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Road gradient estimation method, system and equipment for electric vehicle

A technology for road slope and electric vehicles, applied in design optimization/simulation, complex mathematical operations, etc., can solve problems such as inability to estimate slope, achieve real-time rapid estimation, eliminate zero bias error, and ensure accuracy

Pending Publication Date: 2021-07-16
XIAN FASHITE AUTOMOBILE TRANSMISSION CO LTD
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art that the slope estimation algorithm cannot accurately estimate the slope in real time, and provide a road slope estimation method, system and equipment for electric vehicles

Method used

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  • Road gradient estimation method, system and equipment for electric vehicle
  • Road gradient estimation method, system and equipment for electric vehicle
  • Road gradient estimation method, system and equipment for electric vehicle

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Embodiment Construction

[0068] The present invention is described in further detail below in conjunction with accompanying drawing:

[0069] Such as figure 1 As shown, a road gradient estimation method for electric vehicles includes the following steps:

[0070] 1: Determine the acceleration value and control model of the three-axis accelerometer sensor:

[0071] (1) Read the acceleration value X of the three-axis accelerometer sensor m , Y m ,Z m ;

[0072] (2) For the read-out three-axis value, use the Gauss-Newton method to eliminate the system zero offset error and scale error, and use the first-order filter to eliminate Gaussian white noise to obtain the calibrated value a x , a y , a z The unit is g, and the control model is established;

[0073] a x = S x (x m -o x ) (1)

[0074] a y = S y (y m -o y ) (2)

[0075] a z =s z (z m -o z ) (3)

[0076]

[0077] the s x 2 (x m -o x ) 2 +s y 2 (y m -o y ) 2 +s z 2 (z m -o z ) 2 = 1 (5)

[0078]

[0079] wh...

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Abstract

The invention discloses a road gradient estimation method, system and equipment for an electric vehicle, and belongs to the field of road gradient calculation.The road gradient estimation method comprises the steps that firstly, an acceleration value of a controller is processed through a Gaussian Newton method and first-order filtering, a system zero offset error and a scale error are eliminated, and an accurate and useful acceleration value is obtained; secondly, the slope change rate is estimated through a forgetting factor least square method, and the slope can be estimated on the road surface with the steep slope and the fast slope change in consideration of the change of the slope change rate of the road surface; and finally, in combination with a Kalman filtering method, influence of a gradient change rate factor is estimated through a previous forgetting factor least square method, and the estimation real-time performance of the time-varying gradient is very good through the Kalman filtering method. According to the method, the slope value can be estimated quickly in real time and the accuracy of the calculated slope value can be ensured during gear shifting and on a road with a large slope and quick change.

Description

technical field [0001] The invention belongs to the field of road gradient calculation, and relates to a road gradient estimation method, system and equipment for electric vehicles. Background technique [0002] In the field of pure electric commercial vehicles, more and more OEMs need to know the slope value of the road in real time, so as to make a torque strategy based on the real-time slope. Therefore, the more accurate the estimation of the road slope, the better. In terms of estimating and measuring the slope of the road, it can be measured by installing a slope measuring instrument on the body, or using the sensor that comes with the controller and calculating it through an algorithm. For pure electric commercial vehicles, the former generally requires additional measurements Equipment, for the main engine factory, will firstly increase the cost, and secondly, it has higher requirements for the installation position when the vehicle is arranged. Generally, it should b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/076B60W40/107G06F30/27G06F17/18G06F17/11
CPCB60W40/076B60W40/107G06F30/27G06F17/18G06F17/11
Inventor 尹欣欣严鉴铂刘义
Owner XIAN FASHITE AUTOMOBILE TRANSMISSION CO LTD
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