The invention relates to an automatic driving commercial vehicle mass estimation method based on radius self-adaption, and the method comprises the steps: data collection: obtaining the structure parameters of a vehicle, and collecting the parameters of the vehicle in a driving process through a sensor, and enabling the parameters to be used for mass estimation and radius updating; establishing a vehicle dynamical model considering radius change, firstly constructing a dynamical model considering the whole vehicle mass, and then adaptively calculating a wheel radius updating model; and designing a vehicle mass estimator, and designing the mass estimator based on the constructed vehicle dynamics model. The method has the advantages that by considering the influence of the vehicle mass on the wheel radius, the self-adaptive wheel radius is introduced into the vehicle dynamics model to be solved, compared with a fixed wheel radius, the precision is higher, and the vehicle safety and performance are greatly improved.
本发明涉及一种基于半径自适应的自动驾驶商用车质量估计方法,包括:数据采集,获取车辆的结构参数以及利用传感器采集车辆行驶过程中的参数,用于质量估计与半径更新;建立考虑半径变化的车辆动力学模型,首先构建考虑整车质量的动力学模型,然后自适应计算车轮半径更新模型;设计车辆质量估计器,基于构建的车辆动力学模型设计质量估计器。本发明的优点是通过考虑车轮半径受车辆质量的影响,将自适应的车轮半径引入车辆动力学模型求解,与固定车轮半径相比,精度更高,对车辆安全与性能的提升更大。
Quality estimation method for automatic driving commercial vehicle based on radius self-adaption
一种基于半径自适应的自动驾驶商用车质量估计方法
2024-03-29
Patent
Electronic Resource
Chinese
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