The invention discloses a road adhesion coefficient and tire force joint estimation method, which comprises the steps of estimating automobile longitudinal force by utilizing a PDI control algorithm according to motor torque and wheel rotating speed, and estimating tire force according to the automobile longitudinal force, lateral acceleration, longitudinal acceleration, front wheel turning angle and yaw velocity by utilizing an extended Kalman filtering algorithm. Estimating the lateral force of the tire according to the longitudinal acceleration and lateral acceleration of the automobile, estimating the vertical load of the automobile tire according to the longitudinal acceleration and lateral acceleration of the automobile, and estimating the lateral force of the automobile tire according to the vertical load, the tire slip rate, the slip angle, the longitudinal and lateral rigidity of the tire, the wheel rotating speed, the front wheel rotating angle, the yaw velocity and the longitudinal and lateral acceleration of the automobile. According to the method disclosed by the invention, the joint estimation of the parameters such as the road surface and the tire force is realized through the automobile kinetic parameters and the tire parameters. And the accuracy of the estimation effect is improved.
本发明公开一种路面附着系数和轮胎力联合估算方法,包括根据电机转矩和车轮转速,利用PDI控制算法估算汽车纵向力、根据汽车纵向力、侧向加速度、纵向加速度、前轮转角和横摆角速度,利用扩展卡尔曼滤波算法,估计轮胎侧向力、根据汽车的纵向加速度和侧向加速度,估算出汽车轮胎的垂直载荷、根据垂直载荷、轮胎滑移率、侧偏角、轮胎的纵向和侧向刚度、车轮转速、前轮转角、横摆角速度以及汽车纵向和侧向加速度,估计归一化的轮胎的纵向力和侧向力以及路面附着系数等,本发明通过汽车动力学参数以及轮胎参数,实现路面,轮胎力等参数的联合估计。提升估计效果的准确性。
Joint estimation method for road adhesion coefficient and tire force
一种路面附着系数和轮胎力联合估算方法
2024-03-08
Patent
Electronic Resource
Chinese
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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