Method for estimating heavy semitrailer status

A state estimation, semi-trailer technology, applied in the field of automobile state estimation

Inactive Publication Date: 2012-07-18
JILIN UNIV
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, these researches and applications are currently limited to single-vehicle state estimation, and for the motion state of heavy-duty semi-trailers with more complex systems, there is no simple and easy estimation method at home and abroad.

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  • Method for estimating heavy semitrailer status
  • Method for estimating heavy semitrailer status
  • Method for estimating heavy semitrailer status

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Embodiment Construction

[0032] The present invention is described in detail below in conjunction with accompanying drawing:

[0033] The invention relates to a state estimation method of a heavy-duty semi-trailer. Since the heavy-duty semi-trailer system itself is more complex, and the coupling motion between the semi-trailer and the tractor is strong, it is more important to grasp its status information for the increasing number of electronic control systems of the automobile chassis. The present invention only uses the commonly used sensor equipment of the electronic control system of the automobile chassis to measure the wheel speed information, longitudinal acceleration information, lateral acceleration information and steering wheel angle information of the heavy-duty semi-trailer, and calculates the vehicle speed estimated value obtained from the wheel speed information and the longitudinal acceleration information , and other sensor information are passed to the model-based UKF state estimator...

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Abstract

The invention discloses a system and a method capable of estimating important heavy semitrailer motion status parameters including tractor and semitrailer roll angles, tractor and semitrailer mass center roll angles, tractor and semitrailer yaw velocities and the like, and providing accurate status parameters for a heavy semitrailer electric control system. The status estimating method comprises the steps of: measuring tractor and semitrailer wheel velocities by wheel velocity sensors at the positions of wheels; measuring a steering wheel corner by a corner sensor at the position of a steering wheel; measuring tractor and semitrailer longitudinal/lateral accelerations by longitudinal/lateral acceleration sensors at the positions of the tractor and semitrailer mass centers; according to the wheel velocity and the longitudinal acceleration, calculating the longitudinal vehicle velocity; based on a UKF (unscented Kalman filter) status estimator of a five-freedom heavy semitrailer kinetic model, carrying out time updating based on the model and measurement updating based on a UKF algorithm to obtain a real status value; and outputting the real status value of the heavy semitrailer to a heavy semitrailer status memory for making preparations for status estimation at next moment.

Description

technical field [0001] The present invention relates to a vehicle state estimation method, more specifically, the present invention relates to a heavy-duty semi-trailer vehicle state estimation method. Background technique [0002] With the development of computer technology and intelligent information processing technology, more and more automotive electronic technologies have emerged and are continuously applied to modern automotive chassis control systems. It has played a positive role in promoting automobile pollutant emissions. Especially for the main heavy-duty semi-trailer for road transportation, this effect is particularly obvious. The realization of these heavy-duty semi-trailer electronic control systems is mainly based on the parameters of the heavy-duty semi-trailer and the actual motion state to determine the corresponding control logic and algorithm. The key to the goal. [0003] Although these state parameters can be directly measured by sensors, they must...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/12
Inventor 宗长富王化吉麦莉赵伟强郑宏宇何磊张不扬聂枝根卜未琦赵汉卿
Owner JILIN UNIV
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