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Road gradient and car state parameter combined estimation method based on parameter estimation error

A technology of parameter estimation and joint estimation, applied in the field of vehicle engineering, which can solve problems such as dependencies

Active Publication Date: 2015-04-29
KUNMING UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

[0004] The present invention provides a joint estimation method of road slope and vehicle state parameters based on parameter estimation error, which is used to realize online, joint and fast estimation of road slope and vehicle key state parameters by designing an adaptive law method based on parameter estimation error , and put forward a discriminant method for parameter convergence, solve the traditional method's dependence on additional sensors such as acceleration and GPS, obtain faster online estimation results, and provide support for improving the accuracy and stability of vehicle control systems

Method used

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  • Road gradient and car state parameter combined estimation method based on parameter estimation error
  • Road gradient and car state parameter combined estimation method based on parameter estimation error
  • Road gradient and car state parameter combined estimation method based on parameter estimation error

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Embodiment 1

[0079] Embodiment 1: as Figure 1-8 As shown, a joint estimation method of road slope and vehicle state parameters based on parameter estimation error, the specific steps of the method are as follows:

[0080] According to the process described in the above invention, the slope and state parameters of a class of typical medium-sized vehicles are continuously estimated, and the numerical simulation is carried out in Matlab software.

[0081] Step 1. Establish a vehicle longitudinal dynamics model: According to the vehicle dynamics theory and Newton's second law, the vehicle is subjected to force analysis, and the vehicle longitudinal dynamics model can be obtained as follows:

[0082] m v . = F force - mg sin θ - C vf v - C μ mg cos...

Embodiment 2

[0109] Embodiment 2: as Figure 1-8 As shown, a joint estimation method of road slope and vehicle state parameters based on parameter estimation error, the specific steps of the method are as follows:

[0110] According to the process described in the above-mentioned invention, a finite time estimation is carried out for a class of typical medium-sized vehicle driving road surface slope and state parameters, and a numerical simulation is carried out in Matlab software.

[0111] Step 1. Establish a vehicle longitudinal dynamics model: According to the vehicle dynamics theory and Newton's second law, the vehicle is subjected to force analysis, and the vehicle longitudinal dynamics model can be obtained as follows:

[0112] m v . = F force - mg sin θ - C vf v - C ...

Embodiment 3

[0139] Embodiment 3: as Figure 1-8 As shown, a joint estimation method of road slope and vehicle state parameters based on parameter estimation error, first establishes a vehicle longitudinal dynamics model based on vehicle dynamics theory and Newton's second law; then obtains vehicle speed and engine driving force through vehicle sensor measurements , take it as the input of the estimation algorithm; then perform filtering operation on the vehicle longitudinal dynamics model to extract the parameter estimation error; then judge whether the excitation condition is satisfied: if it is satisfied, use the vector containing the parameter estimation error to design the adaptive law estimation Unknown parameter vector; if not satisfied, add random disturbance to the driving force, and return to re-measure; finally calculate the estimated value of road slope, vehicle weight, viscous friction coefficient, rolling friction coefficient and air resistance coefficient through basic mathem...

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Abstract

The invention relates to a road gradient and car state parameter combined estimation method based on a parameter estimation error, and belongs to the field of vehicle engineering. The method comprises the steps of firstly establishing a car driving longitudinal kinetic model according to a car kinetics theory and the newton second law; measuring a car speed and a driving force of an engine by virtue of a car-borne sensor, and adopting the measured car speed and the driving force as input quantities of an estimation algorithm; filtering the car driving longitudinal kinetic model, and extracting a parameter estimation error; judging whether an excitation condition is satisfied: estimating an unknown parameter vector by utilizing a vector designing self-adaptive law containing the parameter estimation error if the excitation condition is satisfied; adding random interference to the driving force if the excitation condition is not satisfied, and returning for re-measurement; finally calculating estimated values of a road gradient, car weight, viscous friction coefficient, rolling friction coefficient and air resistance coefficient by virtue of basic mathematical manipulation. By adopting the method, the cost is reduced, the accumulation of measurement noise can be avoided, and the precision is improved; the calculation quantity is reduced.

Description

technical field [0001] The invention relates to a method for jointly estimating road slope and vehicle state parameters based on parameter estimation errors, and belongs to the field of vehicle engineering. Background technique [0002] The control effect of modern vehicles not only depends on the performance of the vehicle controller, but also depends on the dynamic parameter changes during the driving process of the vehicle. If some unknown and dynamically changing parameters (such as road gradient, vehicle weight change, wind resistance, etc.) can be accurately measured during the driving process of the car, it will not only improve the control accuracy of the vehicle system, but also provide information reference for safe driving of the car. However, due to limitations in hardware configuration, installation space, and price, it is impossible to install enough sensors to measure the required information comprehensively. For parameter estimation, some information (vehicl...

Claims

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Application Information

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IPC IPC(8): B60W40/00B60W40/076B60W40/13B60W40/068
CPCB60W40/068B60W40/076B60W40/105B60W40/13B60W2510/0657
Inventor 那靖杨娟高贯斌郭瑜伍星
Owner KUNMING UNIV OF SCI & TECH
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