重型车辆质量估算的研究

Development of Heavy Vehicle Mass Estimation Algorithm

诸如电子稳定控制(ESC)系统之类的车辆控制系统的发展需要对重型车辆的质量进行准确估算。特别是,消防车的总质量根据灭火泡沫量而有很大差异。文章提出使用带有遗传因子的递推最小二乘法,用于实时车辆质量估计。基于车辆纵向动力学模型,使用TruckSim软件对4x2重型车辆进行建模,并使用递推最小二乘法来估算车辆质量。最后,根据变电站的无人消防车的行驶环境,仿真验证了所提出的重型车辆质量估算方法。

The development of vehicle control systems,such as the electronic stability control(ESC)system,requires an accurate estimation of a heavy vehicle’s mass.In particular,the total mass of fire trucks varies widely according to loading the amount of fire fighting foam.This paper presents a real-time vehicle mass estimation algorithm by using the recursive least squares method with forgetting.Based on the vehicle longitudinal dynamics model,a 4x2 heavy vehicle was modeled by using the TruckSim software and the estimated vehicle mass was calculated by using the recursive least squares method with forgetting.Finally,according to the driving environment of the unmanned fire truck in the substation,simulation verifies the proposed heavy-duty vehicle quality estimation method.