车辆质量自适应估计方法研究

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中图分类号：U463.6 文献标识码：A 文章编号：1003-8639（2025）07-0070-03

Researchon AdaptiveEstimationofVehicleCharacteristicParameters

Zhang Junjie，Wang Mao，Lu Ting

Xuzhou XCMG Automobile Manufacturing Co.，Ltd.，Xuzhou ，China）

【Abstract】With the development of autonomous driving and assisted autonomousdriving technology，higher requirementsare putforward for vehicleoperation，and accurate estimationof vehicle characteristicparameters isvery important.The existing single-sensor monitoring and multi-sensor combination schemes have shortcomings，and the traditionalestimationmethodsalsohavelimitations.Inthispaper，anadaptiveestimationmethodofvehiclecharacteristic parametersisproposed.Thelongitudinal dynamicequationof thevehicleisanalyzedandlinearized，and the intermediatevectorisobtained byafirst-orderlow-passfilter.Thentheparameterestimation modelisdesigned，and the convergenceand stabilityof the modelareprovedbyLyapunov function.Theresultsshow thattheestimated Valuecan converge to theactualvalue whenthevehicleisrunning stably，andtheovershootatfulloadissmall，butthe sudden change of torque willcause erors.This method is feasibleand efective in theoryand experiment，which provides a new scheme for parameter estimation and helps the development of autonomous driving technology.

【Key words】automatic driving；asisted automaticdriving；vehiclecharacteristic parameters；adaptive estimation; low-pass filtering

0 引言

随着自动驾驶与辅助自动驾驶技术的持续演进，对车辆运行安全性、能量损耗控制以及道路通行效率，均提出了更为严苛的要求[1。（剩余4050字）