The invention discloses a method and system for estimating the gradient of a distributed driving electric vehicle. The method comprises the steps: acquiring longitudinal acceleration, collected by a sensor, of a vehicle in real time; calculating the longitudinal acceleration of the vehicle in combination with a vehicle longitudinal kinetic model according to a wheel output torque and a wheel speedfed back by each hub motor of the wheel in real time; with the calculated longitudinal acceleration as the input of a state equation and the vehicle longitudinal acceleration measured by a sensor asan observed quantity of the state equation, filtering the longitudinal acceleration of the vehicle by adopting a Kalman filtering algorithm; and calculating the gradient of the road surface where thevehicle is located according to the filtered vehicle longitudinal acceleration. The distributed driving electric vehicle gradient estimation method provided by the invention has the advantage of highfeasibility.
本发明公开了一种分布式驱动电动汽车坡度估计方法及系统。该方法包括:实时获取传感器采集到的车辆的纵向加速;实时根据车轮各轮毂电机反馈的车轮输出力矩和轮速,结合车辆纵向动力学模型计算车辆的纵向加速度;以计算得到的纵向加速度为状态方程的输入,以传感器测量得到的车辆纵向加速度为状态方程的观测量,采用卡尔曼滤波算法对车辆的纵向加速度进行滤波;根据滤波得到的车辆纵向加速度,计算车辆所处路面的坡度。本发明提供的分布式驱动电动汽车坡度估计方法具有可行性高的优势。
Method and system for estimating gradient of a distributed driving electric vehicle
一种分布式驱动电动汽车坡度估计方法及系统
2020-07-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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