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Real-time estimation method for road slope under comprehensive driving conditions

A technology of road slope and slope, which is applied in the field of real-time estimation of road slope, can solve problems such as difficulty in obtaining the magnitude of braking force, lack of installation to measure the magnitude of braking force, and complex braking conditions, so as to expand the application range and improve vehicle assistance The effect of driving controls

Inactive Publication Date: 2017-12-12
CHONGQING UNIV
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  • Application Information

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Problems solved by technology

However, the existing methods based on vehicle longitudinal dynamics have not deeply explored the applicability of slope estimation under different driving conditions, that is, the existing methods are only suitable for non-braking driving conditions.
The main reason is that the braking conditions are relatively complex, it is difficult to obtain the magnitude of the braking force, and there is no sensor installed in the vehicle to measure the magnitude of the braking force, so the slope estimation cannot be realized through the mechanism model of the longitudinal dynamics of the vehicle

Method used

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  • Real-time estimation method for road slope under comprehensive driving conditions
  • Real-time estimation method for road slope under comprehensive driving conditions
  • Real-time estimation method for road slope under comprehensive driving conditions

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Embodiment 1

[0057]During the driving process of the vehicle, the driving conditions often change due to the environment, which can be roughly divided into two types of driving conditions: driving and braking. For driving driving conditions, the slope estimation is realized by modeling the longitudinal dynamics mechanism of the vehicle and constructing an adaptive extended Kalman filter estimation method. For braking driving conditions, the autoregressive prediction algorithm is used to predict the slope based on the historical data of the slope in view of the short braking distance in general driving conditions. Combining the two estimation methods, the slope estimation under comprehensive driving conditions can be realized based on OpenXC, thereby expanding the scope of application of slope estimation. This embodiment adopts a real-time estimation method of road slope suitable for comprehensive driving conditions, as shown in the figure, including the following four steps:

[0058] Step...

Embodiment 2

[0069] In this embodiment, the vehicle driving state data collected by OpenXC is used to realize the dynamic estimation of road slope under comprehensive working conditions by combining two estimation algorithms; the following steps are described in detail:

[0070] Step 1: Build a data collection platform based on OpenXC to obtain vehicle driving status data

[0071] The overall structure of the vehicle real-time data acquisition system is as follows: figure 1 As shown, the vehicle control modules such as the power system and the body system are equipped with sensors for detecting vehicle speed and torque, and are connected to the ECU electronic control unit. The electronic control unit realizes data communication through the CAN bus and transmits the data to the OBD-II interface. In the embodiment, the OpenXC provided by Ford Motor Company of the United States is a hardware module developed based on the OBD-II protocol. Therefore, the real-time vehicle status data can be rea...

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Abstract

The invention discloses a real-time estimation method for road slope under comprehensive driving conditions. The real-time estimation method for the road slope under the comprehensive driving conditions comprises the following steps that a data collection platform based on OpenXC is set up to obtain driving state data of vehicles at first; then a model of the relationship between the longitudinal power of the vehicles and the road slope is established; then an adaptive extended Kalman filter algorithm model is constructed; and finally, a short-range slope estimation method based on autoregressive prediction model is established according to the brake braking condition, and the slope estimation under the comprehensive driving conditions is calculated. The real-time estimation method for the road slope under the comprehensive driving conditions expands the scope of application while improving the slope estimation according to different driving conditions and uncertain noise interference in the actual driving environment; and the method further provides drivers with real-time road slop information, which is of great practical significance for improving vehicle auxiliary driving control, stability control, and realizing safe and energy-saving driving.

Description

technical field [0001] The invention relates to the technical field of vehicle intelligent control, in particular to a method for real-time estimation of road slope applicable to comprehensive driving conditions. Background technique [0002] The road condition information of vehicle driving is a key factor affecting driving decision-making, and road slope, as one of the parameters representing road conditions, also affects the safety, fuel economy and comfort of vehicle driving. Studies have shown that downhill roads are road sections with frequent traffic accidents, while uphill road sections have the highest fuel consumption rate compared with flat roads and downhill roads. Based on this, the current research on assisted driving and vehicle intelligent control all carry out gear shift and speed change control for different slope information. On the one hand, it can reduce potential safety hazards in the driving process. At the same time, increase the driver's comfort exp...

Claims

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Application Information

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IPC IPC(8): B60W40/076
CPCB60W40/076B60W2510/1005B60W2520/10B60W2520/105B60W2530/10B60W2530/16B60W2530/207
Inventor 孙棣华赵敏周桐黄秋光
Owner CHONGQING UNIV
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