The invention discloses a vehicle active safety control method and device. A state equation and an observation equation of robust filtering are established to obtain a state vector and an observationvector; filtering recursion calculation is carried out on the state vector and the observation vector to obtain a third vehicle mass and a third road longitudinal slope at the discrete moment; and vehicle active safety control operation is performed based on the third vehicle mass and the third road longitudinal slope at the discrete moment. Through the above scheme, combined estimation of the vehicle mass and the road longitudinal gradient is carried out based on a robust filtering algorithm, so that under the condition of an interference signal, the high-precision vehicle mass and the road longitudinal gradient are accurately obtained in real time; and the vehicle active safety control operation is executed by obtaining the high-precision vehicle mass and the road longitudinal gradient,so that the control effect of the vehicle active safety system is improved. In addition, the application requirements under complex working conditions are met while the vehicle quality and the high precision of the longitudinal gradient of the road are guaranteed.

    本发明公开了一种车辆主动安全控制方法及装置,通过建立鲁棒滤波的状态方程和观测方程,得到状态向量和观测向量,将状态向量和观测向量进行滤波递推计算,得到离散时刻的第三车辆质量和第三道路纵向坡度,基于离散时刻的第三车辆质量和第三道路纵向坡度,执行车辆主动安全控制操作。通过上述方案,基于鲁棒滤波算法,对车辆质量与道路纵向坡度的联合估计,使得处于干扰信号的情况下,实时、准确的得到高精度的车辆质量与道路纵向坡度,通过得到高精度的车辆质量和道路纵向坡度,执行车辆主动安全控制操作,从而提高车辆主动安全系统控制效果。此外,在保证车辆质量和道路纵向坡度的高精度的同时,满足复杂工况下的应用需求。


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    Title :

    Vehicle active safety control method and device


    Additional title:

    一种车辆主动安全控制方法及装置


    Contributors:
    SONG XIANG (author) / MA LIGANG (author) / JIANG HUILIN (author) / ZHANG LEI (author)

    Publication date :

    2020-08-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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