考虑系统噪声与载重未知的智能车路况辨识

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关键词：智能电动汽车；动力学响应；路面识别；自适应递归三步滤波中图分类号：U461.6DOI：10.3969/j.issn.1004-132X.2026.02.024 开放科学（资源服务）标识码（OSID）：

Intelligent Vehicle Road Recognition Considering System Noises and Unknown Load Weights

WANG Jiantao YANG Chao LIU Shuaishuai ZHANG Lipeng* WANG Qijun School of Vehicle and Energy，Yanshan University，Qinhuangdao，Hebei， O66004

Abstract：Based on the existing technology for road recognition derived from vehicle dynamics response，an ARTSF algorithm was introduced to improve the accuracy of road recognition. By incorporating a dynamic statistical estimation component，the algorithm adjusted system model parameters and noise statistical parameters in real time，resolved the issues of reduced model accuracy due to system noises and unknown load weights effectively. Through ofline simulations and vehicle testing，the algorithm's recognition performances on class C roads， pothole roads，and bumpy roads were validated，with recognition accuracy surpassing 90% . The results show that the algorithm has greater adaptability and precision in situations with system noises and unknown load weights. This paper provides a reference for inteligent electric vehicles to recognize road elevation information when driving on unstructured roads.

Key words：intelligent electric vehicle；dynamics response；road recognition；adaptive recursive three-step filtering（ARTSF）

0 引言

近年来，集感知、决策与控制技术于一体的智能电动汽车蓬勃发展，给人类带来了新的驾乘体验[1-4]。（剩余14995字）