Method for estimating heavy semitrailer status

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...

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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