車輛質(zhì)量自適應(yīng)估計(jì)方法研究

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中圖分類號：U463.6 文獻(xiàn)標(biāo)識碼：A 文章編號：1003-8639（2025）07-0070-03

Researchon AdaptiveEstimationofVehicleCharacteristicParameters

Zhang Junjie，Wang Mao，Lu Ting

Xuzhou XCMG Automobile Manufacturing Co.，Ltd.，Xuzhou ，China）

【Abstract】With the development of autonomous driving and assisted autonomousdriving technology，higher requirementsare putforward for vehicleoperation，and accurate estimationof vehicle characteristicparameters isvery important.The existing single-sensor monitoring and multi-sensor combination schemes have shortcomings，and the traditionalestimationmethodsalsohavelimitations.Inthispaper，anadaptiveestimationmethodofvehiclecharacteristic parametersisproposed.Thelongitudinal dynamicequationof thevehicleisanalyzedandlinearized，and the intermediatevectorisobtained byafirst-orderlow-passfilter.Thentheparameterestimation modelisdesigned，and the convergenceand stabilityof the modelareprovedbyLyapunov function.Theresultsshow thattheestimated Valuecan converge to theactualvalue whenthevehicleisrunning stably，andtheovershootatfulloadissmall，butthe sudden change of torque willcause erors.This method is feasibleand efective in theoryand experiment，which provides a new scheme for parameter estimation and helps the development of autonomous driving technology.

【Key words】automatic driving；asisted automaticdriving；vehiclecharacteristic parameters；adaptive estimation; low-pass filtering

0 引言

隨著自動駕駛與輔助自動駕駛技術(shù)的持續(xù)演進(jìn)，對車輛運(yùn)行安全性、能量損耗控制以及道路通行效率，均提出了更為嚴(yán)苛的要求[1。（剩余4050字）