Road grade estimation with grade change rate information

作者：Lin Nan; Shi Shu Ming; Ma Li; Kui Hai Lin^*

来源：Journal of Jilin University (Engineering and Technology Edition), 2016, 46(6): 1845-1850.

DOI：10.13229/j.cnki.jdxbgxb201606012

• Grade change
• Modern control theory
• Recursive least square (RLS)
• Road grades
• State transition Matrix
• Vehicle acceleration
• Vehicle engineering
• Vehicle speed

A road grade estimation method, which uses road grade change rate information, was proposed. The change rate of road grade is often ignored by researchers while using modern control theory to solve on-line road grade estimation, which may cause time lag inevitably. To eliminate this shortcoming, the acceleration measured from longitudinal sensor was introduced to express the change rate of road grade. Then, the state transition matrix including vehicle speed, vehicle acceleration and road grade was built. Finally a Kalman filter for road grade estimation was constructed. Experimental results show that the propose road grade estimation method considering the grade change rate information can reduce the time lag obviously.

• 出版日期2016