考虑侧向运动的整车质量与道路坡度估计

doi:10.13229/j.cnki.jdxbgxb.20221061

Abstract

Abstract:

To reduce the influence of the lateral motion on the vehicle mass and the estimation accuracy of the road gradient， an estimation algorithm considering the lateral motion is proposed， the vehicle dynamics model is corrected by the acceleration， and the forgetting factor is used to enhance the new data to adapt to the minimum value of the time-varying characteristics of the vehicle system. The vehicle mass is estimated by the quadratic algorithm， and the mass estimation result is input into the road gradient estimation in real time； in addition， two gradient estimation models of vehicle kinematics and dynamics are established， and the acceleration correction term is added to the model， and the strong tracking filtering algorithm is designed respectively. A time-varying interactive multi-model fusion algorithm is proposed to estimate the road slope for the two models. The estimated road slope is obtained according to the weight coefficients of the two slope estimation models and the transition probability between the models. The proposed algorithm was tested and evaluated on a real vehicle in the Nong'an Automobile Proving Ground of the Technology Center of China FAW Co.， Ltd. Compared with the fusion estimation algorithm that did not consider the lateral direction， it improves the estimation accuracy of road slope when the vehicle moves laterally.

Key words: vehicle engineering, mass and road slope estimation, time-varying interacting multiple model, fusion, lateral movement, real vehicle test

CLC Number:

U461.1

Hong-yan GUO,Lian-bing WANG,Xu ZHAO,Qi-kun DAI. Joint estimation of vehicle mass and road slope considering lateral motion[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(5): 1175-1187.

Figures/Tables 15

Fig. 1

Fig. 2

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Table 1

Real vehicle test parameters"

参数名称	数值
装备质量 $m$ /kg	2170
车轮滚动半径 $r$ /m	0.335
前后桥电机传动系数	7.235
风阻系数 $C D$	0.332
迎风面积 $A$ /m²	2.574
空气密度 $ρ$ /（kg·m³）	1.2258
滚阻系数 $f$	0.0092
重力加速度 $g$ /（m·s²）	9.8

Table 1

Fig. 4

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Table 2

Estimation error of vehicle mass and road slope"

工况	坡度估计		质量估计
工况	均方根误差/%	最大绝对误差/%	最大绝对误差/kg	相对误差/%
坡上转向	0.2461	0.7570	8.3922	0.3867
$20 %$ 上坡 $8 %$ 下坡	0.7366	1.5814	6.1832	0.2849
$29 %$ 上坡 $12 %$ 下坡	0.6397	1.8163	17.7684	0.8188
$8 %$ 定坡度	0.6514	1.5346	32.5488	1.4999
$12 %$ 定坡度	0.6027	1.3709	37.6500	1.7350
$20 %$ 定坡度	0.6418	1.4255	3.9938	0.1840
$29 %$ 定坡度	0.5097	1.2054	4.7581	0.2192
平面转向	0.4918	1.9463	27.8690	1.2842

Table 2

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Joint estimation of vehicle mass and road slope considering lateral motion

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