电动轮汽车车速与道路坡度估计*

doi:10.19562/j.chinasae.qcgc.2020.02.009

Abstract

Abstract: Aiming at the estimation of vehicle speed and road gradient, a first-order extended state observer based on longitudinal non-linear dynamic equation is designed to jointly estimate the vehicle speed and road gradient with the steady-state error of estimation analyzed. Meanwhile, the recursive least squares estimation algorithm with forgetting factor is used to separate the gradient information from acceleration sensor signals, and the proportional coefficients are set to fuse two-types of gradient information and finally obtain the estimation value of road gradient. The MATLAB/Simulink-Carsim co-simulation platform is built to conduct a simulation on variable gradient road, and a real vehicle test is also carried out on a slope. The results of simulation and real vehicle test show that the proposed method is simple and feasible

Key words: in-wheel motor electric vehicle, speed and gradient estimation, extended state observer, recursive least squares method, information fusion

Chen Hao, Yuan Liangxin, Sun Tao, Zheng Sifa, Lian Xiaomin. Estimation of In-wheel Motor Driven Electric Vehicle Speed and Road Gradient[J].Automotive Engineering, 2020, 42(2): 199-205.

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Estimation of In-wheel Motor Driven Electric Vehicle Speed and Road Gradient

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