The invention is suitable for the technical field of automobile driving, and provides a road surface unevenness identification method considering vertical load change, which comprises the following steps of: estimating initial road surface unevenness by using a transfer function between sprung acceleration and road surface excitation according to sprung acceleration signals; estimating the vertical load of the automobile according to the driving acceleration of the automobile and the structural parameters of the automobile; and according to the vertical load change of the automobile, sprung mass parameters in the road surface estimator are changed in real time, and the road surface estimator with higher accuracy is constructed. According to the method, the estimation precision of the road surface estimator is improved by changing sprung mass parameters in the road surface estimator in real time, the change of a vertical load is considered in the road surface unevenness identification process, the sprung mass in a road surface identification system is changed in real time, the influence caused by load change due to speed change and the like is reduced, and the road surface unevenness identification accuracy is improved. The estimation process is closer to real automobile driving, and the recognition precision of the road surface unevenness is improved.
本发明适用于汽车驾驶技术领域,提供了一种考虑垂向载荷变化的路面不平度识别方法,包括以下步骤:根据簧上加速度信号,利用簧上加速度与路面激励之间的传递函数,估计出最初的路面不平度;根据汽车行驶加速度及车辆的结构参数,估计汽车的垂向载荷;根据汽车的垂直载荷变化,实时改变路面估计器中的簧上质量参数,构建出准确度更高的路面估计器。该方法通过实时改变路面估计器中的簧上质量参数来提高路面估计器的估计精度,在路面不平度识别过程中考虑垂向载荷的变化,实时改变路面识别系统中的簧上质量,减少因为变速等原因引起的载荷变化带来的影响,使估计过程更接近与真实的汽车行驶,提高路面不平度的识别精度。
Pavement unevenness identification method considering vertical load change
一种考虑垂向载荷变化的路面不平度识别方法
2024-12-03
Patent
Electronic Resource
Chinese
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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