The invention relates to a vehicle mass and road slope online estimation method, device and equipment, which are suitable for an electric vehicle and a hub motor thereof, and are used for estimating the longitudinal force borne by a tire by acquiring vehicle parameters, vehicle hub motor output torque, wheel rotating speed and a vehicle longitudinal acceleration measurement value, and determining the vehicle mass and road slope by combining the vehicle longitudinal acceleration measurement value. Establishing a vehicle longitudinal dynamics model; designing a recursive least square method for adaptively introducing a forgetting factor according to a vehicle longitudinal dynamic model, calculating an acceleration residual error, judging whether the forgetting factor needs to be introduced according to whether the acceleration residual error is greater than a preset value, and estimating the vehicle mass and the road gradient on line; the method realizes simultaneous online estimation of the vehicle mass and the road slope, can quickly converge and improve the stability of the estimation result when the vehicle driving condition changes, and is high in estimation result precision, strong in working condition adaptability, quick in convergence and good in stability.
本发明涉及一种车辆质量和道路坡度在线估计方法、装置及设备,适用于电动汽车及其轮毂电机,通过获取车辆参数、车辆轮毂电机输出转矩、车轮转速、车辆纵向加速度测量值,估计轮胎所受纵向力,并结合所述车辆纵向加速度测量值,建立车辆纵向动力学模型;根据车辆纵向动力学模型,设计一种自适应引入遗忘因子的递归最小二乘法,计算加速度残差,根据加速度残差是否大于预设值来判断是否需要引入遗忘因子,在线估计车辆质量和道路坡度;实现对车辆质量和道路坡度同时在线估计,在车辆行驶状况发生变化时,可以快速收敛并提升估计结果稳定性,估计结果精度高,工况适应性强,收敛快,稳定性好。
Vehicle mass and road gradient online estimation method, device and equipment
一种车辆质量和道路坡度在线估计方法、装置及设备
2023-10-03
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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