Test method of vehicle braking performance based on improved Kalman filtering

In view the shortcomings of traditional test methods, a novel test method of vehicle braking performance based on improved Kalman filtering is proposed. The speed and azimuth outputted by single-frequency carrier phase single-point GPS receiver is selected as the observed information of Kalman filter. By improving Kalman filter recursion algorithm, the speed and plane coordinates of vehicle braking process are calculated with high frequency and high precision. Then, the vehicle braking distance and mean fully developed deceleration (MFDD) can be easily determined to judge vehicle braking performance. The real vehicle tests demonstrate that the measurement precision of braking distance of the proposed method can reach 0.2 m to 0.3 m, the speed precision is lower than 0.1 m/s, and the output frequency is up to 100 Hz. The proposed test method has such advantages as low cost, high output frequency, high precision and environmental adaptability, which overcomes the shortcomings of traditional methods.