CN105416294B - A kind of Heavy Duty Truck method for parameter estimation - Google Patents

A kind of Heavy Duty Truck method for parameter estimation Download PDF

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Publication number
CN105416294B
CN105416294B CN201510991702.5A CN201510991702A CN105416294B CN 105416294 B CN105416294 B CN 105416294B CN 201510991702 A CN201510991702 A CN 201510991702A CN 105416294 B CN105416294 B CN 105416294B
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vehicle
estimation
estimated
centroid position
quality
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CN105416294A (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

Abstract

Disclosed herein is a kind of Heavy Duty Truck method for parameter estimation.Purpose is according to Heavy Duty Truck environmental perception device information and sensor information real-time online estimation road grade, complete vehicle quality and centroid position.This method takes into full account influence of the angle of pitch to gradient estimated accuracy, and it is the real road gradient to calculate estimation road grade according to environmental perception device information and subtract according to the air spring height sensor calculating tractor angle of pitch；Quality is estimated to take into full account the influence of grade resistance and air drag, estimates air drag as unknown quantity, improve estimated accuracy；Centroid position is estimated according to electronic control pneumatic brake system pressure sensor information.

Description

A kind of Heavy Duty Truck method for parameter estimation
Technical field
The present invention is designed for the method for parameter estimation and system of vehicle, especially Heavy Duty Truck.
Background technology
With the development of electronic technology, automobile electric control system integrates control and greatly improves automotive circuit diagram, intelligent level, More and more important effect is played in terms of automobile active safety and driver comfort.Electric-control system passes through vehicle parameter information Judge travel condition of vehicle and then be controlled decision-making.Therefore, accurate vehicle parameter information is particularly important for electric-control system.To the greatest extent Tube sensor can provide vehicle and environmental information, such as speed, wheel speed, acceleration and brake pressure to electric-control system；But road The road gradient, complete vehicle quality and centroid position etc. are difficult to measure by sensor.On the basis of auto model is established, control is utilized Algorithm estimated sensor can not measurement parameter be increasingly becoming research focus.
Heavy Duty Truck has motion strong non-linear, between tractor and trailer the features such as brake coordination difference.This Outside, Heavy Duty Truck in transportation loading mass change greatly, driver it is impercipient to loading condition in the case of make When dynamic, easily there is braking deficiency or braking is excessive, reduce braking safety and comfortableness；Centroid position becomes in braking procedure Change, axle load transfer, influence braking force distribution control effect.
Document " Simultaneous Mass and Time-Varying Grade Estimation for Heavy- Duty Vehicles”,“Experiments for Online Estimation of Heavy Vehicle’s Mass and Time-Varying Road Grade”,“Recursive Least Squares with Forgetting for Online Estimation of Vehicle Mass and Road Grade:Theory and Experiments " propose to be respectively adopted Least square method and state observer carry out road grade and the estimation of heavy vehicle complete vehicle quality reaches with less instrument simultaneously Estimate the purpose of vehicle mass, running resistance and road grade.
" On-board payload identification for commercial vehicles " devise one to document Commercial car height of center of mass On-line Estimation device of the kind based on airsuspension system.Electric load monitoring system is left by air suspension Right both sides air pressure difference estimates commercial car load-carrying, utilizes band external source import automatic returning model Least Square Method barycenter Highly.Due to road excitation, air spring intraluminal pressure is in disorderly change procedure, the pressure value obtained using pressure sensor It is inaccurate.
Document " Parameter Identification of a Vehicle for Automatic Platooning Control " estimates four axle truck loads and centroid position by the relation between load and Suspension Deformation.Tire and ground it Between pressure sensor measurement axle load, the axle spring deflection of line decoder measurement card Chinese herbaceous peony two, by experimental data point Analysis obtains truck centroid position.But the use of sensor considerably increases estimated cost.
Existing heavy vehicle parameter identification method is a kind of to be based on model, and one kind is based on sensor.Method based on model Because the complexity real-time of model and algorithm is poor；And sensor-based method is then because the high cost of sensor drops significantly Low practicality.
The content of the invention
It is simultaneously full it is an object of the invention to provide a kind of vehicle parameter discrimination method and system for Heavy Duty Truck Sufficient precision and requirement of real-time.The car team that truck combination is made up of automobile or tractor and trailer, it is broadly divided into full extension automobile Four kinds of train, semi-trailer train, double trailer train and long goods truck combination.This paper research object is heavy semi-dragging truck Train.
Therefore, the invention provides a kind of Heavy Duty Truck parameter identification method, comprise the following steps：
1) Longitudinal Dynamic Model when establishing vehicle drive system kinetic model, braking；
2) parameter identification equation is established by described vehicle dynamic model, described parameter identification equation is with air spring Highly, brake pressure, heavy vehicle positional information etc. are as input, road grade, heavy vehicle quality and centroid position conduct Unknown quantity；
3) in normal vehicle operation, car status information is obtained, such as speed, longitudinal acceleration, brake pressure；
4) the tractor angle of pitch 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) it is the real road gradient to calculate value of slope to subtract the tractor angle of pitch；
7) complete vehicle quality is estimated；
8) when braking deceleration is more than lowest threshold, centroid position is estimated.
Wherein, in step 8), to reduce influence of the braking deceleration change to barycenter position estimation accuracy, subtract in braking When speed is more than lowest threshold, at interval of 0.5m/s-2Estimate a centroid position.
According to a preferred embodiment of the invention a, the air drag of heavy vehicle is estimated as unknown quantity, from And improve Parameter Estimation Precision.
According to a preferred embodiment of the invention a, road actual grade is estimated in heavy vehicle running in real time.
According to a preferred embodiment of the invention a, the quality estimation of heavy vehicle is carried out in accelerator.
According to a preferred embodiment of the invention a, the centroid position estimation of heavy vehicle is carried out in braking procedure.
According to a preferred embodiment of the invention a, heavy vehicle assembling electronic control air suspension system.
According to a preferred embodiment of the invention a, heavy vehicle assembling electronic control pneumatic brake system.
According to a preferred embodiment of the invention a, heavy vehicle assembling global positioning system.
According to a preferred embodiment of the invention a, the air spring height information of heavy vehicle is by electronic control air suspension The height sensor that system is given measures.
According to a preferred embodiment of the invention a, the brake pressure of heavy vehicle by electronic control pneumatic brake system pressure Force snesor measures.
According to a preferred embodiment of the invention a, the running position information of heavy vehicle is provided by alignment system.
According to a preferred embodiment of the invention a, complete vehicle quality is estimated in accelerator, using rough estimate quality as matter The input quantity of heart position module, centroid position estimation module estimation complete vehicle quality and centroid position.
Present invention also offers a kind of heavy vehicle parameter identification system, including：Environmental perception module, car status information Acquisition module, road grade estimation module, quality estimation module and centroid position estimation module, its composition utilize the invention described above Heavy vehicle method for parameter estimation estimation road grade, quality and centroid position.
Advantage of the invention is that：1) electronic control air suspension system air spring heights information estimation vehicle pitch is utilized Angle；2) road grade algorithm for estimating takes into full account that vehicle pitch rate influences；2), will when complete vehicle quality is estimated in accelerator Air drag is estimated as unknown quantity, improves estimated accuracy；3) electronic control pneumatic brake system pressure sensor is utilized, was being braked Centroid position is estimated in journey；4) the vehicle parameter method of estimation based on information fusion technology improves calculating speed, and realization is estimated in real time Meter.
Brief description of the drawings
The certain preferred embodiments of the present invention are described below with reference to accompanying drawings, in the accompanying drawings：
Fig. 1 is vehicle parameter estimating system structure chart.
Fig. 2 is air spring suspension systems schematic diagram.
Fig. 3 is road grade estimation module structure chart.
Fig. 4 is centroid position estimation module structure chart.
Embodiment
The research object of the present invention is Heavy Duty Truck, especially equips electronic control pneumatic brake system and automatically controlled air hangs The vehicle of frame system.Longitudinal acceleration is measured by acceleration transducer；Spring heights are measured by height sensor；Pass through pressure Force snesor measures brake pressure.In the vehicle start stage, when acceleration is smaller, fluctuation is larger, thus method of estimation is preferably adding Speed carries out quality estimation when being more than lowest threshold.Due to heavy vehicle, mass change is small in the process of running, therefore by vehicle Quality is considered as constant；And braking deceleration change causes centroid position to change, therefore this method of estimation preferably braking deceleration again During more than lowest threshold, at interval of 0.5m/s2Estimate a centroid position.
Refering to Fig. 1, environmental perception device, for obtaining vehicle location；Vehicle status sensor, for obtaining air spring Highly, brake pressure；Computing module, including road grade estimation module, quality estimation module and centroid position estimation module three Part forms；Carried out data transmission between modules, between module and vehicle by bus.
According to a preferred embodiment of the invention a, parameter estimation algorithm has taken into full account vehicle pitch rate to road slope Spend the influence of estimation.Due to vehicle centroid Location-Unknown, when gps signal receiver installation site and centroid position are misaligned, root The road grade obtained according to GPS positional information is had a great influence by vehicle pitch rate.Therefore, the present invention is according to air spring height Degree change estimation vehicle pitch rate, it is road that the road grade estimate obtained by GPS position information, which subtracts vehicle pitch rate, Actual grade.
Refering to Fig. 2, elevation information number is exported to vehicle pitch rate computing module, vehicle and bowed by air spring height sensor Elevation angle computing module exports pitching angle information to road slope calculation module：Wherein a, b, c point air spring coordinate is, it is known that d Point coordinates is unknown, a (0,0,0) b (0 ,-B, Zrr-Zrl)c(L,-B,Zrr-Zfr).Wherein L antero posterior axis air spring spacing, B are sky Gas spring between left and right away from the angle of pitch is designated as θ, and angle of heel is designated asDirection shown in figure is θ,Positive direction.Can by geometrical relationship To obtain following formula：
The angle of pitch can be calculated by formula (1) and (2) and be designated as θ, angle of heel is designated as
Refering to Fig. 3, heavy vehicle gps receiver receives gps satellite signal, and vehicle location signal is passed into road slope Computing module is spent, 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 strategy, and onboard sensor is by car status information real-time delivery to quick Prototype control unit.Horizontal level computing device obtains road grade estimate(plus-minus symbol is by GPS for real road value of slope Receiver determines with barycenter relative position)
According to a preferred embodiment of the invention a, heavy vehicle quality is carried out in accelerator, when acceleration is big When lowest threshold, quality estimation algorithms are started working.Quality estimation module estimates complete vehicle quality according to onboard sensor information. First, heavy vehicle Longitudinal Dynamic Model is established；
Ti=Ttqigi0ηT=Ftrd
Wherein, TiFor driving moment, TtqFor engine output torque, igFor transmission ratio, i0It is driven for main reducing gear Than η0For drive line efficiency, FtFor driving force, rdFor tire rolling radius.
Wherein, FfFor rolling resistance, FwFor air drag, FiFor grade resistance, FjFor acceleration resistance, G is complete vehicle weight, f For coefficient of rolling resistance, CDFor coefficient of air resistance, A is front face area, uaFor speed, i is the gradient, and m is complete vehicle quality, and δ is rotation Pignus pignoris amount conversion coefficient.
According to a preferred embodiment of the invention a, road grade resistance can be obtained by the road grade of estimation, empty Atmidometer and complete vehicle quality are estimated using least square method as unknown quantity, ensure the real-time and estimated accuracy of algorithm. Least square method can be described with following formula
And then it can obtain
Introduce variable
P (t)=[ΦT(t)Φ(t)]-1
Then unknown quantity can be expressed as
Wherein,
T+1 walks estimate
Wherein,
Evaluated error is
When the evaluated error of adjacent two stepWhen, calculate and stop, delivery air resistance and vehicle matter Measure information.
According to a kind of optimal enforcement scheme of the present invention, centroid position is estimated in moderating process, when braking deceleration is big Algorithm is started working when lowest threshold.Cause centroid position estimation change, the present invention every in view of braking deceleration change Every 0.5m/s-2Again to barycenter location estimation once.
Refering to Fig. 4, according to a kind of optimal enforcement scheme of the present invention, centroid position estimation is used again is based on three-level information fusion Double trackless Kalman filter of technology, one of Kalman filter correction estimation complete vehicle quality, another wave filter are estimated The heart position of meter.Three-level information is same and system includes signal detection level, state/parameter Estimation level and Performance Evaluation level.The optimization The advantages of embodiment, is：When quality estimated accuracy meets to require, the wave filter can be closed, it is not true on the one hand to reduce parameter It is qualitative, on the other hand avoid because model parameter change causes the reduction of centroid position estimated accuracy.
Vehicle sensor signal, including each wheel brake pressure, speed, longitudinal acceleration, brake pressure etc., are input to Signal detection level (i.e. sensor information preprocessing part).Signal detection level makes pretreatment to sensor signal, eliminates cusp And high-frequency noise, it is ready for state/parameter Estimation level.Performance Evaluation and be then the performance of information fusion system is carried out it is real When monitor, as Kalman filter covariance monitoring and upper two-stage working condition fault detect.

Claims (4)

1. a kind of Heavy Duty Truck method for parameter estimation, this method comprise the following steps：Establish vehicle drive system dynamics Longitudinal Dynamic Model when model, braking；Parameter identification equation is established by two described kinetic models, described parameter is distinguished Know equation and input, road grade, heavy vehicle quality are used as using air spring height, brake pressure, heavy vehicle positional information And centroid position is as unknown quantity；In normal vehicle operation, heavy vehicle status information is obtained, including speed, longitudinal direction accelerate Degree, brake pressure；The tractor angle of pitch is calculated according to the air spring height information of automatically controlled air spring system；It is according to positioning System positional information calculation current hill grade value；It is the real road gradient to calculate value of slope and subtract the tractor angle of pitch；Estimate vehicle Quality；When braking deceleration is more than lowest threshold, centroid position is estimated.
2. Heavy Duty Truck method for parameter estimation as claimed in claim 1, it is characterised in that estimate road grade simultaneously in real time Influence of the heavy vehicle angle of pitch to road grade estimated accuracy is taken into full account, road slope is calculated according to vehicle position information It is the real road gradient that degree, which subtracts vehicle pitch rate,；The electronic control air suspension system that vehicle pitch rate is installed by truck combination is estimated Meter obtains, and each wheel is equipped with air spring, and tractor off-front wheel, off hind wheel and left rear wheel are equipped with height sensor, air bullet Spring height is measured by height sensor and calculates vehicle pitch rate by the height value.
3. Heavy Duty Truck method for parameter estimation as claimed in claim 1, it is characterised in that consider the vehicle start stage, add When speed is smaller, fluctuation is larger, therefore performs quality when boost phase acceleration is more than lowest threshold and estimate in real time, air resistance Masterpiece is unknown quantity, takes into full account the influence of air drag and grade resistance to estimated accuracy.
4. Heavy Duty Truck method for parameter estimation as claimed in claim 1, it is characterised in that estimation exists centroid position in real time Deboost phase braking deceleration performs when being more than lowest threshold, per 0.5m/s2Centroid position of interval estimation；Centroid position is estimated Double trackless Kalman filter of the meter based on three-level information fusion technology, one of Kalman filter correction estimation vehicle Quality, another estimator estimation centroid position；When quality estimated accuracy meets to require, wave filter can be closed.
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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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
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