含坡度变化率信息的道路坡度估计
发布时间：2018-11-01 19:50
【摘要】：运用现代控制理论解决实时道路坡度估计问题时通常假设道路坡度是不变的,虽然道路坡度相比于其他车辆状态参数是缓慢变化的,但是完全忽略道路坡度变化率特征会造成较大的时间延迟。为了弥补这一缺点,本文运用纵向加速度传感器表达了道路坡度的变化率信息,在此基础上建立了车辆速度、加速度与道路坡度的状态转移关系,从而构建了坡度估计卡尔曼滤波器。试验结果表明,考虑道路坡度变化率能有效降低道路坡度在线估计的延迟现象。
[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.
【作者单位】： 吉林大学交通学院;
【基金】：国家自然科学基金项目(51475199)
【分类号】：U463.6;U495
本文编号：2304921
[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.
【作者单位】： 吉林大学交通学院;
【基金】：国家自然科学基金项目(51475199)
【分类号】：U463.6;U495
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