The invention provides a road process noise adaptive pavement unevenness estimation method and system considering unsprung information, a terminal and a medium. The method comprises the following steps: acquiring vehicle mass center vertical response, pitching response and front axle unsprung mass vertical response information when a vehicle model runs on a current road surface; determining a current pavement grade according to the vehicle mass center vertical response information; determining a pavement process noise covariance matrix according to the pavement grade; determining other process noise covariance matrixes by adopting error information between the vehicle model and an actual vehicle; updating the process noise variance covariance matrix in the initial augmented Kalman filtering observer by using a self-adaptive process noise variance covariance matrix generated by the process noise covariance matrix and other process noise covariance matrixes to obtain a target augmented Kalman filtering observer; and carrying out road surface unevenness iterative calculation by adopting an observation vector constructed by the driving information and the target augmented Kalman filter observer to obtain the unevenness information of the current road surface.

    本发明提供一种考虑簧下信息的道路过程噪声自适应路面不平度估计方法、系统、终端及介质。方法包括:获取车辆模型在当前路面行驶时的车辆质心垂向响应、俯仰响应和前轴簧下质量垂向响应信息;根据车辆质心垂向响应信息确定当前路面等级;根据路面等级确定路面过程噪声协方差矩阵;采用车辆模型与实际车辆之间的误差信息确定其他过程噪声协方差矩阵;将过程噪声协方差矩阵和其他过程噪声协方差矩阵生成的自适应过程噪声方差协方差矩阵对初始增广卡尔曼滤波观测器中的过程噪声方差协方差矩阵进行更新处理,得到目标增广卡尔曼滤波观测器;采用行驶信息构建的观测向量与目标增广卡尔曼滤波观测器进行路面不平度迭代计算,得到当前路面的不平度信息。


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    Title :

    Road process noise adaptive pavement unevenness estimation method considering unsprung information


    Additional title:

    考虑簧下信息的道路过程噪声自适应路面不平度估计方法


    Contributors:
    XIA XIAOJUN (author) / ZHANG ZHIFEI (author) / ZOU HANTONG (author) / YE LEI (author) / ZHANG HONG (author) / HU BIN (author) / GAO JINGWEI (author) / HUANG YI (author) / SHUAI XIANGTIAN (author) / ZHU HONGYAN (author)

    Publication date :

    2025-02-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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