The invention discloses a road gradient estimation method, system and equipment for an electric vehicle, and belongs to the field of road gradient calculation.The road gradient estimation method comprises the steps that firstly, an acceleration value of a controller is processed through a Gaussian Newton method and first-order filtering, a system zero offset error and a scale error are eliminated, and an accurate and useful acceleration value is obtained; secondly, the slope change rate is estimated through a forgetting factor least square method, and the slope can be estimated on the road surface with the steep slope and the fast slope change in consideration of the change of the slope change rate of the road surface; and finally, in combination with a Kalman filtering method, influence of a gradient change rate factor is estimated through a previous forgetting factor least square method, and the estimation real-time performance of the time-varying gradient is very good through the Kalman filtering method. According to the method, the slope value can be estimated quickly in real time and the accuracy of the calculated slope value can be ensured during gear shifting and on a road with a large slope and quick change.
本发明公开了一种用于电动车的道路坡度估计方法、系统和设备,属于道路坡度计算领域,首先通过高斯牛顿法和一阶滤波,对控制器的加速度值进行处理,消除系统零偏误差和刻度误差,得到准确、有用的加速度值;其次采用遗忘因子最小二乘法的方法来估计坡度变化率,考虑到路面坡度变化率的变化,可以在坡度比较陡,坡度变化比较快的路面上估计坡度;最后结合卡尔曼滤波方法,通过之前的遗忘因子最小二乘法估计出坡度变化率因素的影响,再通过卡尔曼滤波方法,对时变坡度的估计实时性很好。能保证在换挡时和在坡度很大、变化很快的道路上,既能实时快速估计出坡度值,又能保证计算的坡度数值的准确性。
Road gradient estimation method, system and equipment for electric vehicle
一种用于电动车的道路坡度估计方法、系统和设备
2021-07-16
Patent
Electronic Resource
Chinese
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