基于擴展卡爾曼濾波的縱向車速與坡度估計

打開文本圖片集

中圖分類號：U463.6 文獻標(biāo)識碼：A 文章編號：1003-8639（2025）07-0086-06

Estimation of Longitudinal Velocity and Road Slope Based on Extended Kalman Filter

Jin Changming，Hu Zhanzhan，Wang Zhenlong（Geely Automobile Research Institute（Ningbo）Co.，Ltd.， Ningbo 315336，China）

【Abstract】As errors in vehicle speed and slope estimation directly affect the performance of controllrs such as vehicle slipratecontrolandyawratecontrol，resultinginadeclineinvehiclestability.Thispaperemploystheextended Kalmanfilter algorithm.Basedonthereal-timeevaluationresultsof vehicle speed confidence，the QRnoise covariance matrixoftheextendedKalman filterisadjustedinrealtime toachievethedynamicadjustmentof theextendedKalman filtereffct.Additionall，thelongitudinalacelerationvalueof theinertialsensoriscompensatedtoreducetheinfluence of vehiclepitchon slopecalculation.Finaly，themethod isverifiedbyjointsimulationwith MATLAB/Simulinkand Carsim.The results show that the estimated longitudinal vehicle speedand slopeare basicall consistent with the actual values，demonstrating the effectivenessof the longitudinal vehicle speedand slope joint estimation method.

【Key words】longitudinal vehicle speed；road slope；confidence factor；extended Kalman filter；Carsim/Simulink co-simulation

0 引言

車速與坡度是車輛橫擺控制、驅(qū)動防滑等車輛穩(wěn)定性控制器的重要輸入?yún)?shù)，通常運用于控制目標(biāo)的計算2，車速與坡度的準(zhǔn)確估算直接影響其控制的性能，甚至導(dǎo)致誤激活。（剩余6185字）