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Complete vehicle state amount estimating method and device

A vehicle system and state quantity technology, applied in the direction of registration/indication of vehicle operation, instruments, registration/indication, etc., can solve problems such as unfavorable vehicle control strategies

Active Publication Date: 2019-04-26
SAIC MOTOR
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Problems solved by technology

This is extremely unfavorable for the application of the vehicle control strategy

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  • Complete vehicle state amount estimating method and device
  • Complete vehicle state amount estimating method and device
  • Complete vehicle state amount estimating method and device

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Embodiment Construction

[0084] In view of the fact that the linearization calculation error of the nonlinear system in the traditional state estimation is not easy to control, this application uses the unscented Kalman filter theory to design a method and method for estimating the state quantity of the vehicle system from the perspective of system probability density distribution approximation. device.

[0085] It should be noted that, since the two parameters of the vehicle mass and the road gradient have an important influence on the power and economy of the vehicle, the embodiment of the present application mainly focuses on the joint estimation of the vehicle mass and the road gradient.

[0086] figure 1 It is a schematic diagram of the principle of the method for estimating the state quantity of the vehicle system provided by the embodiment of the present application. Such as figure 1 As shown, the entire estimation method is based on the unscented Kalman filter to jointly estimate the vehicle...

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Abstract

The invention provides a complete vehicle state amount estimating method and device. The method comprises the steps that vehicle power performance data in a driving working condition is obtained; according to the vehicle power performance data, the mass of a complete vehicle is identified by using the recursive least square mass identification method with forgetting factors, and the identificationmass of the complete vehicle is obtained; the vehicle power performance data and the identification mass of the complete vehicle are used as inputs of unscented Kalman filter, and the complete vehicle state amount is integrally estimated by using the unscented Kalman filter, wherein the complete vehicle state amount at least comprises the complete vehicle mass and the road grade. By means of theestimation method, in the estimation process, linear processing of a non-linear system is not needed, and therefore, the linear errors introduced by forced linear approximation are avoided. Compared with a common nonlinear system state estimation method in the prior art, the estimation method greatly reduces the computed result divergence possibility.

Description

technical field [0001] The present application relates to the field of state estimation of vehicles, in particular to a method and device for estimating state quantities of a vehicle system. Background technique [0002] The two parameters of vehicle quality and road gradient have an important impact on vehicle dynamics and economy. Designing an effective vehicle quality and road gradient estimation algorithm can more accurately formulate vehicle dynamics and economical control strategies. At the same time, for future unmanned vehicles, it can also assist related unmanned control strategies to analyze the current situation of the vehicle. internal state and external road conditions. [0003] The whole vehicle system has nonlinear characteristics. When estimating the state quantity of the nonlinear system, the common idea is to first linearize the nonlinear function of the system state quantity. In this process, there may be a process of forced linear approximation. Forced ...

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Application Information

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IPC IPC(8): G07C5/08
CPCG07C5/0808
Inventor 孙俊赖祥翔李雯王磊王连旭
Owner SAIC MOTOR
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