The invention relates to the technical field of commercial vehicle mass estimation, and provides a high-precision commercial vehicle mass estimation method and device fused with map data. The method comprises the following steps: integrating a map engine with T-Box in a cross compiling mode; inputting vehicle positioning information obtained by a GPS (Global Positioning System) module in the T-Box into the map engine to obtain gradient information of the vehicle; the slope information and vehicle real-time message information obtained by the T-Box from a CAN bus are utilized, and a whole vehicle mass estimation result is obtained through calculation of an improved Kalman filtering algorithm and a vehicle longitudinal dynamics model; and carrying out rolling optimization processing on the whole vehicle mass estimation result to obtain an optimal mass estimation result. According to the embodiment of the invention, quadratic programming problem solving in a traditional mass gradient joint estimation algorithm is avoided, and the computing power demand on the controller is low; the gradient data is used as a known quantity instead of an estimated quantity, so that the unknown quantity of the gradient is eliminated, and the precision is higher.
本发明涉及商用车的质量估算技术领域,提供一种融合地图数据的高精度商用车质量估算方法和装置。上述方法,包括:将地图引擎通过交叉编译的方式与T‑Box进行集成;将通过所述T‑Box中GPS模块获取到的车辆定位信息输入试所述地图引擎中,得到所述车辆的坡度信息;利用所述坡度信息和所述T‑Box从CAN总线中获取到的车辆实时报文信息,通过改进的卡尔曼滤波算法和车辆纵向动力学模型计算得到整车质量估算结果;将所述整车质量估算结果通过滚动优化处理,得到最优质量估算结果。本公开实施例避免了传统质量坡度联合估算算法中的二次规划问题求解,对控制器的算力需求低;将坡度数据作为已知量而非估计量,消除了坡度的未知量,精度更高。
Map data fused high-precision commercial vehicle mass estimation method and device
一种融合地图数据的高精度商用车质量估算方法和装置
2024-08-27
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 |
Vehicle load high-precision estimation method based on vehicle-mounted CAN data
European Patent Office | 2024
|Two-layer structure algorithm for estimation of commercial vehicle mass
SAGE Publications | 2020
|Development of algorithms for commercial vehicle mass and road grade estimation
British Library Online Contents | 2017
|