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한국자동차공학회

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32권 1호 109-117 2024 [한국자동차공학회 논문집 ]

제목 노면 경사에 강건한 차량 질량 추정 방법에 대한 연구
분야 차량동역학 및 제어
언어 Korean
저자 하세헌(한국기술교육대학교), 유승한(한국기술교육대학교), 조완기(한국기술교육대학교)
Key Words Vehicle mass estimation(차량 질량 추정), Vehicle longitudinal dynamics(차량 종 방향 동역학), Longitudinal acceleration sensor(종 가속도 센서), Road slope(노면 경사), Parameter adaptation(파라미터 추정)
초록 Vehicle mass is one of the most important parameters in vehicle stability control, including ESC(Electronic Stability Control). While it depends on loading conditions, it cannot be directly measured. This paper proposes a vehicle mass estimation method that is robust to road slope. The estimation algorithm consists of four modules: suspension pitch angle estimation, longitudinal acceleration compensation, longitudinal force estimation, and mass estimation. The suspension pitch angle is estimated as a simple, first-order dynamic system with longitudinal acceleration sensor input, while the resultant longitudinal force acting on the vehicle was calculated based on air resistance, cloud resistance, and tire forces. Finally, the mass of the vehicle is estimated by using a parameter adaptation law based on the gradient method. Simulation tests that use Carsim and Matlab/Simulink are then conducted to study the feasibility and performance of the proposed estimation algorithm under various road conditions.
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