Joint estimation method of travel speed and road attachment coefficient

A joint estimation technology of adhesion coefficient, which is applied in the field of automobile active safety measurement and control, can solve the problems that the effect needs to be further confirmed, the application is limited, and the value of road adhesion coefficient cannot be estimated in real time.

Active Publication Date: 2013-12-11
SOUTHEAST UNIV
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AI Technical Summary

Problems solved by technology

The existing road adhesion coefficient estimation methods include methods based on vehicle lateral dynamics and longitudinal dynamics, but these estimation methods may have their specific scope of application (for example, only suitable for linear areas with low slip rates), Or it needs certain experience, or there are parameters that are difficult to measure, or the effect in actual use needs to be further confirmed. At the same time, the accurate estimation of the road adhesion coefficient also depends on the accurate estimation of the vehicle running state such as longitudinal and lateral speeds. Both limit the application of these estimation methods in automotive active safety systems
[0006] All in all, due to the interaction between the road adhesion coefficient and the longitudinal and lateral speed of the vehicle during vehicle operation, the assumption that the road adhesion coefficient is constant in the traditional estimation method cannot meet the requirements for accurate estimation of the vehicle speed under different road adhesion coefficient conditions. Unable to estimate road adhesion coefficient value in real time

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  • Joint estimation method of travel speed and road attachment coefficient
  • Joint estimation method of travel speed and road attachment coefficient
  • Joint estimation method of travel speed and road attachment coefficient

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Embodiment 1

[0100] With the development of society and economy, the problem of road traffic safety has become increasingly prominent and has become a global problem. Traffic accidents all over the world cause a large number of casualties and property losses every year, and all countries in the world are working hard to reduce the occurrence of traffic accidents. In recent years, automotive active safety technology has developed rapidly. Automobile active safety technology can prevent accidents before they happen and actively avoid accidents, which has become one of the most important development directions of modern automobiles. The current common active safety technologies mainly include anti-lock braking system (ABS), vehicle electronic stability program (ESP), traction control system (TCS), electronically controlled anti-skid system (ASR), four-wheel steering stability control system (4WS) )Wait. These systems usually involve the measurement or estimation of the car's longitudinal fo...

Embodiment 2

[0203] In order to test the actual effect of the joint estimation method of vehicle speed and road adhesion coefficient proposed by the present invention, a simulation verification experiment was carried out on the professional vehicle dynamics simulation software CarSim.

[0204] CarSim is a simulation software specially designed for vehicle dynamics developed by MSC (Mechanical Simulation Corporation) in the United States. Commercially developed, it has become standard software in the automotive industry and enjoys a high reputation. The vehicle dynamics model in Carsim is realized through the high-fidelity modeling of the car body, suspension, steering, braking and other subsystems, as well as each tire. It has a high degree of freedom and can provide a very close The actual and accurate vehicle running status information, therefore, the vehicle running status information output by Carsim can be used as the reference output of the vehicle.

[0205] The vehicle used in the ...

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Abstract

The invention discloses a joint estimation method of travel speed and a road attachment coefficient. Based on a non-linear dynamic model of a finished automobile and a tire longitudinal force model, the method comprises the following steps: under different road attachment coefficient conditions, respectively establishing a plurality of different Kalman filtering models, and meanwhile, determining an external input quantity and an observed quantity of each Kalman filtering system by utilizing a vehicle-mounted wheel speed and steering wheel angle sensor, and further, interacting different filtering systems through an interactive multi-model algorithm to realize the self-adaptive estimation of the longitudinal speed and the lateral speed of an automobile under different road attachment coefficient conditions, and calculating a model probability of each Kalman filtering model according to the interactive multi-model algorithm so as to realize the real-time estimation of the road attachment coefficient thus achieving the total self-adaptive effect.

Description

technical field [0001] The invention relates to a joint estimation method of vehicle speed and road adhesion coefficient, the purpose of which is to realize real-time estimation of vehicle longitudinal speed, lateral speed and road adhesion coefficient during automobile operation, and these estimated values ​​can be used for related control of automobile active safety , which belongs to the field of automotive active safety measurement and control. Background technique [0002] With the development of society and economy, the problem of road traffic safety has become increasingly prominent and has become a global problem. Traffic accidents all over the world cause a large number of casualties and property losses every year, and all countries in the world are working hard to reduce the occurrence of traffic accidents. In recent years, automotive active safety technology has developed rapidly. Automobile active safety technology can prevent accidents before they happen and a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/064B60W40/105B60W30/00
Inventor 李旭宋翔张为公
Owner SOUTHEAST UNIV
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