面向智能车辆的路面附着系数分段识别方法

doi:10.19562/j.chinasae.qcgc.2023.10.013

Abstract

Abstract:

The tire-road friction coefficient is an important input parameter of the vehicle active control system， the estimation accuracy of which directly affects the performance of the vehicle dynamics system control. The estimation method should meet the requirements of timeliness， reliability and high accuracy. Firstly， a 3DOF model and tire model of the vehicle are established. Secondly， a method of expansion state observer is used to estimate and identify the utilization of tire-road friction coefficient， and an adaptive Kalman filtering method is used to estimate and identify the slip rate. Finally， a segmented method for estimating the tire-road friction coefficient is proposed， which can effectively identify the tire-road friction coefficient. By introducing in the evaluation indicators in the estimation process， the computational complexity of the method is reduced and the efficiency is improved. The simulation and experimental results show that the estimation error of the tire-road friction coefficient is within 0.05， after introducing in the evaluation indicators， the operating efficiency of the algorithm is increased by 21.1%， which can meet the requirements of the control system.

Key words: tire-road friction coefficient, expansion state observer, adaptive Kalman filter, real-time estimation

Xinrong Zhang,Xin Wang,Xinle Gong,Jin Huang,Dan Huang,Pengxing Wang. Segmented Identification Method of Tire-Road Friction Coefficient for Intelligent Vehicles[J].Automotive Engineering, 2023, 45(10): 1923-1932.

Figures/Tables 19

References 24

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路面	轮胎模型中参数
路面	c₁	c₂	c₃
干沥青	1.280	23.99	0.52
干水泥	1.197	25.17	0.54
湿沥青	0.857	33.82	0.35
雪	0.195	94.13	0.064 6

整车质量	4 617 kg
前后轴轴距	4.39 m
后轮到质心的距离	1.723 m
前轮到质心的距离	2.667 m
质心高度	0.895 m
滚动阻力系数	0.05
轮胎半径	0.37 m

Segmented Identification Method of Tire-Road Friction Coefficient for Intelligent Vehicles

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References 24

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