Method for jointly estimating vehicle mass-road gradient under consideration of influence of braking and turning

A technology for road gradient and joint estimation, applied in the directions of calculation, design optimization/simulation, instrumentation, etc., can solve the problem of reducing vehicle quality and road gradient estimation accuracy, not considering the influence of braking and turning parameter estimation, and road increasing the complexity of the estimation process And other issues

Inactive Publication Date: 2017-10-13
CHONGQING UNIV
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Problems solved by technology

Although there are many methods in this regard, a common difficulty lies in the decoupling of the vehicle's own parameters (weight, etc.) and external resistance (slope) changes. In addition, the time-varying nature of the road also increases the complexity of the estimation process
The braking force and lateral dyn

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  • Method for jointly estimating vehicle mass-road gradient under consideration of influence of braking and turning
  • Method for jointly estimating vehicle mass-road gradient under consideration of influence of braking and turning
  • Method for jointly estimating vehicle mass-road gradient under consideration of influence of braking and turning

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Embodiment Construction

[0078] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0079] In this embodiment, the car mass-road gradient joint estimation method considering braking and turning effects includes the following steps:

[0080] Step 1: Collect data

[0081] Step 11: Use the data acquisition device to obtain vehicle driving status data

[0082] Such as figure 1 As shown, this embodiment adopts the OpenXC provided by Ford Motor Company of the United States to insert into the OBD-II interface, and then develops an APP based on data collection software to receive real-time vehicle driving status data through the Bluetooth device and store it in the mobile terminal of the mobile phone. Specifically, the vehicle driving State data includes torque T, vehi...

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Abstract

The invention discloses a method for jointly estimating vehicle mass-road gradient under the consideration of influence of braking and turning. The method includes steps of 1, acquiring data, to be more specific, 11, acquiring vehicle driving state data by data acquisition devices, 12, combining the vehicle driving state data and vehicle intrinsic parameters with one another and computing relevant parameters required by models; 2, building relation models of vehicle mass, road gradient and the vehicle driving state data on the basis of vehicle dynamic models; 3, building least square mass estimation models and Kalman filter gradient estimation models on the basis of the relation models of the vehicle mass, the road gradient and the vehicle driving state data; 4, jointly estimating the vehicle mass and the road gradient by means of nested loop iteration; 5, eliminating the influence of braking and turning in state maintenance modes. The method has the advantages that the influence of braking and turning is considered in real vehicle driving procedures, and accordingly the vehicle mass and the road gradient can be dynamically jointly estimated in real time.

Description

technical field [0001] The invention relates to a joint estimation method of vehicle mass and road gradient based on least squares and Kalman filtering, which considers the influence of braking and turning during real vehicle driving, and realizes real-time dynamic joint estimation of vehicle mass and road gradient . Background technique [0002] Real-time estimation of vehicle dynamics model parameters is the basis of vehicle control, and vehicle mass and road gradient are important parameters in vehicle dynamics model. Accurate and real-time estimation of vehicle mass and road gradient can effectively improve vehicle dynamics and economy. On-line adjustment of the shift control strategy according to the vehicle quality can not only make the vehicle run more smoothly during the automatic shift process, but also obtain a more economical shift control strategy. Based on information such as road gradient, speed and acceleration, the vehicle power coefficient can be calculated...

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Application Information

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IPC IPC(8): G06F17/50G06F17/15G06F17/16
CPCG06F17/15G06F17/16G06F30/15G06F30/17G06F30/20
Inventor 赵敏孙棣华郑林江杨凡
Owner CHONGQING UNIV
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