Method and system for estimating gradient of a distributed driving electric vehicle
An electric vehicle, distributed technology, applied in the direction of control devices, etc., can solve the problems of low feasibility of slope estimation, difficulty in obtaining longitudinal vehicle speed, and lack of accurate single-wheel dynamic model, etc., and achieve high feasibility
Active Publication Date: 2020-07-10
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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[0019] In the multi-method fusion proposed above, the slope estimation method based on the dynamics model does not establish an accurate single-wheel dynamics model; in the kinematics method, the longitudinal speed of the vehicle is not easy to obtain in the actual application scene, and the method based on this method Slope estimation is not feasible
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[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0055] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0056] First of all, the basic content involved in the present invention is first described:
[0057] according to figure 1 The vehicle model shown builds a vehicle longitudinal dynamics model:
[0058] Longitud...
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The invention discloses a method and system for estimating the gradient of a distributed driving electric vehicle. The method comprises the steps: acquiring longitudinal acceleration, collected by a sensor, of a vehicle in real time; calculating the longitudinal acceleration of the vehicle in combination with a vehicle longitudinal kinetic model according to a wheel output torque and a wheel speedfed back by each hub motor of the wheel in real time; with the calculated longitudinal acceleration as the input of a state equation and the vehicle longitudinal acceleration measured by a sensor asan observed quantity of the state equation, filtering the longitudinal acceleration of the vehicle by adopting a Kalman filtering algorithm; and calculating the gradient of the road surface where thevehicle is located according to the filtered vehicle longitudinal acceleration. The distributed driving electric vehicle gradient estimation method provided by the invention has the advantage of highfeasibility.
Description
technical field [0001] The invention relates to a gradient estimation method and system for a distributed drive electric vehicle. Background technique [0002] The slope estimation method using multi-method fusion mainly includes the slope estimation method based on dynamics and the slope estimation method based on kinematics. [0003] The slope estimation using the dynamic method can use the following formula: [0004] y=u+b [0005] y=F x [0006] [0007] b=mg(sinθ d +fcosθ d ) [0008] where F x is the longitudinal force, is the longitudinal acceleration, is the air resistance, mgsinθ is the component of gravity on the slope, and mgfcosθ is the rolling resistance. [0009] The value of b can be estimated by the method of least squares. Since the slope of the road surface is time-varying, b is also time-varying, so the least square method with a forgetting factor is used to estimate b. In a linear system, it is equivalent to finding the parameter b(k), so...
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IPC IPC(8): B60W40/076B60W50/00
CPCB60W40/076B60W50/00B60W2050/0031
Inventor 王震坡丁晓林韩冰张雷刘建宏
Owner BEIJING INSTITUTE OF TECHNOLOGYGY