The invention relates to a computer-implemented method for controlling a vehicle, the control being performed by using a non-linear model representing the power of the vehicle, the non-linear model giving a relationship between a plurality of vehicle state parameters, the vehicle state parameters including the mass of the vehicle and one or more other state parameters, the method includes obtaining a value of vehicle mass, receiving a plurality of time-series measured first values of one or more of the other state parameters, using a plurality of measured first values of one or more other state parameters, a non-linear model, and extended Kalman filtering with a first filter tuning, calculating a first plurality of time-series values of the mass of the vehicle using the obtained mass values as starting values, including a first calculated mass value, receiving a plurality of time series measurement second values of one or more of the other state parameters, and calculating a second plurality of time-series values of the mass of the vehicle using the first calculated mass value as a starting value using a plurality of measured second values of the one or more other state parameters, a non-linear model, and an extended Kalman filter with a second filter tuning, the second plurality of time-series values including the second calculated mass value, wherein the second filter tuning is less strongly than the first filter tuning, the method further comprising using the second calculated mass value in controlling the vehicle.
本发明涉及一种用于控制车辆的计算机实现的方法,控制通过使用表示车辆的动力的非线性模型执行,该非线性模型给出多个车辆状态参数之间的关系,车辆状态参数包括车辆的质量和一个或多个其它状态参数,该方法包括:获得车辆质量的值,接收其它状态参数中的一个或多个的多个时间序列测量第一值,使用一个或多个其它状态参数的多个测量第一值、非线性模型和具有第一滤波器调谐的扩展卡尔曼滤波、利用所获得的质量值作为起始值来计算车辆质量的第一多个时间序列值,其包括第一计算质量值,接收其它状态参数中的一个或多个的多个时间序列测量第二值,以及使用一个或多个其它状态参数的多个测量第二值、非线性模型和具有第二滤波器调谐的扩展卡尔曼滤波器、利用第一计算质量值作为起始值来计算车辆质量的第二多个时间序列值,其包括第二计算质量值,其中使第二滤波器调谐不如第一滤波器调谐强烈,该方法进一步包括在控制车辆时使用第二计算质量值。
Computer-implemented method for controlling vehicle
用于控制车辆的计算机实现的方法
2022-11-08
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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