• CN：11-2187/TH
• ISSN：0577-6686

• 运载工程 •

### 基于汽车动力学与加速度传感信息的纵向坡度实时识别算法*

1. 1. 清华大学汽车安全与节能国家重点实验室 北京 100084;
2. 长安汽车股份有限公司汽车工程研究总院 重庆 401120
• 出版日期:2016-09-20 发布日期:2016-09-20
• 作者简介:

作者简介：李亮(通信作者)，男，1976年出生，博士，副教授。主要研究方向为车辆动力学与控制。

E-mail：liangli@tsinghua.edu.cn

• 基金资助:
* 国家自然科学基金(51275557，51422505)和国家科技支撑计划(2013BAG14B01)资助项目; 20151210收到初稿，20160507收到修改稿;

### Real-time Recognition Algorithm of Longitudinal Road Slope Based on Vehicle Dynamics and Acceleration Sensor Information

RAN Xu1, LI Liang1, ZHAO Xun1, SONG Jian1, YANG Cai2, CAO Minglun2

1. 1. State Key Laboratory of Automotive Safety and Energy， Tsinghua University， Beijing 100084;
2. Chongqing Changan Auto R&D Center， Changan Automobile Co.， Ltd.， Chongqing 401120
• Online:2016-09-20 Published:2016-09-20

Abstract:

：Longitudinal slope is a usual parameter in the electronic control system of vehicle chassis and transmission. The work veracity and drive comfort of control strategy are directly affected by the accuracy and smoothness of the slope recognition. The problem of recognition is that the signal quality of acceleration sensor is affected by the vehicle dynamic behavior with high frequency and the complexities of drive cycle, which make the estimated road slope with this method have a low accuracy. And the observational method based on a complicated nonlinearity model can’t realize a real-time operation. Meanwhile if a kind of recognition method can be used by multi-system application, the basic and usual input variables are required. In order to solve these problems, an integration method with the acceleration slope method and vehicle dynamic slope method is presented in this paper. According to their high precision area sufficiently, the confidence factor is calculated. And then the raw slope can be obtained. Eventually the raw slope is processed by a generalized hysteresis filter to get the accurate and smooth slope. The test verifies that this algorithm is effective. This recognition algorithm with small calculating amount, low cost and easy realization can be adopted in multiple real-time electronic control systems.