CN106184225A - Longitudinal automobile speedestimate method that distributed type four-wheel-driven electrical vehicular power controls - Google Patents
Longitudinal automobile speedestimate method that distributed type four-wheel-driven electrical vehicular power controls Download PDFInfo
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- CN106184225A CN106184225A CN201610532772.9A CN201610532772A CN106184225A CN 106184225 A CN106184225 A CN 106184225A CN 201610532772 A CN201610532772 A CN 201610532772A CN 106184225 A CN106184225 A CN 106184225A
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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
- B60W40/10—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
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
- B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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
- B60W2520/28—Wheel 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of longitudinal automobile speedestimate method controlled for distributed type four-wheel-driven electrical vehicular power, it comprises the following steps: S10, the described rough estimation block of vehicle reference speed freely roll wheel speed according to motor speed and wheel speed estimation;Utilize yaw velocity and steering wheel angle signal freely to roll wheel speed by 4 and be converted to speed at vehicle centroid;Utilize speed calculation vehicle reference speed coarse value at vehicle centroid;S20, described vehicle body deceleration coarse value estimation block utilize Motor torque, brake pressure, motor speed or wheel speed, yaw velocity and steering wheel angle signal estimation vehicle body deceleration coarse value;Reference speed coarse value and vehicle body deceleration coarse value that S30, described Kalman filtering module utilize steady-state Kalman filter to be calculated step S10 and S20 are filtered, and estimate and export reference speed and automobile body deceleration.Longitudinal automobile speedestimate method for the control of distributed type four-wheel-driven electrical vehicular power of the present invention has higher real-time and precision.
Description
Technical field
The present invention relates to the self adaptation longitudinal velocity observer that a kind of new distributed type four-wheel-driven electrical vehicular power controls, especially
It relates to the longitudinal velocity evaluation method that a kind of distributed type four-wheel-driven electrical vehicular power controls.
Background technology
In distributed type four-wheel-driven electrical vehicular power control system, the accuracy of longitudinal speed directly affects whole with real-time
The final effect of individual dynamics Controlling.There is presently no and a kind of can directly measure the simple of vehicular longitudinal velocity, economical, be suitable for and
Reliable method again.Measuring automobile barycenter absolute velocity with GPS position finder, its real-time and accuracy all can not meet control
Requirement.The motion relative to road surface of the automobile barycenter is measured again to weather by optical principle, condition of road surface, use environment the quickest
Sense.Therefore, the method that measurement and mathematical model combine indirectly can only be used to estimate automobile longitudinal speed.In recent years, many
Scholar proposes the evaluation method of many vehicular longitudinal velocities for distributed-power control system, from the literary composition published
From the point of view of offering, it is primarily present problems with: evaluation method excessively idealizes, it is difficult to actual application;Have employed the evaluation method of complexity,
It is appropriate only for emulation, it is difficult to run on single-chip microcomputer, be unsatisfactory for requirement of real-time;Real-time reaches requirement, but estimation precision is again
Not enough.
It is therefore desirable to searching one can either avoid disadvantage mentioned above can estimate again longitudinal direction of car speed the most accurately and real-time
The method of degree.
Summary of the invention
It is an object of the present invention to provide a kind of longitudinal automobile speedestimate method controlled for distributed type four-wheel-driven electrical vehicular power,
It, for defect present in above-mentioned prior art, is started with, based on be widely used at present in terms of real-time and accuracy two
Automobile sensor and design.
The present invention solves technical problem and adopts the following technical scheme that a kind of for the control of distributed type four-wheel-driven electrical vehicular power
Longitudinal automobile speedestimate method, it comprises the following steps:
S10, the described rough estimation block of vehicle reference speed freely roll wheel speed according to motor speed and wheel speed estimation;Profit
Freely roll wheel speed with yaw velocity and steering wheel angle signal by 4 and be converted to speed at vehicle centroid;Utilize vehicle matter
Speed calculation vehicle reference speed coarse value at the heart;
S20, described vehicle body deceleration coarse value estimation block utilize Motor torque, brake pressure, motor speed or wheel
Speed, yaw velocity and steering wheel angle signal estimation vehicle body deceleration coarse value;
S30, described Kalman filtering module utilize the ginseng that step S10 and S20 are calculated by steady-state Kalman filter
Examine speed coarse value and vehicle body deceleration coarse value is filtered, estimate and export reference speed and automobile body deceleration.
Optionally, use following formula to calculate and freely roll wheel speed vfree, i:
In formula, vw,iFor wheel speed, Cλ,iFor tire stiffness, λw,iFor wheel slip, μiAttachment coefficient, i=1,2,3,4.
Optionally, speed v at vehicle centroid is calculated by following formulax,i, i=1,2,3,4:
In formula,For yaw velocity, δfFor steering wheel angle, twFor wheelspan, laFor barycenter to front axle distance, vyFor laterally
Speed.
Optionally, speed calculation vehicle reference speed coarse value v at vehicle centroid is utilizedx_rawRealized by following formula:
In formula, kiFor wheel stability sex factor.
Optionally, described vehicle body deceleration coarse valueFollowing formula can be used to calculate:
In formula, m is complete vehicle quality;FwindFor windage;Fx,iFor wheel longitudinal force, i=1,2,3,4;rw,iFor radius of wheel;
Tb,iFor brake force;Td,iFor driving force, JzFor vehicle around the rotary inertia of z-axis, lbFor barycenter to rear axle distance;Jw,iTurn for wheel
Dynamic inertia, i=1,2,3,4;aw,iFor the acceleration of wheel, i=1,2,3,4;ζ1For the estimation factor, obtained by look-up table;
For estimating wheel speed, i=1,2,3,4;For yaw angle acceleration;For lateral car acceleration;vxSpeed for the direction of advance of vehicle
Degree.
There is advantages that
1. the present invention is provided with longitudinal automobile speedestimate system, it include Motor torque, motor speed, wheel speed, brake pressure,
Yaw velocity and steering wheel angle signal, the rough estimation block of vehicle reference speed, vehicle body deceleration coarse value estimation block and
Kalman filtering module;Compared with prior art, longitudinal speed of the distributed electrical motor-car dynamics Controlling that the present invention is set up
The good fast operation of evaluation method real-time, be not only applicable to distributed type four-wheel-driven electric motor car longitudinal direction speed real-time estimation and also slightly
Longitudinal automobile speedestimate of other vehicles it is also applied for after making an amendment.
2. to be converted to the conversion regime of speed at vehicle centroid peculiar by the present invention for the wheel speed that freely rolls in the present invention,
Actual application shows that this transformation energy significantly improves computational accuracy.
3. the accurately estimation of side force of tire is current technological difficulties, the automobile body deceleration coarse value estimation public affairs in the present invention
Formula make use of wheel longitudinal force indirectly to estimate wheel lateral force, it is to avoid the directly estimation of side force of tire, improves system
Computational accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation of longitudinal automobile speedestimate system of the present invention;
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, technical scheme is further elaborated.
Embodiment 1
Present embodiments provide a kind of longitudinal automobile speedestimate method controlled for distributed type four-wheel-driven electrical vehicular power, its
Being realized by longitudinal automobile speedestimate system, described longitudinal automobile speedestimate system includes: the rough estimation block of vehicle reference speed, car
Body deceleration coarse value estimation block and Kalman filtering module;And comprise the following steps:
S10, the described rough estimation block of vehicle reference speed freely roll wheel speed according to motor speed and wheel speed estimation;Profit
Freely roll wheel speed with yaw velocity and steering wheel angle signal by 4 and be converted to speed at vehicle centroid;Utilize vehicle matter
Speed calculation vehicle reference speed coarse value at the heart;
In the present embodiment, following formula can be used to calculate and freely to roll wheel speed vfree,i:
In formula, vw,iFor wheel speed, it can be calculated by the rotating speed of distributed motor, i.e. be multiplied by deceleration by motor speed
Device speed ratio is multiplied by radius of wheel and is calculated, Cλ,iFor tire stiffness, λw,iFor wheel slip, μiAttachment coefficient, i=1,2,3,
4;When i is 1, represent the near front wheel;When i is 2, represent off-front wheel;When i is 3, represent left rear wheel;When i is 4, represent the right side
Trailing wheel;Lower same.
And calculate speed v at vehicle centroid by following formulax,i, i=1,2,3,4:
In formula,For yaw velocity, δfFor steering wheel angle, twFor wheelspan, laFor barycenter to front axle distance, vyFor laterally
Speed;
In the present embodiment, utilize speed calculation vehicle reference speed coarse value v at vehicle centroidx_rawCan be real by following formula
Existing:
In formula, kiFor wheel stability sex factor.
S20, described vehicle body deceleration coarse value estimation block utilize Motor torque, brake pressure, motor speed or wheel
Speed, yaw velocity and steering wheel angle signal estimation vehicle body deceleration coarse value;
In the present embodiment, described vehicle body deceleration coarse valueFollowing formula can be used to calculate:
In formula, m is complete vehicle quality;FwindFor windage;Fx,iFor wheel longitudinal force, i=1,2,3,4;rw,iFor radius of wheel;
Tb,iFor brake force;Td,iFor driving force, JzFor vehicle around the rotary inertia of z-axis, lbFor barycenter to rear axle distance;Jw,iTurn for wheel
Dynamic inertia, i=1,2,3,4;aw,iFor the acceleration of wheel, i=1,2,3,4;ζ1For the estimation factor, obtained by look-up table;
For estimating wheel speed, i=1,2,3,4;For yaw angle acceleration;For lateral car acceleration;vxSpeed for the direction of advance of vehicle
Degree.
S30, described Kalman filtering module utilize the ginseng that step S10 and S20 are calculated by steady-state Kalman filter
Examine speed coarse value and vehicle body deceleration coarse value is filtered, estimate and export reference speed and automobile body deceleration.
Described Kalman filtering can be realized by following iteration:
In formula,
The sequencing of above example only for ease of describing, does not represent the quality of embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, it is not intended to limit;Although
With reference to previous embodiment, the present invention is described in detail, it will be understood by those within the art that: it still may be used
So that the technical scheme described in foregoing embodiments to be modified, or wherein portion of techniques feature is carried out equivalent;
And these amendment or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (5)
1. one kind for distributed type four-wheel-driven electrical vehicular power control longitudinal automobile speedestimate method, it is characterised in that include with
Lower step:
S10, the described rough estimation block of vehicle reference speed freely roll wheel speed according to motor speed and wheel speed estimation;Utilize horizontal stroke
Pivot angle speed and steering wheel angle signal freely roll wheel speed by 4 and are converted to speed at vehicle centroid;Utilize at vehicle centroid
Speed calculation vehicle reference speed coarse value;
S20, described vehicle body deceleration coarse value estimation block utilize Motor torque, brake pressure, motor speed or wheel speed, horizontal stroke
Pivot angle speed and steering wheel angle signal estimation vehicle body deceleration coarse value;
S30, described Kalman filtering module utilize the reference car that step S10 and S20 are calculated by steady-state Kalman filter
Speed coarse value and vehicle body deceleration coarse value are filtered, and estimate and export reference speed and automobile body deceleration.
The longitudinal automobile speedestimate method controlled for distributed type four-wheel-driven electrical vehicular power the most according to claim 1, its
It is characterised by, uses following formula to calculate and freely roll wheel speed vfree,i:
In formula, vw,iFor wheel speed, Cλ,iFor tire stiffness, λw,iFor wheel slip, μiAttachment coefficient, i=1,2,3,4.
The longitudinal automobile speedestimate method controlled for distributed type four-wheel-driven electrical vehicular power the most according to claim 2, its
It is characterised by, calculates speed v at vehicle centroid by following formulax,i, i=1,2,3,4:
In formula,For yaw velocity, δfFor steering wheel angle, twFor wheelspan, laFor barycenter to front axle distance, vyFor lateral car
Speed.
The longitudinal automobile speedestimate method controlled for distributed type four-wheel-driven electrical vehicular power the most according to claim 3, its
It is characterised by, utilizes speed calculation vehicle reference speed coarse value v at vehicle centroidx_rawRealized by following formula:
In formula, kiFor wheel stability sex factor.
The longitudinal automobile speedestimate method controlled for distributed type four-wheel-driven electrical vehicular power the most according to claim 4, its
It is characterised by, described vehicle body deceleration coarse valueFollowing formula can be used to calculate:
In formula, m is complete vehicle quality;FwindFor windage;Fx,iFor wheel longitudinal force, i=1,2,3,4;rw,iFor radius of wheel;Tb,iFor
Brake force;Td,iFor driving force, JzFor vehicle around the rotary inertia of z-axis, lbFor barycenter to rear axle distance;Jw,iIt is used to for vehicle wheel rotation
Amount, i=1,2,3,4;aw,iFor the acceleration of wheel, i=1,2,3,4;ζ1For the estimation factor, obtained by look-up table;For estimating
Calculation wheel speed, i=1,2,3,4;For yaw angle acceleration;For lateral car acceleration;vxSpeed for the direction of advance of vehicle.
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Cited By (11)
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CN107037754A (en) * | 2017-03-28 | 2017-08-11 | 常州工学院 | A kind of control method of instruction carriage active brake |
CN108116417A (en) * | 2016-11-30 | 2018-06-05 | 南京市比亚迪汽车有限公司 | Electric bus and automobile speedestimate method and apparatus |
CN108944910A (en) * | 2017-05-27 | 2018-12-07 | 长城汽车股份有限公司 | A kind of vehicle stable state intelligent control method and device |
CN109572707A (en) * | 2018-11-26 | 2019-04-05 | 吉林大学 | A kind of more wheel distributed electrical drive system longitudinal direction vehicle speed estimation methods |
CN109910905A (en) * | 2019-03-01 | 2019-06-21 | 同济大学 | Based on the modified distributed driving automobile multi-state vehicle speed estimation method of gradient estimation |
CN111645528A (en) * | 2020-06-05 | 2020-09-11 | 中国第一汽车股份有限公司 | Braking energy recovery control method, system, device, vehicle and storage medium |
CN111666636A (en) * | 2020-04-01 | 2020-09-15 | 北京理工大学 | Unmanned vehicle dynamics limit characteristic envelope online observation method |
CN111703429A (en) * | 2020-05-29 | 2020-09-25 | 北京理工大学重庆创新中心 | Method for estimating longitudinal speed of wheel hub motor driven vehicle |
CN112776778A (en) * | 2019-11-04 | 2021-05-11 | 罗伯特·博世有限公司 | Method for controlling regenerative torque of vehicle, regenerative torque controller, and anti-lock brake system |
CN113044041A (en) * | 2021-03-09 | 2021-06-29 | 中国第一汽车股份有限公司 | Automobile speed and tire slip rate estimation method based on wheel speed and whole automobile acceleration |
CN114312770A (en) * | 2020-10-09 | 2022-04-12 | 郑州宇通客车股份有限公司 | Vehicle, and vehicle driving track prediction method and device |
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CN108116417A (en) * | 2016-11-30 | 2018-06-05 | 南京市比亚迪汽车有限公司 | Electric bus and automobile speedestimate method and apparatus |
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CN112776778A (en) * | 2019-11-04 | 2021-05-11 | 罗伯特·博世有限公司 | Method for controlling regenerative torque of vehicle, regenerative torque controller, and anti-lock brake system |
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CN111703429B (en) * | 2020-05-29 | 2022-05-10 | 北京理工大学重庆创新中心 | Method for estimating longitudinal speed of wheel hub motor driven vehicle |
CN111645528A (en) * | 2020-06-05 | 2020-09-11 | 中国第一汽车股份有限公司 | Braking energy recovery control method, system, device, vehicle and storage medium |
CN114312770A (en) * | 2020-10-09 | 2022-04-12 | 郑州宇通客车股份有限公司 | Vehicle, and vehicle driving track prediction method and device |
CN114312770B (en) * | 2020-10-09 | 2023-07-07 | 宇通客车股份有限公司 | Vehicle, vehicle running track prediction method and device |
CN113044041A (en) * | 2021-03-09 | 2021-06-29 | 中国第一汽车股份有限公司 | Automobile speed and tire slip rate estimation method based on wheel speed and whole automobile acceleration |
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