摘要：AbstractA method for estimating the velocity and road slope of a four-wheel drive vehicle based on full-order observer is proposed. First, we set up a simplified dynamic model of ramp driving which use the longitudinal acceleration as input. This paper use the longitudinal velocity and the longitudinal acceleration as the correction term respectively and design the nonlinear full-order observer of vehicle velocity; Secondly, design the estimation observer for road slope which used the estimation value of longitudinal velocity and longitudinal acceleration as inputs. Finally, we experimentally evaluate the recommended velocity and road slope estimation method on the high-precision vehicle dynamic software-veDYNA to verify the validity of the proposed observer. Then two ways of selecting correction terms are compared and analysed. The results show that the observer which uses the longitudinal velocity as the correction term has relatively higher accuracy.
