【摘要】：運用現(xiàn)代控制理論解決實時道路坡度估計問題時通常假設道路坡度是不變的,雖然道路坡度相比于其他車輛狀態(tài)參數(shù)是緩慢變化的,但是完全忽略道路坡度變化率特征會造成較大的時間延遲。為了彌補這一缺點,本文運用縱向加速度傳感器表達了道路坡度的變化率信息,在此基礎上建立了車輛速度、加速度與道路坡度的狀態(tài)轉(zhuǎn)移關系,從而構建了坡度估計卡爾曼濾波器。試驗結果表明,考慮道路坡度變化率能有效降低道路坡度在線估計的延遲現(xiàn)象。
[Abstract]:When using modern control theory to solve the real-time road slope estimation problem, it is usually assumed that the road slope is invariant, although the road slope changes slowly compared with other vehicle state parameters. However, ignoring the characteristics of road slope change rate will result in a large time delay. In order to make up for this shortcoming, this paper uses the longitudinal acceleration sensor to express the change rate information of the road slope, and on this basis, establishes the state transfer relation between the vehicle speed, acceleration and the road slope. Thus the Kalman filter for slope estimation is constructed. The experimental results show that the delay in on-line estimation of road slope can be effectively reduced by considering the change rate of road slope.
【作者單位】： 吉林大學交通學院;
【基金】：國家自然科學基金項目(51475199)
【分類號】：U463.6;U495

【相似文獻】

相關期刊論文 前1條

1 孟妮;韓丹;;基于CAN接口的道路坡度采集系統(tǒng)設計[J];公路與汽運;2012年02期

，

本文編號：2304921