At present,low-end electric vehicle do not have direct slope signal information.To address this issue,this article proposed a road slope estimation algorithm based on the existing CAN bus signals.Firstly,vehicle speed signal and longitudinal acceleration signal values input from CAN were preprocessed,and a Kalman filtering equation was constructed based on the relationship between slope,vehicle speed and longitudinal acceleration,to estimate the road slope.Then,the impact of noise variance parameters on the slop estimation results was analyzed,and an adaptive tuning Kalman filter was designed to optimize the slope estimation results.Finally,the vehicle test was conducted,verifying the accuracy and real-time performance of the ramp estimation algorithm.
关键词
路面坡度估计/CAN总线信号/卡尔曼滤波/自适应调参
Key words
Road slope estimation/CAN bus signal/Kalman filtering/Adaptive parameter tuning
维普
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