Estimation of the inertial parameters of vehicles with electric propulsion

Publisher's full text
Anton Albinsson
Pierre Pettersson
Mats Jonasson
Bengt Jacobson

More accurate information about the basic vehicle parameters can improve the dynamic control functions of a vehicle. Methods for online estimation of the mass, the rolling resistance, the aerodynamic drag coefficient, the yaw inertia and the longitudinal position of the centre of gravity of an electric hybrid vehicle is therefore proposed. The estimators use the standard vehicle sensor set and the estimate of the electric motor torque. No additional sensors are hence required and no assumptions are made regarding the tyre or the vehicle characteristics. Consequently, all information about the vehicle is available to the estimator.

The estimators are evaluated using both simulations and experiments. Estimations of the mass, the rolling resistance and the aerodynamic drag coefficient are based on a recursive least-squares method with multiple forgetting factors. The mass estimate converged to within 3% of the measured vehicle mass for the test cases with sufficient excitation that were evaluated. Two methods to estimate the longitudinal position of the centre of gravity and the yaw inertia are also proposed. The first method is based on the equations of motion and was found to be sensitive to the measurement and parameter errors. The second method is based on the estimated mass and seat-belt indicators.

This estimator is more robust and reduces the estimation error in comparison with that obtained by assuming static parameters. The results show that the proposed method improves the estimations of the inertial parameters. Hence, it enables online non-linear tyre force estimators and tyre-model-based tyre–road friction estimators to be used in production vehicles.

MEET US


7
Dec

Shipping and the environment – research meets reality

Centre for Transport Studies (CTS) in co-operation with Ports of Stockholm invite you to the seminar Shipping and the environment – research meets reality.

LATEST NEWS


2017-10-16

ERPUG Forum

The five-year anniversary of European Road Profile Users' Group (ERPUG) Forum will take place at Ramboll head quarter, Copenhagen, Denmark October 19-20, 2017.


2017-09-29

Self-driving buses in Sweden next year?

A self-driving, fossil-free bus. This idea might become reality through a forthcoming collaborative project involving the Swedish National Road and Transport Research Institute (VTI), Linköping University and several other participants. The project group aim...


2017-09-29

New climate-proof solutions for hard surfaces in cities

High-density road infrastructure that emphasise maximum durability and minimum maintenance create inflexible systems, which put increased stress on urban trees and lead to increased risk for flooding. Over the past five years, the ‘Climate-proof solutions for...


2017-09-29

VTI is preparing for automated vehicles

Automation of traffic systems will lead to major changes. The European Union’s (EU) CoEXist research project began in June 2017 with the aim of preparing cities and road operators for the introduction of self-driving vehicles. The Swedish National Road and...


2017-07-05

Vehicle Driver Monitoring: sleepiness and cognitive load

To prevent road crashes it is important to understand driver related contributing factors, which have been suggested to be the critical reason in 94 per cent of crashes. The overall aim of the project Vehicle Driver Monitoring has been to advance the...


2017-06-29

Tomas Svensson new director-general

Tomas Svensson was today appointed Director-General of VTI. Tomas has been acting Director-General since January 2017.