车辆智能巡航控制纵向动力学参数快速辨识方法

A Fast Identification Method of Vehicle Longitudinal Dynamic Parameters for Intelligent Cruise Control

为快速、低成本地获取用于智能巡航控制(ICC)的车辆纵向动力学参数,提出了一种基于车辆纵向动力学模型的参数实验辨识方法。设计了车辆静止、空挡滑行、带挡滑行、稳态行车和空挡制动5种工况的道路实验以采集数据,设计卡尔曼滤波器对实验数据进行预处理,基于最小二乘方法辨识车辆纵向动力学参数:滚动阻力因数、风阻因数、节气门制动切换曲线、制动增益和发动机速度特性。使用由该方法辨识出的参数标定车辆纵向动力学模型,模型输出结果与实验结果吻合良好,验证了该辨识方法的有效性。

In order to obtain vehicle longitudinal dynamic parameters for intelligent cruise control（ICC） fast and at a low cost,a parameter identification method based on vehicle longitudinal dynamic model was proposed.Five kinds of road experiments,including standing still,coasting in neutral gear,coasting with engaged gear,driving with constant speed and braking,were designed for data collection.A Kalman filter was designed for data preprocessing.Such vehicle longitudinal dynamic parameters as rolling friction coefficient,aerodynamic coefficient,switching line between throttle and brake control,brake efficiency factor and engine speed characteristics were identified by using least square method.A vehicle longitudinal dynamic model was calibrated by the acquired parameters;the validity of the proposed identification method was demonstrated by the perfect coincidence of experiment data and model output.