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. |