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A gradient estimation method based on a Kalman filtering algorithm

A Kalman filter and slope technology, applied in calculation, computer components, instruments, etc., can solve the problems of difficult decoupling of vehicle parameters and external resistance changes, complex road slope estimation, etc., to achieve easy acquisition, increase calculation load, cost reduction effect

Pending Publication Date: 2019-04-26
XIAN FASHITE AUTOMOBILE TRANSMISSION CO LTD
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Problems solved by technology

[0004] In order to solve the problems existing in the prior art when acquiring acceleration sensor data or acquiring slope signals through GPS and other equipment, when using too many sensors, or acquiring data from the vehicle CAN bus to estimate position parameters, the vehicle's own parameters are decoupled from external resistance changes Difficulties and the time-varying nature of the road lead to more complex technical problems in road slope estimation. The present invention provides a slope estimation method based on the Kalman filter algorithm

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  • A gradient estimation method based on a Kalman filtering algorithm
  • A gradient estimation method based on a Kalman filtering algorithm
  • A gradient estimation method based on a Kalman filtering algorithm

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[0057] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0058] A slope estimation method based on a Kalman filter algorithm, comprising the steps of:

[0059] 1) Offline calibration of the measurement noise covariance matrix R and the process noise covariance matrix Q in the Kalman filter parameters

[0060] 1.1) Obtain the vehicle speed signal and acceleration signal through the road sports car, wherein the vehicle speed signal is obtained by calculating the speed signal of the output shaft of the gearbox, and the acceleration signal is obtained by measuring the acceleration sensor installed in the sports car;

[0061] 1.2) Collect the vehicle acceleration signal and the vehicle speed signal, obtain the standard deviation of the vehicle speed signal and the standard deviation of the acceleration signal through the MATLAB calculation and analysis tool, and use V 1 with V 2 express;

[0062] 1.3) Using V ...

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Abstract

The invention relates to a road slope estimation method, in particular to a slope estimation method based on a Kalman filtering algorithm. The objective of the invention is to solve the problem that when acquiring acceleration sensor data or acquiring slope signals through a GPS and the like, more sensors are used, or when estimating position parameters by acquiring data from an automobile CAN bus, the estimation of the road slope is much more complicate due to own parameters of the automobile, difficulty in decoupling of external resistance change and the time varying features of the road, and the method comprises the following steps that 1) R and Q in Kalman filtering parameters are calibrated offline; 2) acquiring a slope estimation formula; and 3) establishing a slope estimation model.According to the method, only the vehicle speed signal and the acceleration signal in vehicle motion are involved and are easy to obtain, only the acceleration sensor needs to be additionally arranged, the price of the acceleration sensor is low, and cost reduction is facilitated.

Description

technical field [0001] The invention relates to a road slope estimation method, in particular to a slope estimation method based on a Kalman filter algorithm. Background technique [0002] During the driving process of the vehicle, some problems may occur in the shift strategy based on the vehicle speed and the accelerator opening in certain environments such as curves and slopes, so that the vehicle needs to be adjusted when the curves, slopes and road conditions change. Frequent and unexpected gear changes. [0003] At present, researchers at home and abroad mainly have two methods for online identification of ramp angles, namely: one is based on the identification method of adding external sensors, and the other is based on longitudinal dynamics or kinematics. The former obtains acceleration sensor data or slope signals through GPS and other equipment, that is, multi-sensor fusion is required to eliminate interference and reduce errors; the latter obtains data from the C...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50G06K9/62
CPCG06F30/15G06F30/20G06F18/25
Inventor 王婧宇
Owner XIAN FASHITE AUTOMOBILE TRANSMISSION CO LTD
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