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Method and system for estimating gradient of distributed drive 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, difficult to obtain longitudinal speed, and no accurate single-wheel dynamic model is established, so as to achieve the effect of high feasibility.

Active Publication Date: 2021-08-06
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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Problems solved by technology

[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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  • Method and system for estimating gradient of distributed drive electric vehicle
  • Method and system for estimating gradient of distributed drive electric vehicle
  • Method and system for estimating gradient of distributed drive electric vehicle

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Embodiment Construction

[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 of the embodiments of the present invention, not all of them. 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:

[...

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Abstract

The invention discloses a method and system for estimating the gradient of a distributed drive electric vehicle. The method includes: obtaining the longitudinal acceleration of the vehicle collected by the sensor in real time; calculating the longitudinal acceleration of the vehicle in combination with the vehicle longitudinal dynamics model according to the wheel output torque and wheel speed fed back by the hub motors of the wheels in real time; taking the calculated longitudinal acceleration as the state The input of the equation is to use the longitudinal acceleration of the vehicle measured by the sensor as the observation of the state equation, and the Kalman filter algorithm is used to filter the longitudinal acceleration of the vehicle; according to the longitudinal acceleration of the vehicle obtained by filtering, the slope of the road where the vehicle is located is calculated. The method for estimating the slope of a distributed drive electric vehicle provided by the invention has the advantage of high feasibility.

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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Application Information

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Patent Type & Authority Patents(China)
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