The invention provides a vehicle mass identification method based on a tire model and a tire model generation method, and relates to the technical field of unmanned driving. The vehicle mass identification method based on the tire model comprises the steps that the tire slip rate, speed and acceleration of a vehicle and the gradient of the road surface where the vehicle is located are acquired; the tire slip rate, the speed, the acceleration and the gradient are input into the tire model to obtain the mass of the vehicle, wherein the tire model is used for indicating the relationship among thetire slip rate, the mass, the speed and the acceleration of the vehicle, the gradient of the road surface and the comprehensive coefficient of air resistance. By newly establishing the tire model, signals such as the rotating speed and the torque of a power source do not need to be obtained, only the tire slip rate, the speed and the acceleration of the vehicle and the gradient of the road surface where the vehicle is located need to be obtained, the mass of the vehicle can be accurately identified, and then the accuracy of vehicle control in the unmanned driving process is improved.
本申请提供一种基于轮胎模型的车辆质量辨识方法及轮胎模型生成方法,涉及无人驾驶技术领域。其中,基于轮胎模型的车辆质量辨识方法包括获取车辆的轮胎滑移率、速度、加速度以及车辆所在路面的坡度;将轮胎滑移率、速度、加速度、坡度输入轮胎模型,得到车辆的质量,轮胎模型用于指示车辆的轮胎滑移率、质量、速度、加速度以及路面的坡度、空气阻力综合系数之间的关系。通过新建立一个轮胎模型,无需获取动力源的转速、转矩等信号,仅需获取车辆的轮胎滑移率、速度、加速度以及车辆所在路面的坡度,能够准确地辨识出车辆的质量,进而提高无人驾驶过程中车辆控制的准确性。
Vehicle mass identification method based on tire model and tire model generation method
基于轮胎模型的车辆质量辨识方法及轮胎模型生成方法
2020-12-25
Patent
Electronic Resource
Chinese
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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