Slope Estimation Algorithm and Its Implementation Based on Acceleration Correction

被引：0
|
作者：
Zeng X. [1 ]
Qian Q. [1 ]
Song D. [1 ]
Gu J. [2 ]
Yuan W. [2 ]
机构：
[1] Jilin University, State Key Laboratory of Automotive Simulation and Control, Changchun
[2] FAW Jiefang Automobile Co., Ltd., Changchun
来源：
Qiche Gongcheng/Automotive Engineering | 2020年 / 42卷 / 10期
关键词：
Acceleration correction; Fuzzy system; Signal fusion; Slope estimation;
D O I：
10.19562/j.chinasae.qcgc.2020.10.011
中图分类号：
学科分类号：
摘要：
In view of the defects of too many parameters involved and poor accuracy in current slope estimation methods, a new slope estimation algorithm is proposed based on acceleration correction. The algorithm uses only the signals of accelerations in three directions and rotational speed, corrects initial acceleration signal by rotational speed integral and extracts the component of gravity acceleration along slope direction from acceleration signals. Then the stable Kalman gains in different conditionsare calculated offline based on the characteristics of working conditions and the fuzzy system is set up to dynamically determine the signal fusion coefficient, avoiding the necessity of real time estimation of error covariant in directly using Kalman filtering algorithm. Finally the software and hardware are integrated with real vehicle test performed, verifying the good real time performance and high accuracy of the slope estimation method proposed. © 2020, Society of Automotive Engineers of China. All right reserved.
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页码：1369 / 1377
页数：8
相关论文
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