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Road gradient estimation method and system based on vehicle driving state

A technology of vehicle driving and vehicle status, which is applied in the field of road slope estimation based on vehicle driving status, can solve problems such as inaccurate slopes, ensure accuracy and accuracy, do not increase the bus network load rate, and improve estimation accuracy and accuracy. Effect

Inactive Publication Date: 2020-12-08
清华大学苏州汽车研究院(吴江) +1
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Problems solved by technology

However, in actual situations, the vehicle will be accompanied by steering when going up and down the slope, or the direction of the vehicle is not exactly along the direction of the slope, but is traveling obliquely. At this time, the vehicle will also produce acceleration in the longitudinal direction. If only the longitudinal acceleration is considered will make the estimated slope inaccurate

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  • Road gradient estimation method and system based on vehicle driving state
  • Road gradient estimation method and system based on vehicle driving state
  • Road gradient estimation method and system based on vehicle driving state

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Embodiment

[0054] The preferred embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0055] A road slope estimation system based on vehicle driving state, which uses CAN bus to obtain known vehicle state information such as vehicle speed, steering wheel angle, yaw rate, longitudinal acceleration and lateral acceleration, and combines vehicle kinematics and dynamics methods, The real-time estimation of the road slope state solves the shortcomings of the previous slope estimation relying heavily on the vehicle model.

[0056] Such as figure 1 As shown, the road slope estimation system based on vehicle driving state includes a vehicle state information acquisition module 10 , a parameter calibration module 20 , a longitudinal slope calculation module 30 , a lateral slope calculation module 40 , and a road slope estimation module 50 . The specific module functions are as follows:

[0057] The vehicle state information acquisi...

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Abstract

The invention discloses a road gradient estimation method based on a vehicle driving state. The road gradient estimation method comprises the steps of obtaining vehicle state information including driving torque, braking torque, the steering angle of a steering wheel, longitudinal acceleration, transverse acceleration and yaw velocity; obtaining longitudinal accelerations and vehicle speeds of a vehicle at least at two moments, and calibrating parameters of a constructed vehicle longitudinal kinetic model; obtaining the real-time longitudinal acceleration and vehicle speed so as to obtain thecurrent longitudinal gradient; and obtaining the transverse gradient by a constructed vehicle transverse motion model so as to obtain the actual road gradient. Related input signals are obtained by using an existing sensor, additionally, the transverse and longitudinal motion states of the vehicle are considered, and the kinematics and dynamics methods of the vehicle are combined, so that the roadgradient is estimated in real time, the defect that existing gradient estimation seriously depends on a vehicle model is overcome, and the estimation precision and accuracy of the road gradient are increased.

Description

technical field [0001] The invention relates to the technical field of vehicle road slope processing, in particular to a method and system for estimating road slope based on vehicle driving state. Background technique [0002] The slope of the road surface affects the load distribution of the driving vehicle. Different load distributions will have a great impact on the grip of the tires. At the same time, the slope information also provides an extremely important status for the judgment of the up-down gear of the automatic transmission and the effective implementation of the electronic parking system. enter. Real-time, accurate and effective slope estimation is the key to realize the ideal lateral and longitudinal dynamic control of the vehicle. [0003] At present, the estimation of the road surface slope on the market is usually realized by using a slope sensor or a superimposed acceleration sensor. This method is easily disturbed by the motion state of the vehicle during...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/076
CPCB60W40/076B60W2520/00B60W2520/105B60W2520/125
Inventor 马孜立朱江赵峰
Owner 清华大学苏州汽车研究院(吴江)
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