A vehicle active safety control method and device

Abstract

The invention discloses a vehicle active safety control method and device. By establishing a state equation and an observation equation of robust filtering, a state vector and an observation vector are obtained, and the state vector and the observation vector are recursively calculated by filtering to obtain the first discrete moment The third vehicle mass and the third road longitudinal gradient, based on the third vehicle mass and the third road longitudinal gradient at the discrete time, the vehicle active safety control operation is performed. Through the above scheme, based on the robust filtering algorithm, the joint estimation of vehicle mass and road longitudinal gradient enables real-time and accurate acquisition of high-precision vehicle mass and road longitudinal gradient in the case of interference signals. By obtaining high-precision vehicle mass Quality and longitudinal slope of the road, and perform vehicle active safety control operations, thereby improving the control effect of vehicle active safety systems. In addition, while ensuring the high precision of vehicle quality and road longitudinal slope, it meets the application requirements under complex working conditions.

Description

technical field [0001] The invention relates to the technical field of vehicle active safety measurement and control, and more specifically relates to a vehicle active safety control method and device. Background technique [0002] With the development of social economy, the problem of road traffic safety has become increasingly prominent. In order to reduce the occurrence of traffic accidents and prevent problems before they happen, the active safety technology of automobiles that actively avoids traffic accidents is particularly important. [0003] At present, common automotive active safety technologies mainly include anti-lock braking system (Antilock BrakeSystem, ABS), vehicle electronic stability program (Electronic Stability Program, ESP), traction control system (Traction Control System, TCS), electronically controlled drive anti-skid system (Acceleration Slip Regulation, ASR), four-wheel steering stability control system (4 Wheel Steering, 4WS), etc. The prerequis...

AI Technical Summary

Problems solved by technology

The kinematics method is used to calculate the longitudinal slope of the road. The longitudinal slope of the road is calculated by performing kinematic calculations on the measurement signals of the global positioning system (Global Positioning System, GPS), inertial sensors, and wheel speed sensors. The accuracy of the sensor is high, and the vehicle is equipped with a low-cost sensor. Due to the low precision of the low-cost sensor, there is an error in obtaining the longitudinal slope of the road through the kinematic method, which affects the control effect of the active safety system.

However, the dynamics method has high requirements for the accuracy of the dynamics model, and it will be restricted by other environments in the actual application process. Obtaining the vehicle mass through the dynamics method may easily lead to low accuracy in obtaining the vehicle mass.

[0005] Therefore, through the dynamics method and the kinematics method, the accuracy of the obtained vehicle mass and road longitudinal slope is low, resulting in poor control effect of the active safety system

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