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Longitudinal speed evaluation method of full-wheel electrically-driven vehicle

A longitudinal vehicle speed and electric drive technology, which is applied in the field of vehicle speed estimation, can solve problems such as real-time impact, and achieve high precision and accurate vehicle speed estimation

Active Publication Date: 2011-04-13
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When these algorithms are used for vehicle speed estimation, the accuracy is generally high, but because more nonlinear iterative calculations are involved, the real-time performance is greatly affected

Method used

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  • Longitudinal speed evaluation method of full-wheel electrically-driven vehicle
  • Longitudinal speed evaluation method of full-wheel electrically-driven vehicle
  • Longitudinal speed evaluation method of full-wheel electrically-driven vehicle

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Experimental program
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Embodiment Construction

[0043] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0044] The vehicle speed measuring system of the present invention collects vehicle-mounted general sensor signals (comprising longitudinal acceleration sensor signals, steering wheel angle sensor signals) and drive motor feedback signals (i.e. tire rotational speed signals), utilizes the vehicle speed estimation method based on Kalman filter and the vehicle speed based on acceleration integral The estimation method is estimated separately, and the slip rate threshold value is used to switch and judge, and then a more accurate vehicle speed value is obtained.

[0045] Such as figure 1 Shown, the inventive method comprises the following steps:

[0046] 1) Signal acquisition

[0047] Real-time collection of vehicle wheel speed, longitudinal acceleration and steering wheel angle and other information. Collected tire speed signal steering wheel angle s...

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Abstract

The invention relates to a longitudinal speed evaluation method of a full-wheel electrically-driven vehicle. The method comprises the following steps: 1) configuring a speed measuring system; 2) collecting signals shown in the specification in real time; 3) carrying out filtering treatment on the collected signals in a Kalman filtering mode; 4) establishing a speed evaluation formula based on a Kalman filter space equation structure and a speed evaluation formula based on integrated acceleration; and 5) switching discretion by using a speed evaluation algorithm: setting a threshold value for the absolute value of the trackslip / slip rate lambda as epsilon, when the absolute value of lambda is less than the epsilon, adopting the speed evaluation formula based on the Kalman filtering, and when the absolute value of lambda is more than or equal to the epsilon, adopting the speed evaluation formula based on the integrated acceleration. The method provided by the invention is suitable for online speed evaluation of the full-wheel electrically-driven vehicle, comprising exact observation for the longitudinal speed when the wheel is subject to excessive trackslip / slippage and even locking.

Description

technical field [0001] The invention relates to a vehicle speed estimation method, in particular to a method for real-time online estimation of the longitudinal vehicle speed of an all-wheel electric drive vehicle. Background technique [0002] In the process of vehicle dynamics control, the monitoring of the real-time state of the vehicle plays a very important role. The observation accuracy of some key vehicle states directly determines the effect of vehicle dynamics control. The vehicle state observation system conducts online real-time estimation of the key state parameters of the vehicle according to the on-board sensors, and transmits effective information to the control system, thereby realizing effective control of the vehicle state. Vehicle speed is an important reference for designing the parameters of vehicle stability controllers. Real-time online estimation of vehicle speed using common sensors on the vehicle is one of the key technologies required for vehicle ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/10
Inventor 罗禹贡褚文博江青云李克强连小珉刘力杨殿阁郑四发
Owner TSINGHUA UNIV
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