The invention discloses a joint estimation method and system for vehicle mass and road gradient. The method comprises the following steps: inputting vehicle longitudinal dynamic parameters into a vehicle longitudinal acceleration dynamic function model to obtain dynamic function representation of vehicle longitudinal acceleration; the vehicle longitudinal acceleration dynamic function model is a dynamic model related to the relationship among the whole vehicle mass parameter, the road slope parameter and the vehicle longitudinal acceleration, and the vehicle longitudinal dynamic parameters comprise vehicle related inherent parameters and vehicle state parameters; acquiring a vehicle longitudinal speed measured value measured by a sensor of the vehicle; and according to the dynamic function representation of the longitudinal acceleration of the vehicle and the measured value of the longitudinal speed of the vehicle, the longitudinal speed of the vehicle is taken as an observed quantity, and the unscented Kalman filter algorithm is adopted to perform joint estimation on the vehicle mass and the road gradient. The vehicle mass and road gradient joint estimation method and system provided by the invention have the advantages of high calculation precision and low complexity.
本发明公开了一种车辆质量与道路坡度的联合估计方法及系统。该方法包括:将车辆纵向动力学参数输入车辆纵向加速度动力学函数模型,得到车辆纵向加速度的动力学函数表示;车辆纵向加速度动力学函数模型为关于整车质量参数、道路坡度参数与车辆纵向加速度之间关系的动力学模型,车辆纵向动力学参数包括车辆相关固有参数和车辆状态参数;获取车辆自带传感器测量得到的车辆纵向速度实测值;根据车辆纵向加速度的动力学函数表示以及车辆纵向速度实测值,以车辆纵向速度为观测量,采用无迹卡尔曼滤波算法对车辆质量和道路坡度进行联合估计。本发明提供的车辆质量与道路坡度的联合估计方法及系统具有计算精度高、复杂度低的优势。
Joint estimation method and system for vehicle mass and road gradient
一种车辆质量与道路坡度的联合估计方法及系统
2022-07-15
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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