CN105416294A - Heavy-duty combination vehicle parameter estimation method - Google Patents

Heavy-duty combination vehicle parameter estimation method Download PDF

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Publication number
CN105416294A
CN105416294A CN201510991702.5A CN201510991702A CN105416294A CN 105416294 A CN105416294 A CN 105416294A CN 201510991702 A CN201510991702 A CN 201510991702A CN 105416294 A CN105416294 A CN 105416294A
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heavy
vehicle
duty
estimated
parameter estimation
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CN105416294B (en
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郑宏宇
王琳琳
万滢
赵伟强
宗长富
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/11—Pitch movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
    • B62D53/06—Semi-trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B60W2040/1315—Location of the centre of gravity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/16—Pitch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses a heavy-duty combination vehicle parameter estimation method. The method aims at estimating the road slope, the whole vehicle mass and the location of the center of mass online in real time according to the environment sensing device information and sensor information of a heavy-duty combination vehicle. According to the method, the influence on slope estimation precision of the pitch angle is sufficiently considered, and the real road slope is obtained by subtracting the pitch angle, calculated by an air spring height sensor, of a motor tractor from the estimated road slope calculated according to the environment sensing device information; according to mass estimation, the influence on slope resistance and air resistance is sufficiently considered, the air resistance is estimated as the unknown quantity, and the estimation precision is improved; according to electric control air braking system pressure sensor information, the location of the center of mass is estimated.

Description

A kind of Heavy Duty Truck method for parameter estimation
Technical field
The present invention is designed for vehicle, especially the method for parameter estimation of Heavy Duty Truck and system.
Background technology
Along with the development of Eltec, automobile electric control system integrating control improves automotive circuit diagram, intelligent level greatly, plays more and more important effect in automobile active safety and driver comfort.Electric-control system judges travel condition of vehicle by vehicle parameter information and then carries out control decision.Therefore, accurate vehicle parameter information is particularly important for electric-control system.Although sensor can provide vehicle and environmental information to electric-control system, as the speed of a motor vehicle, wheel speed, acceleration/accel and brake-pressure etc.; But road grade, complete vehicle quality and centroid position etc. are difficult to pass through sensor measurement.On the basis setting up auto model, utilize control algorithm estimated sensor cannot become research focus gradually by measurement parameter.
It is strongly non-linear that Heavy Duty Truck has motion, between tractor truck and trailer brake coordination difference etc. feature.In addition, Heavy Duty Truck in transportation loading mass change greatly, chaufeur to when braking in the impercipient situation of loading condition, easily there is the not enough or braking of braking excessively, reduction braking safety and traveling comfort; Centroid position change in braking procedure, axle load shifts, and affects brakig force distribution control effects.
Document " SimultaneousMassandTime-VaryingGradeEstimationforHeavy-D utyVehicles ", " ExperimentsforOnlineEstimationofHeavyVehicle ' sMassandTime-VaryingRoadGrade ", " RecursiveLeastSquareswithForgettingforOnlineEstimationof VehicleMassandRoadGrade:TheoryandExperiments " proposition adopts method of least square and state observer to carry out road grade respectively and heavy-duty vehicle complete vehicle quality is estimated to reach to estimate vehicle mass with less instrument simultaneously, the object of resistance to motion and road grade.
Document " On-boardpayloadidentificationforcommercialvehicles " devises a kind of commercial vehicle/comm..vehicle height of center of mass On-line Estimation device based on airsuspension system.Electric load monitoring system estimates commercial vehicle/comm..vehicle load-carrying by air suspension left and right sides air pressure difference, utilizes band external source import automatic returning model Least Square Method height of center of mass.Due to road excitation, air bellow intraluminal pressure is in disorderly change procedure, and the force value utilizing pressure sensor to obtain is inaccurate.
Document " ParameterIdentificationofaVehicleforAutomaticPlatooningC ontrol " estimates four axle truck load and centroid positions by the relation between load and Suspension Deformation.Pressure sensor between tire and ground measures axle load, and diaxon spring deflection before line decoder measurement truck, by obtaining truck centroid position to analysis of experimental data.But the use of sensor considerably increases estimated cost.
Existing heavy-duty vehicle parameter identification method one class is based on model, and a class is based on sensor.Based on model method due to the complexity real-time of model and algorithm poor; Sensor-based method is then because the high cost of sensor greatly reduces practicality.
Summary of the invention
The object of this invention is to provide a kind of vehicle parameter discrimination method for Heavy Duty Truck and system, meet precision and requirement of real-time simultaneously.The car team that train-type vehicle is made up of automobile or tractor truck and trailer, is mainly divided into full trailer-train, semi-trailer train, double trailer train and long goods train-type vehicle four kinds.Research object is herein heavy semi-trailer train.
For this reason, the invention provides a kind of Heavy Duty Truck parameter identification method, comprise the following steps:
1) set up heavy-duty vehicle drive train power model, braking time Longitudinal Dynamic Model;
2) parameter identification equation is set up by described heavy-duty vehicle kinetic model, described parameter identification equation is using air spring height, brake-pressure, heavy-duty vehicle location information etc. as input, and road grade, heavy-duty vehicle quality and centroid position are as unknown quantity;
3) when heavy-duty vehicle normally travels, car status information is obtained, as the speed of a motor vehicle, longitudinal acceleration, brake-pressure;
4) tractor truck pitch angle is calculated according to the air spring height information of automatically controlled air spring system;
5) current hill grade value is calculated according to position system location information;
6) calculating ratio of slope deducts tractor truck pitch angle and is the real road gradient;
7) complete vehicle quality is estimated;
8) when braking deceleration is greater than lowest threshold, centroid position is estimated.
Wherein, in step 8) in, for reducing the impact of braking deceleration change on barycenter position estimation accuracy, when braking deceleration is greater than lowest threshold, at interval of 0.5m/s -2estimate a centroid position.
According to a preferred embodiment of the invention a, the air resistance of heavy-duty vehicle is estimated as unknown quantity, thus improves Parameter Estimation Precision.
According to a preferred embodiment of the invention a, road actual grade is estimated in real time in heavy-duty vehicle operational process.
According to a preferred embodiment of the invention a, the quality of heavy-duty vehicle is estimated to carry out in accelerator.
According to a preferred embodiment of the invention a, the centroid position of heavy-duty vehicle is estimated to carry out in braking procedure.
According to a preferred embodiment of the invention a, heavy-duty vehicle assembling electronic control air suspension system.
According to a preferred embodiment of the invention a, heavy-duty vehicle assembling electronic control pneumatic brake system.
According to a preferred embodiment of the invention a, heavy-duty vehicle assembling global positioning system.
According to a preferred embodiment of the invention a, the height sensor that the air spring height information of heavy-duty vehicle is given by electronic control air suspension system records.
According to a preferred embodiment of the invention a, the brake-pressure of heavy-duty vehicle is recorded by the pressure sensor of electronic control pneumatic brake system.
According to a preferred embodiment of the invention a, the run location information of heavy-duty vehicle is provided by position fixing system.
According to a preferred embodiment of the invention a, estimate complete vehicle quality in accelerator, using the input of rough estimate quality as centroid position module, centroid position estimation module estimates complete vehicle quality and centroid position.
Present invention also offers a kind of heavy-duty vehicle parameter identification system, comprise: environment sensing module, car status information acquisition module, road grade estimation module, quality estimation module and centroid position estimation module, it forms the estimation of heavy-duty vehicle method for parameter estimation road grade, quality and the centroid position that utilize the invention described above.
Advantage of the present invention is: 1) utilize electronic control air suspension system air spring heights information to estimate vehicle pitch rate; 2) road grade algorithm for estimating takes into full account that vehicle pitch rate affects; 2) when estimating complete vehicle quality in accelerator, air resistance is estimated as unknown quantity, improve estimated accuracy; 3) utilize electronic control pneumatic brake system pressure sensor, in braking procedure, estimate centroid position; 4) the vehicle parameter method of estimation based on information fusion technology improves computation speed, realizes estimating in real time.
Accompanying drawing explanation
Certain preferred embodiments of the present invention is described below with reference to accompanying drawings, in the accompanying drawings:
Fig. 1 is vehicle parameter estimating system constructional drawing.
Fig. 2 is air spring suspension systems schematic diagram.
Fig. 3 is road grade estimation module constructional drawing.
Fig. 4 is centroid position estimation module constructional drawing.
Detailed description of the invention
Research object of the present invention is Heavy Duty Truck, especially equips the vehicle of electronic control pneumatic brake system and electronic control air suspension system.Longitudinal acceleration is recorded by acceleration pick-up; Spring heights is recorded by height sensor; Brake-pressure is recorded by pressure sensor.In the vehicle start stage, when acceleration/accel is less, fluctuation is comparatively large, and thus method of estimation preferably carries out quality estimation when acceleration/accel is greater than lowest threshold.Because heavy-duty vehicle mass change in operational process is little, therefore complete vehicle quality is considered as constant; And braking deceleration change causes centroid position change, therefore this method of estimation is preferred when braking deceleration is greater than lowest threshold again, at interval of 0.5m/s- 2estimate centroid position every.
Consult Fig. 1, environmental perception device, for obtaining vehicle location; Vehicle status sensor, for obtaining air spring height, brake-pressure; Computing module, comprises road grade estimation module, quality estimation module and centroid position estimation module three part composition; Data transmission is carried out by bus between modules, between module and vehicle.
According to a preferred embodiment of the invention a, parameter estimation algorithm has taken into full account the impact that vehicle pitch rate is estimated road grade.Due to vehicle centroid Location-Unknown, when gps signal receptor installation site does not overlap with centroid position, affect larger by vehicle pitch rate according to the road grade that the location information of GPS obtains.Therefore, the present invention estimates vehicle pitch rate according to air spring height change, and the road grade estimated valve obtained by GPS position information deducts vehicle pitch rate and is road actual grade.
Consult Fig. 2, air spring height sensor exports elevation information number to vehicle pitch rate computing module, vehicle pitch rate computing module exports pitch angle information to road slope calculation module: wherein a, b, c point air bellow coordinate is known, d point coordinate is unknown, a (0,0,0) b (0,-B, Z rr-Z rl) c (L ,-B, Z rr-Z fr).Wherein L antero posterior axis air bellow spacing, B is the distance between left and right of air bellow, and pitch angle is designated as θ, and angle of roll is designated as direction shown in figure is θ, positive dirction.Can following formula be obtained by geometric relationship:
Can calculate pitch angle by formula (1) and (2) and be designated as θ, angle of roll is designated as
θ = a r c t a n ( Z r r - Z f r L )
Consult Fig. 3, heavy-duty vehicle gps receiver accepts gps satellite signal, and vehicle location signal is passed to road slope calculation module, road slope calculation module exports road grade signal to rapid prototyping control unit, rapid prototyping control unit will produce real time control command according to corresponding control policy, and car status information is passed to rapid prototyping control unit by onboard sensor in real time.Level attitude computer device obtains road grade estimated valve real road ratio of slope (plus-minus symbol is determined by gps receiver and barycenter relative position)
i = i ^ ± θ
According to a preferred embodiment of the invention a, heavy-duty vehicle quality is carried out in accelerator, and when acceleration/accel is greater than lowest threshold, quality estimation algorithms is started working.Quality estimation module estimates complete vehicle quality according to onboard sensor information.First, heavy-duty vehicle Longitudinal Dynamic Model is set up;
T i＝T tqi gi 0η T＝F tr d
Wherein, being drive torque, is engine output torque, is transmission ratio, is final driver ratio, is propulsive effort, is tire rolling radius.
F t = F f + F w + F i + F j = G f + C D A 21.15 u a 2 + G i + δ m d u d t
Wherein, being rolling resistance, is air resistance, is grade resistance, is resistance due to acceleration, is complete vehicle weight, is coefficient of rolling resistance, is aerodynamic drag factor, is wind area, is the speed of a motor vehicle, is the gradient, is complete vehicle quality, is correction coefficient of rotating mass.
According to a preferred embodiment of the invention a, road grade resistance obtains by the road grade estimated, air resistance and complete vehicle quality, as unknown quantity, adopt method of least square to estimate, ensure real-time and the estimated accuracy of algorithm.Method of least square can describe with following formula
And then can obtain
Introduce variable
P(t)＝[Φ T(t)Φ(t)] -1
Then unknown quantity can be expressed as
θ ^ ( t ) = P ( t ) Φ T ( t ) Y ( t )
Wherein,
Step estimated valve is
Wherein,
Evaluated error is
When the evaluated error of adjacent two steps time, calculate and stop, delivery air resistance and complete vehicle quality information.
According to a kind of optimal enforcement scheme of the present invention, in moderating process, estimate centroid position, when braking deceleration is greater than lowest threshold, algorithm is started working.Consider that braking deceleration change causes centroid position to estimate change, the present invention is at interval of 0.5m/s -2again to barycenter location estimation once.
Consult Fig. 4, according to a kind of optimal enforcement scheme of the present invention, centroid position is estimated again by the two trackless Kalman filter based on three grades of information fusion technologies, and one of them Kalman filter corrects estimates complete vehicle quality, the heart position of another filter estimation.Three grades of information with and system comprise signal detection level, state/parameter estimation level and Performance Evaluation level.The advantage of this optimal enforcement scheme is: when quality estimated accuracy meets the demands, and can close this filter, reduces parameter uncertainty on the one hand, avoids on the other hand because model parameter change causes centroid position estimated accuracy to reduce.
Vehicle sensor signal, comprises each wheel brake pressure, the speed of a motor vehicle, longitudinal acceleration, brake-pressure etc., is input to signal detection level (i.e. sensor information preprocessing part).Signal detection level makes pretreatment to sensor signal, cancellation cusp and high frequency noise, for state/parameter estimation level is ready.Performance Evaluation and be then carry out Real-Time Monitoring to the performance of information fusion system, as the covariance monitoring of Kalman filter and the fault detection of upper two-stage working condition.

Claims (8)

1. a Heavy Duty Truck method for parameter estimation comprises the following steps: set up Longitudinal Dynamic Model when heavy-duty vehicle is braked; Set up parameter identification equation by described heavy-duty vehicle kinetic model, described parameter identification equation is using air spring height, brake-pressure, heavy-duty vehicle location information etc. as input, and road grade, heavy-duty vehicle quality and centroid position are as unknown quantity; When normal vehicle operation, obtain heavy-duty vehicle status information, as the speed of a motor vehicle, longitudinal acceleration, brake-pressure; Air spring height information according to automatically controlled air spring system calculates tractor truck pitch angle; Current hill grade value is calculated according to position system location information; Calculating ratio of slope deducts tractor truck pitch angle and is the real road gradient; Estimate complete vehicle quality; When braking deceleration is greater than lowest threshold, centroid position is estimated.
2. Heavy Duty Truck method for parameter estimation as claimed in claim 1, it is characterized in that estimating road grade in real time and take into full account the impact of heavy-duty vehicle pitch angle on road grade estimated accuracy, obtaining road grade according to heavy-duty vehicle positional information calculation and deduct vehicle pitch rate and be the real road gradient.
3. Heavy Duty Truck method for parameter estimation as claimed in claim 1, it is characterized in that quality is estimated to perform when acceleration phase acceleration/accel is greater than lowest threshold in real time, air resistance, as unknown quantity, takes into full account that air resistance and grade resistance are on the impact of estimated accuracy.
4. Heavy Duty Truck method for parameter estimation as claimed in claim 1, is characterized in that centroid position is estimated to perform when deboost phase braking deceleration is greater than lowest threshold in real time, every 0.5m/s -2a centroid position is estimated at interval.
5. Heavy Duty Truck method for parameter estimation as claimed in claim 1, it is characterized in that train-type vehicle installs electronic control air suspension system, each wheel is equipped with air bellow, and tractor truck off front wheel, off hind wheel and left rear wheel are equipped with height sensor, and air spring height is recorded by height sensor.
6. the Heavy Duty Truck method for parameter estimation as described in claim 1 and 5, is characterized in that road slope calculation module calculates vehicle pitch rate according to air spring height.
7. Heavy Duty Truck method for parameter estimation as claimed in claim 1, it is characterized in that heavy-duty vehicle installs electric controlled brake system, compressed air brake cylinder is all provided with pressure sensor, and brake-pressure pressure sensor records.
8. the Heavy Duty Truck method for parameter estimation as described in claim 1 to 7, wherein, described vehicle is heavy semi-trailer train.
CN201510991702.5A 2015-12-26 2015-12-26 A kind of Heavy Duty Truck method for parameter estimation Expired - Fee Related CN105416294B (en)

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CN105667521A (en) * 2016-04-11 2016-06-15 潍柴动力股份有限公司 Method and system for calculating total mass of vehicle
CN108016447A (en) * 2016-10-28 2018-05-11 康明斯公司 The machine mass triggered using operator is estimated
CN108297872A (en) * 2018-03-08 2018-07-20 中国第汽车股份有限公司 The full working scope vehicle-mounted road surface gradient estimates device and method
CN109030019A (en) * 2018-06-20 2018-12-18 吉林大学 A kind of On-line Estimation method of car mass
CN110044256A (en) * 2018-01-16 2019-07-23 爱信精机株式会社 From truck position estimation device
CN110053540A (en) * 2019-04-10 2019-07-26 航天重型工程装备有限公司 A kind of slidably lifting system
CN110143196A (en) * 2019-04-28 2019-08-20 东莞市易联交互信息科技有限责任公司 The control method and system of a kind of vehicle and vehicle anti-skid vehicle
CN111186445A (en) * 2020-01-20 2020-05-22 北京主线科技有限公司 Lateral control method and system for automatic driving vehicle
CN112406887A (en) * 2020-11-25 2021-02-26 北京经纬恒润科技股份有限公司 Method and system for acquiring center of mass position of towing trailer
CN112596509A (en) * 2019-09-17 2021-04-02 广州汽车集团股份有限公司 Vehicle control method, device, computer equipment and computer readable storage medium
CN114852093A (en) * 2022-05-23 2022-08-05 北京京深深向科技有限公司 Semi-trailer train weight estimation method and device and electronic equipment

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