The invention discloses a method for estimating a vehicle state and road surface unevenness. The method comprises the following steps: acquiring a vertical acceleration, a roll angle speed, a pitch angle speed and four suspension dynamic deflections of a vehicle mass center in real time through a sensor; the mass center vertical displacement, the roll angle and the pitch angle of the automobile are obtained based on the mass center vertical acceleration, the roll angle speed and the pitch angle speed; and inputting the data into a proposed vehicle state and road surface unevenness estimation algorithm to obtain an estimated state variable of the vehicle and road surface unevenness information of four wheels. Estimation of vehicle state variables and road surface unevenness can be achieved at the same time only through common sensors such as a displacement sensor, and the cost of hardware equipment is low; the method can be used for state estimation and road surface unevenness estimation of a semi-active suspension or active suspension vehicle, and can also be applied to state estimation and road surface unevenness estimation of a passive suspension vehicle.

    本发明公开了一种车辆状态及路面不平度的估计方法,包含以下步骤:通过传感器实时获取汽车质心垂向加速度、侧倾角速度、俯仰角速度、四个悬架动挠度;基于质心垂向加速度、侧倾角速度、俯仰角速度得到汽车的质心垂向位移、侧倾角、俯仰角;将上述数据输入到所提出的车辆状态及路面不平度估计算法中,得到估计的车辆的状态变量及四个车轮的路面不平度信息。本发明仅需要位移传感器等常用传感器,即可同时实现对车辆状态变量以及路面不平度的估计,硬件设备成本低;本发明既能用于半主动悬架或主动悬架车辆的状态估计与路面不平度估计,也能应用于被动悬架车辆的状态估计与路面不平度估计。


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    Title :

    Estimation method for vehicle state and road surface unevenness


    Additional title:

    一种车辆状态及路面不平度的估计方法


    Contributors:

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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