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Automobile road slope estimation method based on information fusion

A technology of road slope and slope, which is applied in the field of real-time estimation of road slope, can solve the problems of low calibration difficulty, strong real-time performance, and low cost, and achieve the effect of reliable slope information, less calibration amount, and improved adaptability to working conditions

Pending Publication Date: 2022-06-17
JILIN UNIV
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Problems solved by technology

[0005] The present invention aims to solve the problem that the existing automobile slope estimation method cannot simultaneously take into account low cost, low calibration difficulty, high precision, and strong real-time performance, and proposes an automobile road slope estimation method based on information fusion

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  • Automobile road slope estimation method based on information fusion
  • Automobile road slope estimation method based on information fusion
  • Automobile road slope estimation method based on information fusion

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Embodiment Construction

[0085] Below in conjunction with accompanying drawing, the present invention is described in detail:

[0086] The invention discloses a vehicle road gradient estimation method based on information fusion. By obtaining the corresponding available signal from the bus, filtering the original signal, etc., and then solving the slope of the vehicle longitudinal dynamics model and the vehicle longitudinal kinematics model according to the nonlinear observer and the least square method with forgetting factor respectively, and then according to the vehicle speed. Two methods of information fusion are used to obtain the final slope estimation result. The basic principle of this method is to reduce the dependence of the estimation model on the modeling accuracy by considering the model information in the historical data. At the same time, two methods of longitudinal dynamics and longitudinal kinematics are used to adjust the weight between the two in real time according to the vehicle s...

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Abstract

The invention provides an automobile road slope estimation method based on information fusion, and aims to solve the problem that an existing automobile slope estimation method cannot give consideration to low cost, low calibration difficulty, high precision and high real-time performance at the same time. The method comprises the following steps of: 1, acquiring a corresponding signal from a bus, and ensuring that available information is fully utilized to improve the precision; 2, carrying out low-pass filtering and other processing on the original signal, and solving a signal required to be used later at the same time; 3, establishing a longitudinal dynamic model of the whole vehicle and a longitudinal kinematics model related to the road gradient according to the parameters in the step 1 and the step 2; 4, solving gradients under dynamics and kinematics conditions by using a nonlinear observer and a least square method with a forgetting factor respectively; and 5, fusing the two methods to obtain a final gradient estimation result.

Description

technical field [0001] The invention relates to a road gradient identification method for automobiles, in particular to a road gradient real-time estimation method integrating kinematics and dynamics multi-methods. Background technique [0002] As one of the important components of vehicle driving state parameters, slope is very important for vehicle stability and economic control. In the actual driving process, the road gradient directly affects the driving state of the vehicle and the driver's behavior, and the gradient estimation result with high accuracy can provide guarantee for vehicle control. [0003] The current research on slope identification mainly uses sensors to directly collect relevant data, and then obtain the road slope estimation results through mathematical algorithms. However, in practical applications, the sensor accuracy is easily affected by the environment and has errors, which in turn lead to wrong estimation results. At the same time, some high-p...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/076
CPCB60W40/076B60W2520/10B60W2520/105B60W2520/125B60W2510/0657B60W2510/1005B60W2530/10
Inventor 曾小华高皓铭宋大凤钱琦锋李量宇吴佳俊
Owner JILIN UNIV
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