The invention discloses a joint estimation method for vehicle mass and road transverse gradient, which is characterized in that a transverse kinematics model and a transverse dynamics model conforming to the driving characteristics of a land driving front-wheel steering four-wheel vehicle are respectively established for the land driving front-wheel steering four-wheel vehicle, and then the dynamics model and the kinematics model are fused to realize the decoupling of the vehicle mass and the road transverse slope. Combined estimation of the vehicle mass and the road transverse gradient is achieved through the recursive least square algorithm with the forgetting factor, and the method can accurately estimate the vehicle mass and the road transverse gradient in real time under the condition that external roads, environments and the like change. The estimated vehicle mass and road transverse gradient information can meet the requirements of active safety measurement and control of the automobile.

    本发明公开了一种车辆质量与道路横向坡度的联合估计方法,本方法针对陆地行驶前轮转向四轮车辆,分别建立符合其行驶特征的横向运动学和横向动力学模型,进而融合动力学和运动学模型实现车辆质量与道路横向坡度的解耦合,通过带遗忘因子的递归最小二乘算法实现对车辆质量与道路横向坡度的联合估计,该方法可以在外界道路、环境等变化的情况下,实时、准确的估计车辆质量与道路横向坡度,所估计出的车辆质量与道路横向坡度信息可满足有关汽车主动安全测量及控制的需要。


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    Title :

    Joint estimation method for vehicle mass and road transverse gradient


    Additional title:

    一种车辆质量与道路横向坡度的联合估计方法


    Contributors:
    SONG XIANG (author) / WANG PENG (author) / ZHANG LEI (author) / JIANG HUILIN (author) / YAN SHUN (author) / LI LIPING (author)

    Publication date :

    2021-08-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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