CN110304070A - A kind of distribution independent driving automobile longitudinal direction vehicle speed estimation method - Google Patents
A kind of distribution independent driving automobile longitudinal direction vehicle speed estimation method Download PDFInfo
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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
- 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
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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
- B60W40/109—Lateral acceleration
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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
- B60W40/112—Roll movement
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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
- B60W2510/20—Steering systems
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/30—Wheel torque
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
A kind of distributed independent driving automobile longitudinal direction vehicle speed estimation method is disclosed in the present invention, comprising the following steps: 1) using the state parameter of sensor acquisition vehicle；2) wheel stability judgment model is established according to vehicle status parameters, the stability of each wheel is judged；3) longitudinal automobile speedestimate mode is established according to wheel stability implementations；4) according to the judging result to wheel stability, corresponding longitudinal automobile speedestimate mode is selected to obtain automobile longitudinal speed.The present invention is suitable for the estimation of four-wheeled independent driving automobile longitudinal direction speed, by judging wheel stability, establishes the automobile speedestimate mode being suitable under different wheel steadiness, realizes the accurate estimation to longitudinal speed.
Description
Technical field
The present invention relates to technical field of automobile control, in particular to a kind of distributed independent driving automobile longitudinal direction speed estimation
Method.
Background technique
The user of requirement with to(for) automobile dynamic quality, economic performance and ride comfort is continuously improved and automobile
Industry and the continuous development of technology；Attention of the distributed driving automobile increasingly by major Automobile Enterprises at present, has been carried out
The distributed driving automobile proportion of volume production is higher and higher, for SUV (Sport/suburban Utility Vehicle/
Sport utility vehicle), cross-country or even Special work vehicle, driving wheel independence driving function is particularly important.Meanwhile for
The considerations of to the energy and environmental problem, looks forward to developing direction from national policy to vehicle, and electric car all has been attached great importance, therefore
Various Direct wheel drives, wheel hub driving electric car are developed and put goods on the market in succession, and these driving methods belong to solely
Vertical driving method.
The independent control to single wheel or piece wheel may be implemented in distributed independent driving method, can be according to not
The requirement by bus of same environment or passenger accurately adjusts driving wheel quantity and driving moment in real time, thus
Improve power performance, economic performance and safety and the ride comfort of vehicle.But distributed independent driving automobile is dynamic
Force control system wants the more of complexity, wherein more or less is integrated with ABS control, power distribution control, uphill starting control, drives
Dynamic anti-sliding control, Electronic differential control and stability control etc..These control algolithms require more accurate real to obtain
When speed be control premise, but since the non-driving wheel of distributed independent driving automobile changes at any time, or driving entirely
In the case of, real-time speed is difficult the method with traditional based on non-driven wheel speed calculation speed and obtains accurate vehicle speed, therefore obtains
Accurately it is very important for the control of distributed independent driving automobile for speed in real time.
From the point of view of from existing pertinent literature, patent and the practical application the case where, the speed of distributed independent driving automobile is estimated
Meter technology is more various, and it is excellent scarce to realize that complexity, cost, reliability, accuracy also respectively have, can take into account multiple technologies requirement
Project plan comparison it is few.These methods can generally be divided into three classes: the first kind is to accelerate integral to estimate speed by longitudinal
It calculates；The advantages of this method is that full working scope adapts to, and does not have to consider acceleration or damped condition；Its problem is, first acceleration
Signal can have a noise jamming, its cumulative errors of long-time integration can be very big, secondly under changing conditions integral initial value compared with
Hardly possible determines, while not accounting for the influence of side acceleration and yaw velocity to longitudinal direction of car speed.Second class be based on
The vehicle-state viewer of whole vehicle model；Such method has higher precision, but its high-precision is based on accurate vehicle
Model, including non-linear auto model, wheel model etc., therefore the versatility of such method is poor, to be directed to different vehicles
It is modeled.Third class is the speed estimation based on Kalman filter space equation；This method is passed using acceleration
Sensor, the multiple sensor integrated methods such as yaw-rate sensor have higher estimated accuracy, but it is based on linear condition side
Journey.
A kind of speed homing method of four-wheel drive car is disclosed in Chinese invention patent application CN1987483A, first
The size of the wheel speed, motor actual output torque and the analysis of wheel vertical load that are measured according to wheel speed sensors, calculates each vehicle
The utilization service of wheel；The slip rate of utilization service and each wheel of disparity estimation of each wheel wheel speed, thus
Estimate speed.Accurate vehicle speed information can be estimated using this method, so that the estimation of slip rate is more nearly true value；But
The size that wherein obtain the real-time analysis of wheel vertical load of vehicle is often relatively difficult, if obtaining this by building auto model
A little parameters, then the accuracy estimated final speed is had an important influence by the accuracy of model, applicability, versatility compared with
Difference.
A kind of longitudinal vehicle speed estimation method of electronic all wheel drive is disclosed in Chinese invention patent CN102009654B,
It include: 1) vehicle speed measurement system is set；2) ω is acquired in real timei、With3) take Kalman filtering mode to collected
Signal is filtered；4) speed of the building based on Kalman filter space equation structure is estimated and based on acceleration product
Speed estimation；5) differentiated using the switching of speed algorithm for estimating: set to talk about and trackslip/slip rate absolute value | λ | threshold values work as ε | λ | >
Using the speed estimation formulas based on Kalman filtering when ε, as | λ | estimated when >=ε using the speed based on integrated acceleration public
Formula.This method can relatively accurately estimate the speed of full-wheel electric drive automobile, but wherein be based on acceleration product in building
When the vehicle speed estimation method divided, institute is to used vx=v0+∫(ax+vyγ) dt is simplified, and has ignored wherein yaw angle
Speed γ and lateral speed vyInfluence so that during steering using this method to speed calculate there is biggish mistakes
Difference.
Summary of the invention
It is an object of the invention to solve the above-mentioned technical problems in the prior art, propose that one kind can be obtained accurately solely
The distributed independent driving automobile longitudinal direction vehicle speed estimation method of vertical driving automobile real-time online speed.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows:
A kind of distribution independent driving automobile longitudinal direction vehicle speed estimation method, comprising the following steps:
1) using the state parameter of sensor acquisition vehicle, including wheel wheel speed wi, wheel torque Ti, steering wheel angle δw、
Vehicle centroid longitudinal acceleration ax, vehicle centroid side acceleration ayWith yaw rate γ, wherein wiFor i-th of wheel
Wheel speed, TiFor the torque of i-th of wheel；
2) wheel stability judgment model is established according to vehicle status parameters, the stability of each wheel is judged；
3) longitudinal automobile speedestimate mode is established according to wheel stability implementations；
4) according to the judging result to wheel stability, corresponding longitudinal automobile speedestimate mode is selected to obtain automobile longitudinal vehicle
Speed.
In above-mentioned technical proposal, further, the decision procedure of wheel stability is as follows in the step 2):
Differential process is carried out to current each wheel wheel speed and obtains wheel acceleration aiw；Setting acceleration tolerance is limited to Δ A, wheel
Sliding/rate of rotation tolerance is limited to Δ λ；
When | aiw-ax| > Δ A (1)
OrWhen,
Determine the wheel for unstable state, it is on the contrary then be stable state；Wherein, aiwWheel for current i-th of wheel adds
Speed；
The vxfFor longitudinal speed of vehicle last moment；Wherein, when judging vehicle for starting state, vxfIt is 0；When
Judge vehicle for operating status, then vxfFor average wheel speedWherein,Wherein vxoiIt is i-th
Meta-stable wheel wheel speed, the meta-stable wheel refer to wheel wheel acceleration aiwWith vehicle centroid longitudinal acceleration axBetween difference
Value is less than the wheel of limit value, and
It include to v further in above-mentioned technical proposalxfThe step of being corrected: to vxfUsing in brakeless shape
Wheel wheel speed when wheel drive torque is 0 under state is corrected, when having multiple wheel drive torques simultaneously is 0, then vxfFor
The average value for the wheel wheel speed that each driving moment is 0.
In above-mentioned technical proposal, further, in the formula (1) of the step 2) and (2), to acceleration tolerance limit Δ A and
Adaptive Fuzzy Control algorithm is respectively adopted in sliding/rate of rotation tolerance limit Δ λ；
Wherein, coefficient of road adhesion μ and steering wheel angle δ is chosenwAs the input of fuzzy rule, acceleration tolerance is established
Δ A fuzzy inference rule is limited, as follows:
Sliding/rate of rotation tolerance limit Δ λ fuzzy inference rule is established, as follows:
Wherein, S, M, L respectively represent small, neutralization greatly.
In above-mentioned technical proposal, further, longitudinal automobile speedestimate mould is established according to wheel stability implementations in step 3)
Formula are as follows:
I) when there are two or two or less wheels play pendulum when, longitudinal speed vxEstimate formula are as follows:
Wherein,
vxwiFor the wheel speed of current i-th stable wheel, R is radius of wheel, and δ is vehicle front wheel angle, and B is wheelspan；
II) when there are three or three or more wheels play pendulum when, longitudinal automobile speedestimate formula are as follows:
vx=vx0+∫(ax+vyγ)dt (4)
vy=vy0+∫(ay+vxγ)dt (5)
In formula (4) and (5), vx0Initial velocity, v are integrated to be longitudinaly0Laterally to integrate initial velocity, vyFor lateral speed.
In above-mentioned technical proposal, further, in formula (4) and (5), when average wheel speedWith longitudinal speed of last moment
vxfBetween the absolute value of difference when being greater than the set value, thenvy0=0；Otherwise vx0=0, vy0=0；
Wherein,vxoiFor i-th of meta-stable wheel wheel speed, the meta-stable wheel refers to
Wheel wheel acceleration aiwWith vehicle centroid longitudinal acceleration axBetween difference be less than limit value wheel, and
In above-mentioned technical proposal, further, before being estimated using step 4) automobile longitudinal speed, include
To wheel torque TiThe step of being judged, comprising:
When | Ti| when < Δ T, automobile longitudinal speedWherein, Δ T is that the wheel of setting turns
Square limit value, vxiFor i-th of wheel wheel speed,Otherwise, vertical to automobile using step 4)
It is estimated to speed.
It include the step of judgement automobile gear level further in above-mentioned technical proposal: when automobile gear level is sky
Gear and wheel speed wiWhen less than setting value, automobile longitudinal speed v is setx=0.
The present invention is suitable for the estimation of four-wheeled independent driving automobile longitudinal direction speed, by judging wheel stability,
The automobile speedestimate mode being suitable under different wheel steadiness is established, realizes the accurate estimation to longitudinal speed.
Using the estimation method while accurately being estimated longitudinal speed, automobile speedestimate algorithm is simple, calculates
Parameter involved in journey is less, so as to reduce the quantity of hardware needed for vehicle speed measures, is guaranteeing to carry out vehicle speed
Hardware cost needed for can effectively reduce automobile speed measurement in the case where accurate estimation.
The estimation method is applicable to the accurate estimation under the various operating conditions of vehicle to longitudinal speed, including vehicle tyre skids
Or the special states such as locking；Vehicle Lateral Motion Based and weaving are also contemplated when estimating speed to longitudinal speed
It influences, to obtain more accurate speed longitudinal in real time.
Detailed description of the invention
Fig. 1 is the longitudinal vehicle speed estimation method functional block diagram of the present invention.
Fig. 2 is that acceleration tolerance limits Δ A in the present invention and sliding/rate of rotation tolerance limits each output fuzzy field in Δ λ
With the three-dimensional figure of fuzziness (S, M, L), wherein a) limit Δ A three-dimensional figure, b for acceleration tolerance) sliding/rate of rotation tolerance limit Δ λ tri-
Dimension figure.
Fig. 3 is Carsim/Simulink associative simulation to be carried out to vehicle speed estimation method of the present invention and based on Carsim/
The contrast schematic diagram of the hardware in loop experiment of Matlab.
Specific embodiment
The present invention is further illustrated in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, for the distributed independent driving automobile longitudinal direction vehicle speed estimation method of the present invention, which is based on pair
The judgement of wheel stability, and the automobile speedestimate mode under different wheel stability condition is established, it is steady by real-time detection wheel
Qualitative state selects corresponding automobile speedestimate mode to estimate longitudinal direction of car speed, so that it is vertical to obtain accurate vehicle
To speed.
In conjunction with the principle logic diagram in Fig. 1, the present invention includes following step to the estimation method principle of longitudinal speed
It is rapid:
1) using various sensors (wheel speed sensors, torque sensor, steering wheel angle sensor, gyroscope etc.) to vehicle
The acquisition of state parameter in driving process, wheel speed including each wheel, the torque for driving wheel, steering wheel angle, vehicle are vertical
To acceleration, vehicle lateral acceleration, Vehicular yaw angle, automobile gear level etc.；
2) stability of each wheel is determined based on wheel wheel speed, wheel acceleration；
3) the automobile speedestimate mode under different wheel stability status is established；
4) stability status for passing through each wheel, selects corresponding automobile speedestimate mode to estimate vehicular longitudinal velocity
It calculates.
Specifically, the distributed independent driving automobile longitudinal direction vehicle speed estimation method in the present invention, comprising the following steps:
1) using the state parameter of sensor acquisition vehicle, including wheel wheel speed wi, wheel torque Ti, steering wheel angle δw、
Vehicle centroid longitudinal acceleration ax, vehicle centroid side acceleration ayWith yaw rate γ, wherein wiFor i-th of wheel
Wheel speed, TiFor the torque of i-th of wheel；
2) vehicle status parameters are handled using entire car controller, and establishes wheel stability judgement according to vehicle status parameters
Mode judges the stability of each wheel；Entire car controller is first right before handling these of acquisition parameter signal
These signals carry out low-pass filtering treatment and improve the precision of data processing to reduce the interference of noise；
In the step, the decision procedure of each wheel stability are as follows:
Firstly, carrying out differential process to current each wheel wheel speed obtains wheel acceleration aiw；Setting acceleration tolerance is limited to Δ
A, wheelslip/rate of rotation tolerance are limited to Δ λ；
When | aiw-ax| > Δ A (1)
OrWhen,
Determine the wheel for unstable state, it is on the contrary then be stable state；Wherein, aiwWheel for current i-th of wheel adds
Speed；
The vxfFor longitudinal speed of vehicle last moment；Wherein, when judging vehicle for starting state, vxfIt is 0；When
Judge vehicle for operating status, then vxfFor average wheel speedWherein,Wherein vxoiIt is i-th
Meta-stable wheel wheel speed, the meta-stable wheel refer to wheel wheel acceleration aiwWith vehicle centroid longitudinal acceleration axBetween difference
Value is less than the wheel of limit value, and
It is to avoid due to acceleration long-time integration bring cumulative errors, to v in the present inventionxfUsing in brakeless state
Wheel wheel speed when lower wheel drive torque is 0 is corrected, i.e., when having multiple wheel drive torques simultaneously is 0, then vxfFor
The average value for each wheel wheel speed that driving moment is 0, so that speed evaluated error restrains.
3) the automobile longitudinal automobile speedestimate mode under different wheel steadiness is established；It is as follows:
I) when there are two or two or less wheels play pendulum when, longitudinal speed vxEstimate formula are as follows:
Wherein,
vxwiFor the wheel speed of current i-th stable wheel, R is radius of wheel, and δ is vehicle front wheel angle, and B is wheelspan；
II) when there are three or three or more wheels play pendulum when, longitudinal automobile speedestimate formula are as follows:
vx=vx0+∫(ax+vyγ)dt (4)
vy=vy0+∫(ay+vxγ)dt (5)
In formula (4) and (5), vx0Initial velocity, v are integrated to be longitudinaly0Laterally to integrate initial velocity, vyFor lateral speed.
Wherein, vx0Pass through longitudinal speed v of current wheel speed and last momentxfIt determines, specifically:
In formula (4) and (5), when average wheel speedWith longitudinal speed v of last momentxfBetween difference absolute value be greater than set
When definite value, thenvy0=0；Otherwise vx0=0, vy0=0；The setting value can be set as needed；
Wherein,vxoiFor i-th of meta-stable wheel wheel speed, the meta-stable wheel refers to
Wheel wheel acceleration aiwWith vehicle centroid longitudinal acceleration axBetween difference be less than limit value wheel, and
Average wheel speed is introduced in the present inventionIt can solve entire car controller and calculate integral initial value after unexpected power-off restarting
The problem that can not be determined.Generally, entire car controller is powered on there are two types of situation: first is that powering on when vehicle is normally started to walk, at this time
Vehicle initial speed is 0, if carrying out automobile speedestimate by integrated acceleration, integrating initial value at this time may be configured as 0；Second is that because
For entire car controller in vehicle operation because failure temporarily powers off, re-powering rear actual vehicle speed at this time is not 0, is passed through at this time
Introduce average wheel speedAs initial value is integrated at this time, the above problem can be well solved.
Can effectively judge in this way vehicle starting-up process still in the process of running, so that vehicle be avoided to run
Lead to v when the unexpected power-off restarting of vehicle control device in journeyx0And vy0It is difficult to determining problem.
4) by the judging result to wheel stability, corresponding automobile speedestimate modes I is selected) or II) to obtain automobile vertical
To speed.
Judgement and selection to speed estimation model effectively are carried out to wheel stability in order to more convenient, here plus
Speed tolerance limits Δ A and sliding/rate of rotation tolerance limit Δ λ uses Adaptive Fuzzy Control algorithm, with calibration required in reduction method
The quantity of parameter, to improve the adaptability of the estimation method algorithm.
Wherein, Δ A is limited for acceleration tolerance, chooses coefficient of road adhesion μ and steering wheel angle δwAs fuzzy rule
Input, establish acceleration tolerance limit Δ A fuzzy inference rule, such as table 1:
1 acceleration tolerance of table limits Δ A fuzzy inference rule
Δ λ is limited for sliding/rate of rotation tolerance, establishes sliding/rate of rotation tolerance limit Δ λ fuzzy inference rule, such as table 2:
2 slidings of table/rate of rotation tolerance limits Δ λ fuzzy inference rule
Wherein, S, M, L respectively represent small, neutralization greatly；Concurrently set the degree of membership letter of wherein each input and output amount S, M, L
Number.
Here fuzzy rule is introduced, acceleration tolerance limits each output mould in Δ A and sliding/rate of rotation tolerance limit Δ λ
It pastes domain and the three-dimensional figure of fuzziness (S, M, L) is as shown in Figure 2.
It include to wheel before being estimated using step 4) automobile longitudinal speed in evaluation method of the present invention
Torque TiThe step of being judged, comprising:
When | Ti| when < Δ T, automobile longitudinal speedWherein, Δ T is that the wheel of setting turns
Square limit value, vxiFor i-th of wheel wheel speed,
Otherwise, as | TiWhen | >=Δ T, automobile longitudinal speed is estimated using step 4).
It further include the judgment step having to automobile gear level in evaluation method of the present invention: when automobile gear level is neutral gear and wheel speed wi
When less than setting value, automobile longitudinal speed v is setx=0.
For example, when the gear information that vehicle control device obtains shows that gear is neutral gear, and wheel speed is less than 0.5km/h at this time
When, then set automobile longitudinal speed vx=0；When can guarantee that vehicle is under dead ship condition in this way, using obtained by the estimation method
To longitudinal speed be zero, to reduce the interference of signal.
Switching of the vehicle in the process of moving between speed estimation model can carry out frequently under different working conditions
Switching will cause the speed estimated and frequent mutation occur, so to solve this problem, using low-pass first order filter pair
Whole process is handled.
Fig. 3 is Carsim/Simulink associative simulation to be carried out to vehicle speed estimation method of the present invention and based on Carsim/
The contrast schematic diagram of the hardware in loop experiment of Matlab；Dotted line is that Carsim emulates speed in figure, and solid line is using this estimation side
The estimation speed that method obtains；Operating condition of test is acceleration, the input of steering wheel angle sinusoidal excitation, coefficient of road adhesion 0.5.From figure
In as can be seen that under the operating condition using estimation method of the present invention can obtain more accurately longitudinal direction speed.
The description and the appended drawings of the invention be considered as it is illustrative and not restrictive, on the basis of the present invention, ability
According to disclosed technology contents, some of technical characteristics can be made field technique personnel by not needing creative labor
Some replacements and deformation, are within the scope of the invention.
Claims (8)
1. a kind of distribution independent driving automobile longitudinal direction vehicle speed estimation method, which comprises the following steps:
1) using the state parameter of sensor acquisition vehicle, including wheel wheel speed wi, wheel torque Ti, steering wheel angle δw, vehicle
Mass center longitudinal acceleration ax, vehicle centroid side acceleration ayWith yaw rate γ, wherein wiFor the wheel of i-th of wheel
Speed, TiFor the torque of i-th of wheel；
2) wheel stability judgment model is established according to vehicle status parameters, the stability of each wheel is judged；
3) longitudinal automobile speedestimate mode is established according to wheel stability implementations；
4) according to the judging result to wheel stability, corresponding longitudinal automobile speedestimate mode is selected to obtain automobile longitudinal speed.
2. distribution independent driving automobile longitudinal direction according to claim 1 vehicle speed estimation method, which is characterized in that the step
It is rapid 2) in wheel stability decision procedure it is as follows:
Differential process is carried out to current each wheel wheel speed and obtains wheel acceleration aiw；Setting acceleration tolerance is limited to Δ A, and wheel is sliding
Shifting/rate of rotation tolerance is limited to Δ λ；
When | aiw-ax| > Δ A (1)
OrWhen,
Determine the wheel for unstable state, it is on the contrary then be stable state；Wherein, aiwFor the wheel acceleration of current i-th of wheel；
The vxfFor longitudinal speed of vehicle last moment；Wherein, when judging vehicle for starting state, vxfIt is 0；When judging vehicle
It is operating status, then vxfFor average wheel speedWherein,Wherein vxoiFor i-th of meta-stable vehicle
Wheel speed is taken turns, the meta-stable wheel refers to wheel wheel acceleration aiwWith vehicle centroid longitudinal acceleration axBetween difference be less than limit
The wheel of definite value, and
3. distribution independent driving automobile longitudinal direction according to claim 2 vehicle speed estimation method, which is characterized in that include
To vxfThe step of being corrected:
To uxfThe wheel wheel speed of under brakeless state wheel drive torque for 0 when is used to be corrected, when there are multiple vehicles simultaneously
When wheel drive torque is 0, then vxfFor the average value for the wheel wheel speed that each driving moment is 0.
4. distribution independent driving automobile longitudinal direction according to claim 2 vehicle speed estimation method, which is characterized in that the step
In rapid formula (1) and (2) 2), Δ A is limited to acceleration tolerance and adaptive fuzzy control is respectively adopted in sliding/rate of rotation tolerance limit Δ λ
Algorithm processed；
Wherein, coefficient of road adhesion μ and steering wheel angle δ is chosenwAs the input of fuzzy rule, acceleration tolerance limit Δ A is established
Fuzzy inference rule, as follows:
Sliding/rate of rotation tolerance limit Δ λ fuzzy inference rule is established, as follows:
Wherein, S, M, L respectively represent small, neutralization greatly.
5. distribution independent driving automobile longitudinal direction according to claim 1 vehicle speed estimation method, which is characterized in that step 3)
It is middle to establish longitudinal automobile speedestimate mode according to wheel stability implementations are as follows:
I) when there are two or two or less wheels play pendulum when, longitudinal speed vxEstimate formula are as follows:
Wherein,
vxwiFor the wheel speed of current i-th stable wheel, R is radius of wheel, and δ is vehicle front wheel angle, and B is wheelspan；
II) when there are three or three or more wheels play pendulum when, longitudinal automobile speedestimate formula are as follows:
vx=vx0+∫(ax+vyγ)dt (4)
vy=vy0+∫(ay+vxγ)dt (5)
In formula (4) and (5), vx0Initial velocity, v are integrated to be longitudinaly0Laterally to integrate initial velocity, vyFor lateral speed.
6. distribution independent driving automobile longitudinal direction according to claim 5 vehicle speed estimation method, which is characterized in that formula (4)
(5) in, when average wheel speedWith longitudinal speed v of last momentxfBetween the absolute value of difference when being greater than the set value, thenvy0=0；Otherwise vx0=0, vy0=0；
Wherein,vxoiFor i-th of meta-stable wheel wheel speed, the meta-stable wheel refers to wheel
Wheel acceleration aiwWith vehicle centroid longitudinal acceleration axBetween difference be less than limit value wheel, and
7. distribution independent driving automobile longitudinal direction according to claim 1 vehicle speed estimation method, which is characterized in that using
It include to wheel torque T before step 4) estimates automobile longitudinal speediThe step of being judged, comprising:
When | Ti| when < Δ T, automobile longitudinal speedWherein, Δ T is that the wheel torque of setting limits
Value, vxiFor i-th of wheel wheel speed,Otherwise, using step 4) to automobile longitudinal speed into
Row estimation.
8. distribution independent driving automobile longitudinal direction according to claim 1 vehicle speed estimation method, which is characterized in that include
The step of automobile gear level is judged:
When automobile gear level is neutral gear and wheel speed wiWhen less than setting value, automobile longitudinal speed v is setx=0.
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