3 years ago

Estimation Road Slope and Longitudinal Velocity for Four-wheel Drive Vehicle

Zhenyu Yin, Qikun Dai, Hongyan Guo, Hong Chen, Li Chao

Publication date: 2018

Source: IFAC-PapersOnLine, Volume 51, Issue 31

Author(s): Zhenyu Yin, Qikun Dai, Hongyan Guo, Hong Chen, Li Chao

Abstract

A method for estimating the velocity and road slope of a four-wheel drive vehicle based on full-order observer is proposed. First, we set up a simplified dynamic model of ramp driving which use the longitudinal acceleration as input. This paper use the longitudinal velocity and the longitudinal acceleration as the correction term respectively and design the nonlinear full-order observer of vehicle velocity; Secondly, design the estimation observer for road slope which used the estimation value of longitudinal velocity and longitudinal acceleration as inputs. Finally, we experimentally evaluate the recommended velocity and road slope estimation method on the high-precision vehicle dynamic software-veDYNA to verify the validity of the proposed observer. Then two ways of selecting correction terms are compared and analysed. The results show that the observer which uses the longitudinal velocity as the correction term has relatively higher accuracy.

You might also like
Discover & Discuss Important Research

Keeping up-to-date with research can feel impossible, with papers being published faster than you'll ever be able to read them. That's where Researcher comes in: we're simplifying discovery and making important discussions happen. With over 19,000 sources, including peer-reviewed journals, preprints, blogs, universities, podcasts and Live events across 10 research areas, you'll never miss what's important to you. It's like social media, but better. Oh, and we should mention - it's free.

  • Download from Google Play
  • Download from App Store
  • Download from AppInChina

Researcher displays publicly available abstracts and doesn’t host any full article content. If the content is open access, we will direct clicks from the abstracts to the publisher website and display the PDF copy on our platform. Clicks to view the full text will be directed to the publisher website, where only users with subscriptions or access through their institution are able to view the full article.