四轮独立驱动电动汽车多模式自适应车速估计方法

Multi-Mode Adaptive Vehicle Speed Estimation Method for Four-Wheel Independent Driving Electric Vehicles

提出一种多模式自适应车速在线估计方法,通过轮速、车辆加速度等信息综合判断每个车轮的稳定性,利用Simulink/Stateflow搭建逻辑决策模型,根据四轮稳定状态实时选择相应策略对车速进行在线估计,同时研究了轮加速度与车辆加速度的内在联系,并根据仿真结果推导了经验关系式。在Simulink/CarSim联合仿真环境下进行工况仿真,并基于dSPACE/Infineon-TriCore搭建试验平台,开展硬件在环试验,结果表明,该方法可以较为精确地对车速进行实时估计。

A multi-mode adaptive vehicle speed online estimation method is proposed.The stability of each wheel is comprehensively judged by information such as wheel speed and vehicle acceleration.Simulink/Stateflow is utilized to construct a logical decision model.Depending on the four-wheel steady state,the corresponding strategy is selected in real- time for vehicle speed online estimation.At the same time,the intrinsic relationship between wheel acceleration and vehicle acceleration is studied,and the empirical relationship is deduced based on simulation experiments.The simulation experiment is made under the Simulink/Carsim co-simulation environment,and a Hardware-In-Loop( HIL) experiment platform is built based on dSPACE/Infineon-TriCore,and HIL experiments are carried out.The results demonstrate that the vehicle speed estimation strategy can accurately estimate the real-time vehicle speed.