吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (6): 1845-1850.doi: 10.13229/j.cnki.jdxbgxb201606012

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Road grade estimation with grade change rate information

LIN Nan, SHI Shu-ming, MA Li, KUI Hai-lin   

  1. College of Transportation, Jilin University, Changchun 130022,China
  • Received:2015-09-09 Online:2016-11-20 Published:2016-11-20

Abstract: A road grade estimation method, which uses road grade change rate information, was proposed. The change rate of road grade is often ignored by researchers while using modern control theory to solve on-line road grade estimation, which may cause time lag inevitably. To eliminate this shortcoming, the acceleration measured from longitudinal sensor was introduced to express the change rate of road grade. Then, the state transition matrix including vehicle speed, vehicle acceleration and road grade was built. Finally a Kalman filter for road grade estimation was constructed. Experimental results show that the propose road grade estimation method considering the grade change rate information can reduce the time lag obviously.

Key words: vehicle engineering, road grade estimation, road grade change rate, Kalman filter, recursive least squares

CLC Number: 

  • U461.1
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