The invention relates to a whole vehicle mass and road gradient estimation method which comprises the following steps: when the vehicle speed is smaller than a preset vehicle speed, adopting a presetproportion vehicle full-load value as a vehicle mass estimation value, and calculating the road gradient according to a vehicle longitudinal acceleration sensor measurement value and a vehicle acceleration calculation value; when the vehicle speed is larger than or equal to the preset vehicle speed, adopting the vehicle speed, the vehicle mass and deformation of road gradient as state variables, and the vehicle speed and the longitudinal acceleration as observed variables, establishing an extended Kalman state transition and observation equation, and estimating the vehicle mass and the road gradient according to an extended Kalman filtering formula. According to the whole vehicle mass and road gradient estimation method, when the vehicle mass and the road gradient are estimated, the gradient interval does not need to be set, the requirement for the working condition is low, and the method is suitable for heavy vehicles and various working conditions.
本发明涉及一种整车质量和道路坡度估算方法,其包括以下步骤:当车速小于预设车速时:采用预设比例车辆满载值作为车辆质量估算值,并根据车辆纵向加速度传感器测量值和车辆加速度计算值计算道路坡度;当车速大于或者等于预设车速时:将车速、车辆质量和道路坡度的变形作为状态量,车速、纵向加速度作为观测量,建立扩展卡尔曼状态转移和观测方程,根据扩展卡尔曼滤波公式估算车辆质量和道路坡度。本发明涉及的一种整车质量和道路坡度估算方法,在估算车辆质量和道路坡度时,不需要设定坡度间隔,且对工况要求较低,适用于重型车辆和各种工况。
Whole vehicle mass and road gradient estimation method
一种整车质量和道路坡度估算方法
2021-03-02
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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