Method and device for estimating state quantity of vehicle system

A vehicle system and state quantity technology, applied in the direction of registration/indication of vehicle operation, registration/indication, instruments, etc., can solve problems such as unfavorable vehicle control strategies, reduce the possibility of divergence of calculation results, and avoid linearization effect of error

Active Publication Date: 2021-09-24
SAIC MOTOR
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Problems solved by technology

This is extremely unfavorable for the application of the vehicle control strategy

Method used

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  • Method and device for estimating state quantity of vehicle system
  • Method and device for estimating state quantity of vehicle system
  • Method and device for estimating state quantity of vehicle system

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Embodiment Construction

[0084] In view of the fact that the linearization calculation error of the nonlinear system in the traditional state estimation is not easy to control, this application uses the unscented Kalman filter theory to design a method and method for estimating the state quantity of the vehicle system from the perspective of system probability density distribution approximation. device.

[0085] It should be noted that, since the two parameters of the vehicle mass and the road gradient have an important influence on the power and economy of the vehicle, the embodiment of the present application mainly focuses on the joint estimation of the vehicle mass and the road gradient.

[0086] figure 1 It is a schematic diagram of the principle of the method for estimating the state quantity of the vehicle system provided by the embodiment of the present application. like figure 1 As shown, the entire estimation method is based on the unscented Kalman filter to jointly estimate the vehicle ma...

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Abstract

The present application provides a method and device for estimating the state quantity of the whole vehicle system. The method includes: acquiring vehicle dynamic performance data under driving conditions; The identification method identifies the mass of the vehicle to obtain the identification quality of the vehicle; the vehicle dynamic performance data and the identification quality of the vehicle are used as the input of the unscented Kalman filter, and the state quantity of the vehicle system is analyzed by using the unscented Kalman filter. For joint estimation, the vehicle system state quantities at least include vehicle mass and road gradient. The estimation method provided by this application does not need to linearize the nonlinear system during the estimation process, thus avoiding the linearization error introduced by forced linear approximation, compared with the method of nonlinear system state estimation commonly used in the prior art In terms of , the estimation method provided by this application greatly reduces the possibility of divergence of calculation results.

Description

technical field [0001] The present application relates to the field of state estimation of vehicles, in particular to a method and device for estimating state quantities of a vehicle system. Background technique [0002] The two parameters of vehicle quality and road gradient have an important impact on vehicle dynamics and economy. Designing an effective vehicle quality and road gradient estimation algorithm can more accurately formulate vehicle dynamics and economical control strategies. At the same time, for future unmanned vehicles, it can also assist related unmanned control strategies to analyze the current situation of the vehicle. internal state and external road conditions. [0003] The whole vehicle system has nonlinear characteristics. When estimating the state quantity of the nonlinear system, the common idea is to first linearize the nonlinear function of the system state quantity. In this process, there may be a process of forced linear approximation. Forced ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G07C5/08
CPCG07C5/0808
Inventor 孙俊赖祥翔李雯王磊王连旭
Owner SAIC MOTOR
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