基于扩展卡尔曼滤波的纵向车速与坡度估计

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中图分类号：U463.6 文献标识码：A 文章编号：1003-8639（2025）07-0086-06

Estimation of Longitudinal Velocity and Road Slope Based on Extended Kalman Filter

Jin Changming，Hu Zhanzhan，Wang Zhenlong（Geely Automobile Research Institute（Ningbo）Co.，Ltd.， Ningbo 315336，China）

【Abstract】As errors in vehicle speed and slope estimation directly affect the performance of controllrs such as vehicle slipratecontrolandyawratecontrol，resultinginadeclineinvehiclestability.Thispaperemploystheextended Kalmanfilter algorithm.Basedonthereal-timeevaluationresultsof vehicle speed confidence，the QRnoise covariance matrixoftheextendedKalman filterisadjustedinrealtime toachievethedynamicadjustmentof theextendedKalman filtereffct.Additionall，thelongitudinalacelerationvalueof theinertialsensoriscompensatedtoreducetheinfluence of vehiclepitchon slopecalculation.Finaly，themethod isverifiedbyjointsimulationwith MATLAB/Simulinkand Carsim.The results show that the estimated longitudinal vehicle speedand slopeare basicall consistent with the actual values，demonstrating the effectivenessof the longitudinal vehicle speedand slope joint estimation method.

【Key words】longitudinal vehicle speed；road slope；confidence factor；extended Kalman filter；Carsim/Simulink co-simulation

0 引言

车速与坡度是车辆横摆控制、驱动防滑等车辆稳定性控制器的重要输入参数，通常运用于控制目标的计算2，车速与坡度的准确估算直接影响其控制的性能，甚至导致误激活。（剩余6185字）