基于无迹卡尔曼滤波和门控循环单元的道路坡度估计

doi:10.19562/j.chinasae.qcgc.2022.10.009

Abstract

Abstract:

In view of the poor universality of external lidar and other sensors， and the large error of traditional road slope estimation method based on onboard CAN bus data in four special conditions of vehicle， including starting， gear shifting， braking， and stopping， a road slope estimation approach based on unscented Kalman filter （UKF） and gated recurrent unit （GRU） is proposed. The working condition is determined according to vehicle speed and other data. Under non-special conditions， the vehicle dynamic model is established and UKF is used to estimate the slope. Under special working conditions， the time series slope with unstable-regularity is converted to the distance series slope， and GRU is used to estimate the short-range slope. The results of simulation and real vehicle tests show that under non-special conditions， the method proposed can accurately estimate the road slope using UKF， and under special conditions， the method can effectively track the changing trend of distance series slope through GRU， significantly enhancing the estimation accuracy of road slope.

Key words: slope estimation, unscented Kalman filtering, gated recurrent unit, short-range slope

Datong Qin,Kang Wang,Jihao Feng,Yonggang Liu,Kun Cheng,Yu Xia. Road Slope Estimation Based on Unscented Kalman Filtering and Gated Recurrent Unit[J].Automotive Engineering, 2022, 44(10): 1547-1555.

Figures/Tables 15

参数	数值	参数	数值
整车整备质量 $m 0 / k g$	1 800	3挡传动比 $i 3$	1.724
载人真实质量 $m / k g$	1 950	4挡传动比 $i 4$	1.268
重力加速度 $g / (m ? s - 2)$	9.8	5挡传动比 $i 5$	1.27
迎风面积 $A / m 2$	2.60	6挡传动比 $i 6$	1.049
空气阻力系数 $C D$	0.36	7挡传动比 $i 7$	0.891
轮胎半径 $r / m$	0.355	1挡旋转质量系数 $δ 1$	1.113
轮胎滚动阻力系数 $f$	0.014	2挡旋转质量系数 $δ 2$	1.058
机械传动效率 $η T$	0.93	3挡旋转质量系数 $δ 3$	1.042
主减速器传动比 $i 01$	3.944	4挡旋转质量系数 $δ 4$	1.035
副减速器传动比 $i 02$	3.227	5挡旋转质量系数 $δ 5$	1.032
1挡传动比 $i 1$	4.214	6挡旋转质量系数 $δ 6$	1.031
2挡传动比 $i 2$	3.105	7挡旋转质量系数 $δ 7$	1.030

References 17

1	雍文亮，管欣，王博，等. 基于多传感数据融合滤波的纵向坡度识别算法［J］. 机械工程学报. 2018， 54（14）： 116-124.
	YONG W， GUAN X， WANG B， et al. Identification algorithm of longitudinal road slope based on multi-sensor data fusion filtering［J］. Journal of Mechanical Engineering，2018， 54（14）： 116-124.
2	KIM I， KIM H， BANG J， et al. Development of estimation algorithms for vehicle’s mass and road grade［J］. International Journal of Automotive Technology， 2013， 14（6）： 889-895.
3	LI S E， GUO Q， XU S， et al. Performance enhanced predictive control for adaptive cruise control system considering road elevation information［J］. IEEE Transactions on Intelligent Vehicles， 2017， 2（3）： 150-160.
4	XU S， LI S E， CHENG B， et al. Instantaneous feedback control for a fuel-prioritized vehicle cruising system on highways with a varying slope［J］. IEEE Transactions on Intelligent Transportation Systems， 2017， 18（5）： 1210-1220.
5	曾小华，钱琦峰，宋大凤，等. 基于加速度校正的坡度估计算法与实现［J］. 汽车工程， 2020， 42（10）： 1369-1377.
	ZENG X， QIAN Q， SONG D， et al. Slope estimation algorithm and its implementation based on acceleration correction［J］. Automotive Engineering， 2020， 42（10）： 1369-1377.
6	罗石，郑超，朱长顺. 基于惯性补偿和MEMS的纯电动汽车坡道识别研究［J］. 汽车工程， 2017， 39（8）： 928-934.
	LUO S， ZHENG C， ZHU C. A research on slope recognition with pure electric vehicles based on inertia compensation and MEMS［J］. Automotive Engineering， 2017， 39（8）： 928-934.
7	JO K， LEE M， SUNWOO M. Road slope aided vehicle position estimation system based on sensor fusion of GPS and automotive onboard sensors［J］. IEEE Transactions on Intelligent Transportation Systems， 2016， 17（1）： 250-263.
8	孟德将，田滨，蔡峰，等. 面向无人驾驶矿车的露天矿山道路坡度实时检测方法［J］. 测绘学报， 2021， 50（11）： 1628-1638.
	MENG D， TIAN B， CAI F， et al. Road slope real-time detection for unmanned truck in surface mine［J］. Acta Geodaetica et Cartographica Sinica， 2021， 50（11）： 1628-1638.
9	郝胜强，罗培培，席军强. 基于稳态卡尔曼滤波的车辆质量与道路坡度估计［J］. 汽车工程， 2018， 40（9）： 1062-1067.
	HAO S， LUO P， XI J. Estimation of vehicle mass and road slope based on steady-state Kalman filter［J］.Automotive Engineering， 2018， 40（9）： 1062-1067.
10	雷雨龙，付尧，刘科，等. 基于扩展卡尔曼滤波的车辆质量与道路坡度估计［J］. 农业机械学报， 2014， 45（11）： 9-13.
	LEI Y， FU Y， LIU K， et al. Vehicle mass and road grade estimation based on extended kalman filter［J］. Transactions of the Chinese Society for Agricultural Machinery， 2014， 45（11）： 9-13.
11	孙恩鑫，殷玉明，辛喆，等. 微小加速度下汽车质量-道路坡度自适应估计［J］. 清华大学学报（自然科学版）， 2022， 62（1）： 125-132.
	SUN E， YIN Y， XIN Z， et al. Adaptive joint estimates of vehicle mass and road grades for small acceleration driving scenarios［J］. Journal of Tsinghua University， 2022， 62（1）： 125-132.
12	FENG J， QIN D， LIU Y， et al. Real-time estimation of road slope based on multiple models and multiple data fusion［J］. Measurement， 2021， 181： 109609.
13	黄秋光. 基于OpenXC数据的道路坡度实时估计方法研究［D］. 重庆：重庆大学， 2017.
	HUANG Q. Study on real-time estimation of road grade using OpenXC data［D］. Chongqing： Chongqing University， 2017.
14	林楠. 基于误差自适应的整车质量辨识与基于曲率的道路坡度估计方法研究［D］. 长春：吉林大学， 2016.
	LIN N. Research on mass identification based on the error adaptive and road grade estimation based on the curvature of road vertical profile［D］. Changchun： Jilin University， 2016.
15	MEHRJOUYAN A， ALFI A. Robust adaptive unscented Kalman filter for bearings-only tracking in three dimensional case［J］. Applied Ocean Research， 2019， 87： 223-232.
16	KARIM F， MAJUMDAR S， DARABI H， et al. Multivariate LSTM-FCNs for time series classification［J］. Neural Networks， 2019， 116： 237-245.
17	CHO K， MERRIENBOER B V， GULCEHRE C， et al. Learning phrase representations using RNN encoder-decoder for statistical machine translation［J］. Computer Science， 2014.

[1]	SHEN Zhe, WANG Yi-Gang, YANG Zhi-Gang, LI Fang-Xu. [J]. , 2016, 38(12): 1440 -1445 .
[2]	ZENG Bi-Qiang, GAO Ji-Dong, PENG Wei, SUN Zhen-Dong. [J]. , 2016, 38(12): 1446 -1451 .
[3]	CHEN Wu-Wei, DENG Shu-Chao, HUANG He, XIE You-Hao. [J]. , 2016, 38(12): 1488 -1493 .
[4]	SHI Hai-Min, YU Xiao-Li, LU Guo-Dong, HUANG Yu-Qi, LIU Zhen-Tao, HUANG Rui. [J]. , 2017, 39(1): 102 -106 .
[5]	QIN Chao-Ju, YANG Zhen-Zhong, ZHANG Wei-Zheng, SONG Li-Ye, YUAN Yan-Peng. [J]. , 2017, 39(2): 133 -137 .
[6]	ZHANG Guan-Jun, ZHAO Xin-Feng, CAO Li-Bo. [J]. , 2017, 39(2): 150 -158 .
[7]	CAO Li-Bo, HU Yuan, YAN Ling-Bo, PENG Yu, SHI Xiang-南. [J]. , 2017, 39(2): 174 -180 .
[8]	HOU Tao, WEN Jing, KUANG Zhi-Peng, HE Yong-Yi, ZHANG Hai-Hong. [J]. , 2017, 39(2): 193 -199 .
[9]	WANG Bin, LI Tie, ZHANG Xiao-Qing, GUO Tao, SHI Qi. [J]. , 2017, 39(3): 256 -261 .
[10]	LI Jun, SU Yan-Zhao, KUI Han-Bing, HU Ming-Hui, ZHANG Sheng-Gen, LIU Heng-Shuo. [J]. , 2017, 39(3): 296 -303 .

项目	UKF	UKFK	UKF-GRU
MAE/%	0.926 3	0.168 2	0.099 6
RMSE/%	1.801 8	0.237 8	0.160 8

项目	UKF	UKFK	UKF-GRU
MAE/%	3.715 2	0.406 1	0.305 8
RMSE/%	8.989 3	0.607 3	0.426 4

Road Slope Estimation Based on Unscented Kalman Filtering and Gated Recurrent Unit

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 15

References 17

Related Articles 4

Metrics

Comments

Recommended 10

[1]	Zhenhai Gao,Wenhao Wen,Minghong Tang,Jian Zhang,Guoying Chen. Estimation of Vehicle Motion State Based on Hybrid Neural Network [J]. Automotive Engineering, 2022, 44(10): 1527-1536.
[2]	Wang Zhenfeng, Li Fei, Wang Xinyu, Gao Pu, Qin Yechen. Vertical and Lateral Coupling Roll State Estimation of Vehicle System [J]. Automotive Engineering, 2020, 42(5): 636-643.
[3]	Zeng Xiaohua, Qian Qifeng, Song Dafeng, Gu Jingzhe, Yuan Weisong. Slope Estimation Algorithm and Its Implementation Based on Acceleration Correction [J]. Automotive Engineering, 2020, 42(10): 1369-1377.
[4]	Tan Faming, Zhao Junjie, Wang Qi. A Novel Robust UKF Algorithm for SOC Estimation of Traction Battery [J]. Automotive Engineering, 2019, 41(8): 944-952.