| 摘要 |
<p>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).</p> |
