公开(公告)号：US20160332633A1

公开(公告)日：2016-11-17

申请号：US14901913

申请日：2014-07-11

Applicant: C.R.F SOCIETA' CONSORTILE PER AZIONI

Inventor： Enrico; RAFFONE

IPC: B60W40/076 ,  G01G19/08 ,  G01C9/08

CPC classification number: B60W40/076 ,  B60G17/01908 ,  B60G2400/60 ,  B60G2400/61 ,  B60G2400/63 ,  B60T8/172 ,  B60T8/18 ,  B60T2250/02 ,  B60W40/13 ,  B60W2050/0059 ,  B60W2510/0657 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2530/10 ,  B60W2530/16 ,  B60W2550/142 ,  B60W2720/106 ,  F16H59/52 ,  F16H2059/663 ,  F16H2061/0078 ,  G01C9/08 ,  G01G19/08 ,  G01G19/086

Abstract: Automotive electronic control unit programmed to realtime estimate either or both of vehicle mass and road slope, wherein; a. road slope, is estimated; a1. when vehicle is considered stopped based on an accelerometer signal indicative of vehicle acceleration, wherein the vehicle is considered stopped in the presence of substantially zero values of a speed signal indicative of vehicle speed, and a2. when vehicle is in rectilinear and curvilinear motion by implementing a road slope observer based on a linear Kalman filter, which is designed to: a21. operate based on signals indicative of vehicle speed and acceleration, and a22. compensate for accelerometric disturbances due to; a221. vehicle static pitch resulting from vehicle load distribution, and a222. vehicle dynamic pitch due to acceleration to which vehicle is subjected during motion, and a223. accelerometric disturbance components due to vehicle lateral dynamics; b. vehicle mass is estimated: b1. when vehicle is in motion, and b2. based on a recursive least square algorithm with forgetting factor, and b3. based on an accelerometric signal indicative of vehicle acceleration, on a vehicle speed signal, and other signals representing a vehicle propulsive/resistive torque, and b4. at different low gears, to provide a mass estimation and an associated variance for each gear, and b5. based on mass estimations and corresponding variances for each gear, and b6. compensating for accelerometer disturbances due to: b61, vehicle dynamic pitch; and b62. accelerometrie disturbance components due to vehicle lateral dynamics; and b7. minimizing uncertainties on propulsive/resistive torque due to gear efficiency and roiling resistance.

Abstract translation: 汽车电子控制单元被编程为实时估计车辆质量和道路坡度中的一个或两个，其中; 一个。 道路坡度，估计; a1。 当基于指示车辆加速度的加速度计信号将车辆视为停止时，其中在存在基本上零值的表示车辆速度的速度信号的情况下，认为车辆被停止，以及a2。 当车辆通过实施基于线性卡尔曼滤波器的道路边坡观测器而被直线和曲线运动时，其被设计为：a21。 基于表示车速和加速度的信号进行操作，以及a22。 补偿因加速度扰动; a221。 车辆静态沥青由车辆载荷分布产生，a222。 由于车辆在运动过程中受到加速而导致的车辆动态俯仰，a223。 由车辆横向动力学引起的加速度扰动分量; b。 车辆质量估计：b1。 当车辆运动时，和b2。 基于具有遗忘因子的递归最小二乘算法，和b3。 基于表示车辆加速度的加速度信号，车速信号和表示车辆推进/阻力转矩的其他信号，以及b4。 在不同的低齿轮下，为每个齿轮提供质量估计和相关方差，b5。 基于每个齿轮的质量估计和相应的差异，b6。 补偿加速度传感器扰动，由于：b61，车辆动态俯仰; 和b62。 由车辆横向动力学引起的加速度扰动分量; 和b7。 减少由于齿轮效率和耐滚动阻力引起的推进/阻力扭矩的不确定性。