公开(公告)号：KR100828778B1

公开(公告)日：2008-05-09

申请号：KR1020060118911

申请日：2006-11-29

Applicant: 현대자동차주식회사

Inventor： 허건수 ,  정종철 ,  홍대건 ,  임성현

IPC: B60W40/00 ,  G01G19/02

CPC classification number: G01G19/086

Abstract: A vehicle mass estimation method is provided to estimate mass of a vehicle by using variables measurable while the vehicle travels and to improve mass estimation reliability by estimating the mass of the vehicle under various traveling states of the vehicle. A vehicle mass estimation method comprises the steps of: measuring yaw velocity, speed, steering angle, and vertical acceleration of the vehicle(S110); estimating the mass of the vehicle by applying a rectilinear model algorism if the measured yaw velocity of the vehicle is below reference yaw velocity(S121,S131); estimating the mass of the vehicle by applying a transverse model algorism if the measured steering angle of the vehicle is over reference steering angle(S122,S132); estimating the mass of the vehicle by applying a vertical model algorism if the measured vertical acceleration of the vehicle is over reference vertical acceleration(S123,S133); judging whether the estimated mass of the vehicle is bigger than minimum mass and smaller than maximum mass of the vehicle or not, if the estimated mass of the vehicle is kept constantly for 15 seconds(S141); judging whether the estimated mass of the vehicle is bigger than minimum mass and smaller than maximum mass of the vehicle or not, if an average of the estimated mass of the vehicle is kept constant for 15 seconds(S142); judging whether the estimated mass of the vehicle is bigger than minimum mass and smaller than maximum mass of the vehicle or not, if the estimated mass of the vehicle is kept constant for 2 seconds; and finally estimating the mass of the vehicle by applying the mass of the vehicle estimated in each step, to an RLS(Recursive Least Square) method(S160).

Abstract translation: 提供一种车辆质量估计方法，其通过使用车辆行驶时可测量的变量来估计车辆的质量，并且通过估计车辆的各种行驶状态下的车辆的质量来提高质量估计可靠性。 车辆质量估计方法包括以下步骤：测量车辆的偏航速度，速度，转向角度和垂直加速度（S110）; 如果所测量的车辆偏航速度低于参考偏航速度，则通过应用直线模型算法来估计车辆的质量（S121，S131）; 如果车辆的测量转向角超过参考转向角，则通过应用横向模型算法来估计车辆的质量（S122，S132）; 如果所测量的车辆的垂直加速度超过参考垂直加速度，则通过应用垂直模型算法来估计车辆的质量（S123，S1​​33）; 如果车辆的估计质量持续保持15秒，则判断车辆的估计质量是否大于最小质量并且小于车辆的最大质量（S141）; 如果车辆的估计质量的平均值保持恒定15秒，则判断车辆的估计质量是否大于最小质量且小于车辆的最大质量（S142）。 如果车辆的估计质量保持恒定2秒，则判断车辆的估计质量是否大于最小质量并且小于车辆的最大质量; 并且最终通过将每个步骤中估计的车辆的质量应用于RLS（递归最小二乘法）估计车辆的质量（S160）。