湖北汽车工业学院学报2025，Vol.39Issue(1)：33-39,7.DOI:10.3969/j.issn.1008-5483.2025.01.007
混动电四驱车辆纵向车速估计
Longitudinal Velocity Estimation for Four Wheel Drive Hybrid Electric Vehicle
摘要
Abstract
Longitudinal velocity is a key parameter for both vehicle stability control and powertrain con-trol.To address the issue of insufficient reliability in directly measuring real-time longitudinal velocity due to the wheel slip characteristics of four-wheel-drive(4WD)vehicles,an algorithm to estimate ve-locity online featured by the fusion of wheel speed sensors,acceleration sensors,and vehicle models was proposed.To reduce the calibration difficulty and robustness challenge of high-order nonlinear models,a second-order linear estimation model for 4WD hybrid electric vehicle systems dynamics and vehicle kinematics was built.Based on the Luenberger observer,a 4WD longitudinal velocity estimation algorithm with self-adaptive adjustment of observation gain was designed.Validated through real vehi-cles,under different road surfaces adhered by various materials,such as ice,snow,and pitch,and differ-ent vehicle velocity levels,this algorithm can achieve an estimation accuracy with a root mean square er-ror within 3 km·h⁻¹ and a relative error within 6%.关键词
混动电四驱系统/纵向车速估计/模型线性化/伦伯格观测器/增益自适应Key words
4WD hybrid electric system/longitudinal velocity estimation/model linearization/Luen-berger observer/gain self-adapting分类
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李欢,王金航,刘东升,陈立华,崔光日,徐浩..混动电四驱车辆纵向车速估计[J].湖北汽车工业学院学报,2025,39(1):33-39,7.基金项目
广东省科技计划项目——广东省汽车清洁动力与能源应用技术重点实验室(2024B1212020006) （2024B1212020006）
