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A vehicle state estimation method, device, equipment and storage medium
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A vehicle state and vehicle technology, which is applied in the field of equipment and storage media, vehicle state estimation methods, devices, and commercial vehicle control, can solve problems such as insufficient braking force, estimation error of vehicle mass, and low precision, so as to increase accuracy and Real-time, reduce estimation error, and estimate the effect of process science
Active Publication Date: 2021-08-13
TIANJIN SOTEREA AUTOMOTIVE TECH LMITED CO +1
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Problems solved by technology
Lack of these vehicle status information can lead to problems such as insufficient braking force or unstable deceleration
However, due to the low accuracy of the existing slope sensors, GPS sensors, etc., the estimation effect on mass and slope is not good.
Part of the estimation algorithm requires an acceleration sensor, and the acceleration sensor is expensive and has a large error
And in the downhill section, due to the intervention of the vehicle braking force, the estimation of the vehicle mass will have errors
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Embodiment 1
[0051] Embodiments of the present invention provide a vehicle state estimation method, such as figure 1 As shown, it includes the following steps:
[0052] S1: Establish a vehicle longitudinal dynamics model including braking force parameters according to the vehicle dynamics principle, obtain the vehicle's air resistance, rolling resistance, and vehicle rotational mass conversion coefficient, and import the vehicle longitudinal dynamics model;
[0053] The vehicle longitudinal dynamics model is:
[0054]
[0055] In the formula, is the driving force of the vehicle, is the rolling resistance, is the slope resistance, is the air resistance, is the braking force, is the acceleration or deceleration, is the vehicle rotation mass conversion coefficient, m is the vehicle mass.
[0056] The driving force is obtained by transmitting the engine torque to the driving wheels through the transmission system, and the specific expression is as follows:
[0057]
[00...
Embodiment 2
[0107] A vehicle state estimation device, including a vehicle state estimation module, used to obtain the vehicle's air resistance, rolling resistance, vehicle rotational mass conversion coefficient, engine output torque and brake pressure regulating valve pressure, import the vehicle longitudinal dynamics model, and use the extended Kalman filter estimates vehicle quality and road slope angle information;
[0108] The vehicle mass correction module is used to correct the vehicle mass value estimated by the vehicle state estimation module by using the least square method.
[0109] The specific operation of the vehicle state estimation device includes the following steps:
[0110] S1: Establish a vehicle longitudinal dynamics model including braking force parameters according to the vehicle dynamics principle, obtain the vehicle's air resistance, rolling resistance, and vehicle rotational mass conversion coefficient, and import the vehicle longitudinal dynamics model;
[0111]...
Embodiment 3
[0145] A vehicle state estimating device, comprising: a memory, a processor, and a vehicle state estimating program stored on the memory and operable on the processor, when the vehicle state estimating program is executed by the processor, the above-mentioned Steps of the vehicle state estimation method.
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Abstract
The present invention provides a vehicle state estimation method, comprising the following steps: S1: establishing a vehicle longitudinal dynamics model including braking force parameters, obtaining the vehicle's air resistance, rolling resistance, and vehicle rotational mass conversion coefficient, and importing the vehicle longitudinal dynamics model Middle; S2: Obtain the engine output torque and brake pressure regulating valve pressure of the vehicle; S3: Import the engine output torque and brake pressure regulating valve pressure into the vehicle longitudinal dynamics model in step S1, and estimate the vehicle according to the vehicle longitudinal dynamics model Quality, using the least squares method to correct the estimated quality value. The invention also discloses a vehicle state estimating device, equipment and a storage medium. The present invention estimates the quality and road slope angle based on the combined estimation method of extended Kalman filter and least square method, the quality error is 2%-3%, and the error of the road slope angleestimation result during the braking process is within ±0.1 degrees.
Description
technical field [0001] The invention belongs to the technical field of vehicle control, and in particular relates to a commercial vehicle control technology. Specifically, the invention provides a vehicle state estimation method, device, equipment and storage medium. Background technique [0002] In today's urban public transport, due to the change of the number of passengers in the bus after the bus enters and leaves the station, the total mass of the vehicle also changes significantly. And in some cities, the complex terrain leads to constant changes in the slope angle of the road surface. In addition, with the in-depth research on vehicle braking performance, it is found that the vehicle quality and road slope angle have a great influence on the braking effect. Lack of such vehicle status information can lead to problems such as insufficient braking force or unstable deceleration. However, due to the low accuracy of the existing slope sensors, GPS sensors, etc., the eff...
Claims
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