Whole vehicle mass and road gradient estimation method

Abstract

The invention relates to a whole vehicle mass and road gradient estimation method which comprises the following steps: when the vehicle speed is smaller than a preset vehicle speed, adopting a presetproportion vehicle full-load value as a vehicle mass estimation value, and calculating the road gradient according to a vehicle longitudinal acceleration sensor measurement value and a vehicle acceleration calculation value; when the vehicle speed is larger than or equal to the preset vehicle speed, adopting the vehicle speed, the vehicle mass and deformation of road gradient as state variables, and the vehicle speed and the longitudinal acceleration as observed variables, establishing an extended Kalman state transition and observation equation, and estimating the vehicle mass and the road gradient according to an extended Kalman filtering formula. According to the whole vehicle mass and road gradient estimation method, when the vehicle mass and the road gradient are estimated, the gradient interval does not need to be set, the requirement for the working condition is low, and the method is suitable for heavy vehicles and various working conditions.

Description

technical field [0001] The invention relates to the field of vehicle control, in particular to a method for estimating vehicle mass and road gradient. Background technique [0002] At present, vehicle mass and road gradient are important parameters in the vehicle dynamics model. Accurate estimation of mass and gradient can effectively improve vehicle dynamics and economy. [0003] In the related art, a method for estimating the vehicle mass is to first construct a matrix composed of vehicle mass and road slope, and then calculate multiple theoretical values ​​of vehicle longitudinal acceleration according to the vehicle dynamics model, vehicle mass, and road slope matrix, and finally The measured acceleration value is compared with the calculated value, and the estimated value of the vehicle mass and road slope is determined according to the comparison results. However, this estimation method needs to construct the vehicle mass and road slope matrix in advance. For larger m...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a method for estimating the vehicle mass and road slope to solve the problem of constructing the vehicle mass and road slope matrix in advance in the related art, which is difficult to set for heavy vehicles with large tonnage or mountain roads with large slope fluctuations Appropriate vehicle mass and slope interval are not suitable for heavy vehicles and some working conditions; and the method of collecting vehicle neutral acceleration and heat generation also has high requirements for working conditions

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