An automatic driving vehicle quality parameter on-line estimation device comprises an MCU which is provided with a CAN2.0 communication interface and can achieve the function of communication with a whole vehicle, and the software scheme of the invention is achieved; the invention discloses an online estimation method for quality parameters of an automatic driving vehicle. The method comprises the following steps: 1, collecting data; 2, on the basis of the obtained observed quantity, calculating a state equation, a Jacobian matrix and an observation equation of the EKF through a vehicle longitudinal dynamic model and whole vehicle parameters; step 3, determining start-stop conditions of vehicle mass real-time estimation and determining convergence time of vehicle mass real-time estimation; 4, the collected vehicle driving state data and related model parameters are input into the MCU, and the real-time vehicle mass is estimated, the starting and stopping conditions of mass estimation are added, and the accuracy of mass estimation can be guaranteed when deviation occurs between the vehicle driving state data and the sensor under the severe vehicle driving working condition.
一种自动驾驶车辆质量参数在线估计装置,包括:MCU,所述MCU具备CAN2.0通讯接口,能实现与整车的通讯功能,实现本发明软件方案;一种自动驾驶车辆质量参数在线估计方法,包括:步骤1:采集数据;步骤2:基于已获得观测量基础上,通过车辆纵向动力学模型与整车参数,计算EKF的状态方程,雅可比矩阵与观测方程;步骤3:确定车辆质量实时估计的启停条件与确定车辆质量实时估计的收敛时间;步骤4:将采集到的车辆行驶状态数据和相关模型参数输入到MCU中,估计实时车辆质量,本发明增加了质量估计的启停条件,能够在恶劣车辆行驶工况下与传感器本身出现偏差时,保证质量估计的准确性。
Automatic driving vehicle quality parameter online estimation method and device
一种自动驾驶车辆质量参数在线估计方法及装置
2022-09-02
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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