CN108216250A - Four-drive electric car speed and road grade method of estimation based on state observer - Google Patents
Four-drive electric car speed and road grade method of estimation based on state observer Download PDFInfo
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- CN108216250A CN108216250A CN201810021205.6A CN201810021205A CN108216250A CN 108216250 A CN108216250 A CN 108216250A CN 201810021205 A CN201810021205 A CN 201810021205A CN 108216250 A CN108216250 A CN 108216250A
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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
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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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- 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 four-drive electric car longitudinal velocities based on state observer and road grade method of estimation, initially set up Three Degree Of Freedom auto model；Then a state Observer Design is carried out：Using vehicle wheel rotation angular speed and the longitudinal acceleration that vehicle sensors measure as inputting, using omnidirectional vision theory, the difference of the measured value of longitudinal acceleration and the estimated value of longitudinal acceleration is chosen as correction term, longitudinal velocity observer is designed to vehicular longitudinal velocity；Again using longitudinal velocity estimated value and longitudinal acceleration as input, design road grade estimates observer；Finally the estimated value of road grade is fed back in longitudinal speed observer, the four-drive electric car speed based on state observer is completed and estimates with road grade.
Description
Technical field
The present invention relates to a kind of four-drive electric car speed based on state observer and road grade method of estimation, belong to
Vehicle state estimation technical field.
Background technology
Representative of the electric vehicle as new energy motor, compared with traditional gasoline car, in cleaning, environmentally friendly, energy saving etc.
Aspect has apparent advantage.Therefore, as the owning amount of electric vehicle increases year by year, control stability and active safety
Problem also receives significant attention.
Electric vehicle active safety control system can effectively improve vehicle handling stability, reduce the hair of traffic accident
It is raw.The premise for effectively realizing control logic is accurately to obtain the running condition information of vehicle.However, due to production cost and
The factors such as measurement error, in vehicle is mass produced, onboard sensor can not directly measure Some vehicles running state information.
Therefore, estimate that the car status information that can not be measured has been increasingly becoming research using car status information design observer can be surveyed
Hot spot.
Wherein, the longitudinal velocity of accurately known vehicle, road grade etc. are the bases of autonomous land vehicle control, with automatic
For speed change, accurately the known travel gradient and longitudinal speed are the key that automobile automatic gears.Therefore, it is necessary to it designs
A kind of observer method effectively estimates longitudinal velocity with the gradient.
Invention content
To solve electric vehicle parameter Estimation difficult problem, it is electronic that the present invention provides a kind of 4 wheel driven based on state observer
Automobile longitudinal speed and road grade method of estimation.
The present invention is achieved by the following technical solutions：
A kind of four-drive electric car longitudinal velocity based on state observer and road grade method of estimation, including following step
Suddenly：
Step 1: establish Three Degree Of Freedom auto model；
Step 2: vehicle-state Design of Observer：Accelerated with the vehicle wheel rotation angular speed that vehicle sensors measure and longitudinal direction
Degree, using omnidirectional vision theory, chooses the measured value a of longitudinal acceleration as inputxWith the estimation of longitudinal acceleration
ValueDifference as correction term, longitudinal velocity observer is designed to vehicular longitudinal velocity；Again with longitudinal velocity estimated value with indulging
To acceleration as inputting, design road grade estimates observer；The estimated value of road grade is finally fed back into longitudinal speed
In observer, complete the four-drive electric car speed based on state observer and estimate with road grade.
Further, the Three Degree Of Freedom auto model of the step 1 foundation is：
Wherein, m is automobile gross mass, units/kg；Yaw velocities of the r for automobile, unit rad/s；vxIt is vehicle in vehicle
Longitudinal velocity under body coordinate system, unit m/s；vyIt is side velocity of the vehicle under bodywork reference frame, unit m/s；Fxi, i=
1 ..., 4, it is longitudinally taken turns behind longitudinal tire force, left back longitudinal tire force, the right side before the left front longitudinal tire force of expression vehicle, the right side respectively
Tire power, unit N；Fyi, i=1 ..., 4 represents the left front lateral tire force of vehicle, forward right side to tire force, left back lateral respectively
Tire force, right lateral side are to tire force, unit N；θ is road grade, unit deg；CxFor longitudinal coefficient of air resistance；G is gravity
Acceleration, unit N/kg.
Further, the vehicular longitudinal velocity observer of the step 2 design and road grade estimation observer are：
Wherein, L represents observer gain；axFor the longitudinal acceleration of vehicle, unit m/s2；M is automobile gross mass, unit
kg；vxIt is longitudinal velocity of the vehicle under bodywork reference frame, unit m/s；θ is road grade, unit deg；CxIt is hindered for longitudinal air
Force coefficient；G is acceleration of gravity, unit N/kg；
The longitudinal tire force F of tire ixi(i=1 ..., 4) it can be expressed as:
Fxi=kxSxi
Wherein, kxFor the cornering stiffness of tire, unit N/rad；Sxi(i=1 ..., 4) is the straight skidding of each tire
Rate：
Wherein, ReiFor the effective radius of tire i, unit m；vxiFor longitudinal movement of the tire i core wheels under tyre axis system
Speed, unit m/s.
As a result of above-mentioned technical solution, the beneficial effects of the invention are as follows：
(1) for solve electric vehicle parameter Estimation difficult problem, it is proposed that a kind of suitable for four-drive electric car
Longitudinal velocity and road grade state observation method of estimation.
(2) validity has been carried out to the observer parameter of optimization using high-fidelity vehicle dynamics simulation software veDYNA to test
Card, the results showed that the present invention is so the observer parameter optimization method gone out can ensure that observer is estimated with certain effect
As a result accuracy.
Description of the drawings
Fig. 1 vehicle sides regard stress diagram；
Fig. 2 vehicles overlook stress diagram
Fig. 3 vehicle-state Observer Structure figures；
Longitudinal velocity simulation result during 1 degree of Fig. 4 (a) road grades
Road grade simulation result during 1 degree of Fig. 4 (b) road grades
Longitudinal velocity simulation result during 10 degree of Fig. 5 (a) road grades
Road grade simulation result during 10 degree of Fig. 5 (b) road grades
Longitudinal velocity simulation result during 20 degree of Fig. 6 (a) road grades
Road grade simulation result during 20 degree of Fig. 6 (b) road grades
Specific embodiment
Below in conjunction with the accompanying drawings, technical solution proposed by the invention is further elaborated and illustrated.
The present invention provides a kind of four-drive electric car road grade method of estimation based on state observer, this method packets
Include following steps：
Step 1: establish simplified vehicle Three Degree Of Freedom model
Fig. 1 is that vehicle side regards stress diagram, is studied for convenience, the present invention consider vehicle longitudinally, laterally and
Whole vehicle model is reduced to Three Degree Of Freedom model by the stressing conditions of yaw direction.Coordinate system is established on vehicle, origin is located at vapour
The barycenter of vehicle, the direction that vehicle advances are positive direction of the x-axis, and horizontal is to the left positive direction of the y-axis, and z-axis positive direction is determined by right-handed helix
It then determines, as shown in Figure 1.Using the available Three Degree Of Freedom auto model kinetics equation of Newton's second law such as formula (1) institute
Show
Wherein, m is automobile gross mass, units/kg；Yaw velocities of the r for automobile, unit rad/s；vxIt is vehicle in vehicle
Longitudinal velocity under body coordinate system, unit m/s；vyIt is side velocity of the vehicle under bodywork reference frame, unit m/s；IzFor vehicle
Around the rotary inertia of vehicle axis system z-axis, units/kg m2；Fxi(i=1 ..., 4) represents the left front longitudinal tire of vehicle respectively
Power, it is right before longitudinal tire force, left back longitudinal tire force, it is right after longitudinal tire force, unit N；Fyi(i=1 ..., 4) it represents respectively
The left front lateral tire force of vehicle, forward right side are to tire force, left back lateral tire force, right lateral side to tire force, unit N；θ is
The road gradient, unit deg；CxFor longitudinal coefficient of air resistance；G is acceleration of gravity, unit N/kg.
Fig. 2 is that vehicle overlooks stress diagram, according to power and torque equilibrium equation, the longitudinally and laterally resultant force of four tires
Fx、FyIt can be expressed as：
Fx=(Fx1+Fx2)cosδf-(Fy1+Fy2)sinδf+(Fx3+Fx4),
Fy=(Fx1+Fx2)sinδf+(Fy1+Fy2)cosδf+(Fy3+Fy4), (2)
Wherein, δfIt is vehicle front wheel angle, unit rad.
Step 2: vehicle-state Design of Observer：Information of vehicles can be directly measured using vehicle sensors, specifically includes vehicle
Rotational angular velocity and front wheel angle signal are taken turns, chooses the measured value a of longitudinal accelerationxWith the estimated value of longitudinal accelerationDifference
Value designs longitudinal velocity observer as correction term to vehicular longitudinal velocity；It is surveyed again with longitudinal speed estimated value, longitudinal acceleration
Based on magnitude, go out road grade, and the estimated value of road grade is fed back using the dynamics of vehicle equation calculation in formula (1)
It returns in longitudinal speed observer.
The estimation problem of the present invention is introduced for convenience, it first will be measured directly by vehicle sensors
Parameter is explained as follows：(A) the angular signal δ of steering wheel for vehicle can be obtained by photoelectric encoder measurement, and then can be passed through
Relational expression δf=δ/IswThe front wheel angle δ of vehicle is calculatedf, IswFor steering gear ratio；(B) rotational angular velocity of four wheels
ωi(i=1,2,3,4) it can be obtained by wheel speed sensors measurement；(C) longitudinal acceleration of the vehicle axAcceleration transducer can be passed through
Measurement obtains；(D) yaw rate r can be obtained by gyroscope measurement.
Vehicle-state Design of Observer is specific as follows：
According to the equilibrium equation of power, longitudinally, laterally the relationship between acceleration and vehicle tyre power can be described as：
max=Fx (3)
Wherein, axFor the longitudinal acceleration of vehicle, unit m/s2.And vehicular longitudinal velocity design vehicle normal straight travels
When, the side velocity very little of vehicle, it is assumed that the side velocity v of vehicle at this timeyIt is 0.According to formula (1) and formula (3), longitudinal vehicle
Speed can be further represented as：
Vehicle normal straight when driving, the longitudinal acceleration a of vehiclexIt can be expressed as：
The longitudinal tire force F of tire ixi(i=1 ..., 4) it can be expressed as:
Fxi=kxSxi (6)
Wherein, kxFor the cornering stiffness of tire, unit N/rad.Sxi(i=1 ..., 4) is the straight skidding of each tire
Rate, shown in expression such as formula (7)：
Wherein, ReiFor the effective radius of tire i, unit m.vxiFor longitudinal movement of the tire i core wheels under tyre axis system
Speed, unit m/s.
And under needing to use vehicle axis system in the kinetics equation in building formula (4) vehicle longitudinal velocity vx,
The motion state transforming relationship of vehicle axis system and core wheel coordinate system can be expressed as：
Wherein,It is core wheel speed in vehicle axis system xvComponent on axis, unit m/s.Rxi(i=1 ..., 4) it is matter
The relationship of the heart and automotive wheel wheelspan T, shown in physical relationship such as formula (9)：
Road grade estimated value is obtained according to formula (4) deformation：
Due to longitudinal acceleration rough measure value axIt can be directly calculated by formula (5), therefore select axAs vehicle
Systematic survey exports, and using the difference of it and its estimated value as the correction term of car speed observer, according to formula (4), formula (10),
Based on non-linear full micr oprocessorism structure, longitudinal direction of car speed and road grade full micr oprocessorism expression formula such as formula can be designed that
(11) shown in：
Wherein, L represents observer gain.
It based on the vehicle-state observer of formula (11) design, is constantly debugged by a large amount of emulation experiments, and observes emulation knot
Fruit, when the estimated value for observing vehicular longitudinal velocity and road grade is essentially coincided with its vehicle veDYNA simulation data values,
Think that the gain is met the requirements, as observer gain L=-4.5, speed and gradient estimation effect are preferable.
When observer parameter is adjusted, using high-fidelity dynamics simulation software veDYNA, four-wheel drive is selected
For electric vehicle as vehicle is emulated, vehicle parameter is as shown in table 1：
1 four-wheel driving electric vehicle parameter of table
| Symbol | Unit | Value |
| m | kg | 1296 |
| lF | m | 1.25 |
| lR | m | 1.32 |
| Jeff | kg·m2 | 0.8 |
| Iz | kg·m2 | 1750 |
| Reff | m | 0.288 |
| Isw | — | 20.4956 |
The off-line simulation verification of four-drive electric car state observer of the present invention is given below.
In order to verify the validity of observer parameter optimization method, using the four-wheel driving electric vehicle in veDYNA as imitative
True vehicle.And using conventional high attachment linear accelerating operating mode as emulation operating mode, specific operating mode is set as：In surface friction coefficient μ
On=0.8 road, vehicle accelerates by static, when car speed accelerates to 80km/h, the straight line that remains a constant speed later fortune
It is dynamic.To verify and the vehicle-state observer estimation effect under identical operating mode during observer parameter optimization.It is given below specific
Experimental result and analysis.
Fig. 4 (a), Fig. 4 (b) be under the road conditions that the gradient is 1 degree longitudinal velocity with to road grade estimated result and veDYNA
Export actual value correlation curve.Fig. 5 (a), Fig. 5 (b) are that longitudinal velocity and road grade estimation are tied under the road conditions that the gradient is 10 degree
Fruit exports actual value correlation curve with veDYNA.Fig. 6 (a), Fig. 6 (b) are longitudinal velocity and road under the road conditions that the gradient is 20 degree
Gradient estimated result exports actual value correlation curve with veDYNA.For estimated vehicle it can be seen from simulation result figure
State, observer estimated value can preferably track the actual value directly exported by veDYNA, and have smaller estimation to miss
Difference, this illustrates that the four-drive electric car speed proposed by the invention based on state observer has with road grade method of estimation
Certain validity.
Claims (3)
1. a kind of four-drive electric car longitudinal velocity based on state observer and road grade method of estimation, which is characterized in that
Include the following steps：
Step 1: establish Three Degree Of Freedom auto model；
Step 2: vehicle-state Design of Observer：Made with the vehicle wheel rotation angular speed that vehicle sensors measure and longitudinal acceleration
For input, using omnidirectional vision theory, the measured value a of longitudinal acceleration is chosenxWith the estimated value of longitudinal acceleration's
Difference designs longitudinal velocity observer as correction term to vehicular longitudinal velocity；Accelerated again with longitudinal velocity estimated value and longitudinal direction
Degree is as input, design road grade estimation observer；The estimated value of road grade is finally fed back into longitudinal speed observer
In, it completes the four-drive electric car speed based on state observer and estimates with road grade.
2. a kind of four-drive electric car longitudinal velocity based on state observer as described in claim 1 is estimated with road grade
Method, which is characterized in that the Three Degree Of Freedom auto model that the step 1 is established is：
Wherein, m is automobile gross mass, units/kg；Yaw velocities of the r for automobile, unit rad/s；vxIt is vehicle in car body coordinate
Longitudinal velocity under system, unit m/s；vyIt is side velocity of the vehicle under bodywork reference frame, unit m/s；Fxi, i=1 ...,
4, represent respectively vehicle left front longitudinal tire force, it is right before longitudinal tire force, left back longitudinal tire force, it is right after longitudinal tire force,
Unit N；Fyi, i=1 ..., 4 represents the left front lateral tire force of vehicle, forward right side to tire force, left back lateral tire respectively
Power, right lateral side are to tire force, unit N；θ is road grade, unit deg；CxFor longitudinal coefficient of air resistance；G accelerates for gravity
Degree, unit N/kg.
3. a kind of four-drive electric car longitudinal velocity based on state observer as described in claim 1 is estimated with road grade
Method, which is characterized in that the vehicular longitudinal velocity observer and road grade of the step 2 design estimate that observer is：
Wherein, L represents observer gain；axFor the longitudinal acceleration of vehicle, unit m/s2；M is automobile gross mass, units/kg；vx
It is longitudinal velocity of the vehicle under bodywork reference frame, unit m/s；θ is road grade, unit deg；CxFor longitudinal air drag system
Number；G is acceleration of gravity, unit N/kg；
The longitudinal tire force F of tire ixi(i=1 ..., 4) it can be expressed as:
Fxi=kxSxi
Wherein, kxFor the cornering stiffness of tire, unit N/rad；Sxi(i=1 ..., 4) is the straight skidding rate of each tire：
Wherein, ReiFor the effective radius of tire i, unit m；vxiFor longitudinal velocity of the tire i core wheels under tyre axis system,
Unit m/s.
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| 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 |
| CN110095635A (en) * | 2019-05-08 | 2019-08-06 | 吉林大学 | A kind of longitudinal vehicle speed estimation method of all-wheel drive vehicles |
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| CN110727994A (en) * | 2019-10-28 | 2020-01-24 | 吉林大学 | Parameter decoupling electric automobile mass and gradient estimation method |
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| CN112829766A (en) * | 2021-02-07 | 2021-05-25 | 西南大学 | Adaptive path tracking method based on distributed driving electric vehicle |
| CN113147768A (en) * | 2021-05-13 | 2021-07-23 | 东北大学 | Multi-algorithm fusion prediction-based automobile road surface state online estimation system and method |
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| CN112829766A (en) * | 2021-02-07 | 2021-05-25 | 西南大学 | Adaptive path tracking method based on distributed driving electric vehicle |
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| CN113232654A (en) * | 2021-06-17 | 2021-08-10 | 清华大学 | Driving force control method for improving climbing capacity |
| CN113753061A (en) * | 2021-08-16 | 2021-12-07 | 中交第二公路勘察设计研究院有限公司 | Climbing balance speed prediction method based on typical truck power-weight ratio |
| CN113753061B (en) * | 2021-08-16 | 2023-08-29 | 中交第二公路勘察设计研究院有限公司 | Climbing balance speed prediction method based on typical truck power-weight ratio |
| WO2023173280A1 (en) * | 2022-03-15 | 2023-09-21 | Huawei Technologies Co.,Ltd. | System and method for autonomous vehicle motion planner optimisation |
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