Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (6): 1802-1809.doi: 10.13229/j.cnki.jdxbgxb20181038

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Estimation of lateral slope of vehicle driving road

Xin GUAN(),Hao JIN,Chun-guang DUAN(),Ping-ping LU   

  1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
  • Received:2018-10-12 Online:2019-11-01 Published:2019-11-08
  • Contact: Chun-guang DUAN E-mail:guan.hsin@ascl.jlu.edu.cn;dsprings@163.com

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Abstract:

The theory of vehicle dynamics is applied to solve the problems that the lateral slope estimation relies on the precision of the tire model and is influenced by the road surface adhesion coefficient, the dynamic response of the vehicle and the information of the vehicle body are not fully considered. Considering the dynamic characteristics of a two-degree-of-freedom (2-DOF) vehicle model on a pavement with a lateral slope, a lateral slope estimation method is proposed, which can decouple vehicle state and road information. Considering the complexity of the vehicle model and the identification error, the superposition terms of the inclination angle and the lateral slope of the vehicle are derived by using the 2-DOF vehicle model, and the inclination angle of the vehicle is solved by the suspension height information. Finally, the accurate estimation of the lateral slope of the road is realized. The vehicle model and lateral slope estimation algorithm are built by Simulink-Carsim, and the off-line simulation is carried out to verify the effectiveness of the method.

Key words: vehicle engineering, road bank angle estimation, lateral slope, vehicle side angle, vehicle dynamics

CLC Number: 

  • U461.1

Fig.1

Description of road bank angle"

Fig.2

2 DOF vehicle model"

Fig.3

Algorithm flowchart"

Fig.4

Vehicle roll angle estimation principle diagram"

Table 1

Vehicle parameters"

参数名称 符号 参数值
质心到前轴的距离/mm a 1 016
质心到后轴的距离/mm b 1 562
整车质量/kg m 1 446
车体绕z轴转动惯量/(kg·m-2) I z 1 536.7
轮距/mm L T W 1 540
悬架安装宽度/mm l 200

Fig.5

Transfer function identification verification"

Fig.6

Setting of road bank angle"

Fig.7

Class B road elevation map"

Fig.8

Estimation of road bank angle"

Fig.9

Local enlarged drawing"

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