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Vehicle mass identification method and device

A vehicle quality and identification method technology, applied in the direction of measuring devices, weighing, instruments, etc., can solve the problems of expensive vehicle quality identification methods, accuracy affects quality identification, and resistance changes are not considered, and it is easy to apply in real time and calculate The effect of small load and accurate signal

Active Publication Date: 2012-06-06
ROBERT BOSCH GMBH
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Problems solved by technology

[0009] The existing vehicle quality identification methods described above are either very expensive, or do not fully consider the impact of driving resistance and slope resistance, so in practice they cannot fully adapt to complex changes in vehicle driving conditions
[0010] In addition, in the prior art, most of the dynamic model-based identification methods estimate mass and slope as two unknown parameters, take rolling resistance and air resistance as known input formulas, and do not consider the change of resistance under different conditions. Moreover, the accuracy of slope estimation directly affects the identification of quality

Method used

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  • Vehicle mass identification method and device
  • Vehicle mass identification method and device

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Embodiment Construction

[0034] The research object of the present invention is a vehicle, especially a motor-driven vehicle. In the embodiment of the present invention, a vehicle in which each wheel is independently driven by a motor, such as a vehicle driven by four-wheel hub motors, is used. For general vehicles, wheel speed and vehicle driving torque need to be measured by additional sensors. For motor-driven vehicles, since the wheels are directly or indirectly driven by the motor, the driving torque can be obtained directly or indirectly through the electrical signal of the motor, which is more accurate than the driving torque calculated by the engine characteristics in literature [5]; no additional wheel The speed sensor integrated in the motor can provide the speed of the motor, and then convert the wheel speed.

[0035] The present invention proposes a new identification method based on a dynamic model, which does not require separate processing of slope information, and combines rolling resi...

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Abstract

The invention provides a vehicle mass identification method and a device. The vehicle mass identification method comprises the following steps of: acquiring wheel rotating speed and driving torque of a vehicle during running; acquiring a longitudinal acceleration value of the running vehicle; constructing a longitudinal kinetic equation of the vehicle; and on the basis of the longitudinal kinetic equation, setting a roughly estimated vehicle mass by taking the wheel rotating speed, the driving torque and the longitudinal acceleration value of the running vehicle as measurement input parameters and taking a sum of rolling resistance and air resistance as a variable, and identifying the mass of the vehicle through a recursive least square method with a plurality of forgetting factors.

Description

technical field [0001] The invention relates to a mass identification method and device for vehicles, in particular motor-driven vehicles. Background technique [0002] For the vehicle control system, although sensors can provide some vehicle and environmental information, such as wheel speed, body acceleration, ambient temperature, etc., there are also some information, such as vehicle quality, road adhesion coefficient, etc., which are difficult to use by sensors. Obtained, if some unknown parameters can be effectively estimated, then the control effect of the control system will be further improved. Taking ASR and ABS systems as examples, the vertical load information of each wheel is of great reference for controlling wheel slip (or slippage). [0003] One of the main factors determining the vertical load of the wheel is the vehicle mass, and the vehicle mass information is very important for obtaining the vertical load and controlling the wheel slip rate. [0004] Aut...

Claims

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Application Information

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IPC IPC(8): G01G19/08
Inventor 冯源熊璐余卓平韩卫军
Owner ROBERT BOSCH GMBH
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