The invention discloses a method for executing brake recovery by predicting gradient, which comprises the following steps of: acquiring driving data and environmental data in real time, loading a vehicle dynamic model, inputting the driving data into the vehicle dynamic model, acquiring a predicted gradient value output by the vehicle dynamic model, selecting a brake recovery mode according to the predicted gradient value, and executing brake recovery according to the selected brake recovery mode. Before the vehicle dynamics model is loaded, the vehicle dynamics model is established, including defining vehicle speed, vehicle weight and gradient as state variables for determining a system state vector, adding a process noise vector, measuring the noise vector, and constructing a state space of the system. According to the technical scheme, the vehicle can recognize the road gradient on the uphill and downhill road sections, and finally the vehicle can control the energy recovery mode according to the gradient value.
本发明公开了一种通过预测坡度执行制动回收的方法,包括以下步骤:实时采集行车数据和环境数据,加载车辆动力学模型,向车辆动力学模型输入行车数据,获取车辆动力学模型输出的预测坡度值,根据预测坡度值,选择制动回收模式,加载车辆动力学模型前,建立车辆动力学模型,包括:定义车速、车重和坡度为状态变量,用于确定系统状态向量,加入过程噪声向量、测量噪声向量,构建系统的状态空间。根据上述技术方案,可以使车辆在上下坡路段能够识别道路坡度,最终实现车辆能够根据坡度值控制能量回收的模式。
Method and device for executing brake recovery by predicting gradient
一种通过预测坡度执行制动回收的方法和装置
2023-09-26
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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