The invention provides a road adhesion coefficient estimation method considering transient characteristics of a tire under a lateral working condition. The method comprises the following steps: step 1, vehicle dynamics modeling; step 2, road adhesion coefficient estimation based on unscented Kalman filtering; 3, UKF estimation error adjustment is carried out; and 4, time delay estimation. According to the method, the problem of inaccurate road adhesion coefficient estimation caused by lateral response lag generated by the transient characteristics of the tire is solved; meanwhile, a time delay estimation method is used for carrying out time sequence delay estimation on the estimated value and the measured value of the lateral acceleration of the vehicle, and the lateral slip rate is corrected on the steady-state tire model, so that the estimated value of the lateral acceleration is consistent with the measured value in time sequence, and the identification precision of the road adhesion coefficient is further improved.
本发明提出侧向工况下考虑轮胎瞬态特性的路面附着系数估计方法,包括步骤:步骤一:车辆动力学建模;步骤二:基于无迹卡尔曼滤波的路面附着系数估计;步骤三:UKF估计误差调节;步骤四:时延估计。本发明解决了由于轮胎瞬态特性所产生的侧向响应滞后所导致估计路面附着系数不准的问题;同时,本发明利用时延估计方法对车辆侧向加速度估计值和实测值进行时间序列延迟估计,并在稳态轮胎模型上修正侧向滑移率,使得侧向加速度估计值与实测值之间时序一致,进而提高了路面附着系数识别精度。
Road adhesion coefficient estimation method considering transient characteristics of tire under lateral working condition
侧向工况下考虑轮胎瞬态特性的路面附着系数估计方法
11.07.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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