sideslip angle calculation is presented. Finally, this paper describes the use of the DSP Builder software, Modelsim software, QuartusⅡsoftware and hardware FPGA development board DE2-70, and details the characteristics of all the software the design process. Finally, simplified Sage-Husa adaptive Kalman filter algorithm and the joint eight degrees of freedom vehicle model are built in Simulink tosimulate the three conditions of the vehicle sideslip angle, then in DSP Builder perform the same operation and to get the VHDL, to test the consistency of VHDL, Rigister Transform Level simulation was run in Modelsim and analyses were given. For the RTL simulation is not enough for the whole demonstration of the hardware circuit, timing simulation was carried out in QuartusⅡ.There are also a few problems left over. For example only the pure condition of the vehicle sideslip angle is studied without the consideration of brake and turning condition. The programme optimization is briefly introduced and no substantial comparison was given. Such problems need further perfection.