作　　者： (罗石）; (郑超）; (朱长顺）;

机构地区： 江苏大学汽车与交通工程学院,镇江212013

出　　处： 《汽车工程》 2017年第8期928-934,共7页

摘　　要： 本文中引入了基于惯性补偿和MEMS系统的坡道识别原理。采用惯性补偿法分解出MEMS三轴加速度计中的重力加速度分量,并利用它来修正MEMS陀螺仪模块的三轴角速度。通过四元数来表示车载坐标系与惯性坐标系的旋转关系,再将其转换为欧拉角,即可解算出电动汽车当前的坡道角。实车试验结果表明,这种算法精度高,实时性好,易于MCU实现。 A slop recognition principle based on inertia compensation and MEMS is introduced in this paper.Specifically,inertia compensation method is adopted to decompose the gravity component in MEMS three-axis accelerometer,which is then used to correct three-axis angular velocity in MEMS gyroscope module.The rotation relationship between vehicle coordinate system and inertial coordinate system is expressed by quaternion,which is then transformed into Euler angles to calculate the angle of slope electric vehicle is currently running on.The results of real vehicular tests show that the scheme used has high accuracy,good real-time performance,and is easy to implement in MCU.

关 键 词： 电动汽车 坡道识别 惯性补偿 卡尔曼滤波 陀螺仪 加速度计