紧急制动工况下的纵向车速估计方法

doi:10.19562/j.chinasae.qcgc.2022.09.014

Abstract

Abstract:

In view of that the rotational speed of wheel can no longer reflect the longitudinal speed of vehicle due to the large slip of all four wheels in the vehicle state of emergency braking， an estimation method of vehicle longitudinal speed combined with a slip controller is proposed. The method can directly influence the control logic of wheel slip to ensure there always exist one of the four wheels staying at the state of weak braking force control and maintain the stable change of speed， and hence enabling the accurate estimation of longitudinal vehicle speed in emergency braking conditions. The results of simulations under the both straight driving and curve turning conditions on both high and low adhesive roads verify the braking efficacy of slip controller and the robustness of estimation method of vehicle longitudinal speed.

Key words: emergency braking, longitudinal vehicle speed estimation, slip controller

Xiaohua Zeng,Qifeng Qian,Dafeng Song,Haoming Gao,Jiajun Wu. Estimation Method of Longitudinal Vehicle Speed Under Emergency Braking Condition[J].Automotive Engineering, 2022, 44(9): 1425-1436.

Figures/Tables 21

References 12

1	DING X L， WANG Z P， ZHANG L， et al. Longitudinal vehicle speed estimation for four-wheel-independently-actuated electric vehicles based on multi-sensor fusion［J］. IEEE Trans Veh Technol， 2020， 69（11）： 12797-12806.
2	王震坡，丁晓林，张雷. 四轮轮毂电机驱动电动汽车驱动防滑控制关键技术综述［J］. 机械工程学报， 2019， 55（12）： 99-120.
	WANG Zhenpo， DING Xiaolin， ZHANG Lei. Overview on key technologies of acceleration slip regulation for four-wheel-independently-actuated electric vehicles［J］. Journal of Mechanical Engineering， 2019， 55（12）： 99-120.
3	褚文博，李深，江青云，等. 基于多信息融合的全轮独立电驱动车辆车速估计［J］. 汽车工程， 2011， 33（11）： 962-966.
	CHU Wenbo， LI Shen， JIANG Qingyun， et al. Speed estimation for all-wheel drive vehicles based on multi-information fusion［J］. Automotive Engineering， 2011， 33（11）： 962-966.
4	孙威，付翔，唐科懿，等. 四轮独立驱动车辆纵向车速与坡度的联合估计［J］. 武汉理工大学学报， 2017， 39（6）： 28-33，77.
	SUN Wei， FU Xiang， TANG Keyi， et al. Joint estimation of longitudinal speed and road slope for four wheel independent drive vehicle［J］. Journal of Wuhan University of Technology， 2017， 39（6）： 28-33，77.
5	赵治国，杨杰，吴枭威. 四驱混合动力轿车分布式卡尔曼车速估计［J］. 机械工程学报， 2015， 51（16）： 50-56.
	ZHAO Zhiguo， YANG Jie， WU Xiaowei. Vehicle speed estimation based on distributed Kalman filter for four wheel drive hybrid electric car［J］. Journal of Mechanical Engineering， 2015， 51（16）： 50-56.
6	任彦君，殷国栋，沙文瀚，等. 基于运动学信息融合的四轮驱动汽车纵向车速自适应估计方法［J］. 机械工程学报， 2021， 57（8）： 184-194.
	REN Yanjun， YIN Guodong， SHA Wenhan， et al. Longitudinal velocity adaptive estimation for four-wheel-drive vehicles via kinematic information fusion［J］. Journal of Mechanical Engineering， 2021， 57（8）： 184-194.
7	JIN L Q， CHEN P F， ZHANG R L， et al. Longitudinal velocity estimation based on fuzzy logic for electronic stability control system［J］. Adv Mech Eng， 2017， 9（5）： 12.
8	HASHEMI E， KHOSRAVANI S， KHAJEPOUR A， et al. Longitudinal vehicle state estimation using nonlinear and parameter-varying observers［J］. Mechatronics， 2017， 43： 28-39.
9	REZAEIAN A， KHAJEPOUR A， MELEK W， et al. Simultaneous vehicle real-time longitudinal and lateral velocity estimation［J］. IEEE Trans Veh Technol， 2017， 66（3）： 1950-1962.
10	PENG Y， CHEN J， MA Y. Observer-based estimation of velocity and tire-road friction coefficient for vehicle control systems［J］. Nonlinear Dyn， 2019， 96（1）： 363-387.
11	MOAVENI B， ABAD M K R， NASIRI S. Vehicle longitudinal velocity estimation during the braking process using unknown input Kalman filter［J］. Veh Syst Dyn， 2015， 53（10）： 1373-1392.
12	ZHANG D M， SONG Q， WANG G F， et al. A novel longitudinal speed estimator for four-wheel slip in snowy conditions［J］. Appl Sci-Basel， 2021， 11（6）： 13.

参数	数值
后轴制动转矩/压力系数	18 N·m/bar
前轴制动转矩/压力系数	40 N·m/bar
整车质量	1 300 kg
横摆转动惯量	1 343 kg·m²
簧下质量	60 kg
质心到前轴距离	1 040 mm
质心到后轴距离	1 560 mm
轮距	1 480 mm
制动器响应时间常数	0.6 s
轮胎型号	205/55 R16
迎风面积	1.6 m²

参数	数值
高附着路面的比例项增益系数	15 000
低附着路面的比例项增益系数	2 500
调整适应期制动转矩绝对减小量	50 N·m
加速度偏置值的加权系数	0.004
调整过渡期时间	0.1 s
调整适应期比例项衰减系数	0.9
每个估计周期的时间步长	0.005 s
纵向车速估计的加权系数	0.8
长时处于调整适应期最大值	0.35 s

[1]	Xianxu Bai,Yu Zuo,Weihan Li,Qin Shi,Chuzhao Li,Shulian Zhao,Jiong Chen. Quantitative Evaluation of SOTIF for Control Module of AEBS [J]. Automotive Engineering, 2023, 45(9): 1655-1665.
[2]	Tiefang Zou,Qiancheng Liu,Liang Wei. Typical Collision Scenarios and Accident Characteristics of Accidents not Avoided After Installing Traditional AEB [J]. Automotive Engineering, 2023, 45(6): 1062-1072.
[3]	Yongtao Liu,Chuanpan Liu,Xiangan Liu,Yisong Chen,Jie Qiao. Automatic Emergency Braking System Based on Model Predictive Control with Adaptive Sampling Time [J]. Automotive Engineering, 2023, 45(1): 32-41.
[4]	Xiangjing Guo,Pan Sun,Jie Deng,Yong Liu,Zhuang Liu,Shuangping Liu. Research on AEB Control Strategy of a Heavy Tractor-Semitrailer Combination Based on BP Neural Network Algorithm Prediction [J]. Automotive Engineering, 2021, 43(9): 1350-1359.
[5]	Fengchong Lan,Yingjie Liu,Jiqin Lan Qingsheng Chen. Research on Safety Strategy for Collision Avoidance by Automatic Emergency Braking on a Road with Varying Adhesion Coefficient [J]. Automotive Engineering, 2021, 43(7): 1105-1112.
[6]	Lan Fengchong, Yu Meng, Li Shicheng, Chen Jiqing. Research on Hierarchical Control Strategy for Automatic Emergency Braking System with Consideration of Time-to-collision [J]. Automotive Engineering, 2020, 42(2): 206-214.
[7]	Wang Zhe, Zhou Xiaojun, Yang Chenlong, Hu Bo. Effects of Driver's Braking Intention on Hysteresis Characteristics of Emergency Braking in Multi-axle Vehicle [J]. , 2018, 40(10): 1185-1191.

Estimation Method of Longitudinal Vehicle Speed Under Emergency Braking Condition

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 21

References 12

Related Articles 7

Metrics

Comments

Recommended 10