Electric vehicle ramp recognition based on fusion of vehicle mass estimation

Abstract

Road slope is the necessary environmental information for intelligent electric vehicles. The accuracy of slope recognition directly determines the control quality of vehicles on the hill. Aiming at the problems that the existing ramp recognition algorithms have poor adaptability to the conditions and are unable to To satisfy the application requirements of mass production vehicles, this paper proposes an electric vehicle slope recognition method based on vehicle mass estimation. Firstly, the vehicle longitudinal dynamics model is established, and the signal characteristics of the acceleration sensor under the actual vehicle conditions are analyzed. The least square vehicle mass estimation strategy with forgetting factor is constructed to obtain the vehicle mass directly under the starting condition. Ramp recognition algorithms are designed for static parking and dynamic driving scenarios. In the static scenario, the filter latch strategy is used to deal with the interference factors such as activities in the vehicle. In the dynamic scenario, the Kalman filter algorithm based on measurement noise adaptation is designed to realize the fusion estimation of dynamic observation and kinematic observation for the slope. The effectiveness of the method is verified by Simulink -CarSim joint simulation. Finally, the real vehicle test is completed on Chery new energy's mass production electric vehicle platform and domain controller. road test results show that the mass estimation error is less than ±10 kg; the static estimation error of the slope is less than 0.001 rad, and the dynamic error is within 0.005 rad. The estimation accuracy and stability are greatly improved, which ensures the environmental adaptability of the intelligent electric vehicles.