The invention discloses a road adhesion coefficient estimation method based on adaptive unscented Kalman filtering, and the method comprises the steps: obtaining the static parameters of a vehicle and the driving parameters of the vehicle in the driving process, and carrying out the modeling of the vehicle based on a seven-degree-of-freedom dynamic model, modeling a vehicle tire based on a Dugoff tire model on the basis of the seven-degree-of-freedom dynamic model to obtain a nonlinear system of the vehicle; estimating a road adhesion coefficient in the Dugoff tire model based on an adaptive unscented Kalman filter algorithm and a seven-degree-of-freedom dynamic model to obtain a road adhesion coefficient estimation value; according to the adaptive unscented Kalman filtering algorithm, a proportion correction coefficient is introduced in an unbiased transformation link, and an adaptive noise coefficient is introduced in a standard UKF. According to the method, a proportion correction coefficient and an adaptive coefficient are introduced into an adaptive unscented Kalman filtering algorithm, so that the response capability and estimation precision of a sudden change state are enhanced.

    本发明公开了一种基于自适应无迹卡尔曼滤波的路面附着系数估计方法,方法包括:获取车辆的静态参数以及车辆行驶过程中的行驶参数,基于七自由度动力学模型对车辆进行建模,在七自由度动力学模型的基础上基于Dugoff轮胎模型对车辆轮胎进行建模,得到车辆的非线性系统;基于自适应无迹卡尔曼滤波算法、七自由度动力学模型对Dugoff轮胎模型中的路面附着系数进行估计,得到路面附着系数估计值;自适应无迹卡尔曼滤波算法在无偏变换环节,引入了比例修正系数,且在标准UKF中引入自适应噪声系数。本发明通过在自适应无迹卡尔曼滤波算法中引入比例修正系数和自适应系数,以增强对突变状态的响应能力和估计精度。


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    Title :

    Road adhesion coefficient estimation method based on adaptive unscented Kalman filtering


    Additional title:

    一种基于自适应无迹卡尔曼滤波的路面附着系数估计方法


    Contributors:
    GAO FANGZHENG (author) / WANG YI (author) / TSUNEZANE (author) / CAI YING (author) / HUANG JIACAI (author) / LI YIBO (author) / SUN QUAN (author) / LI SIQUAN (author)

    Publication date :

    2025-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung






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