Method for estimating road adhesion coefficient according to on-line modified automobile state parameter

Abstract

The invention provides a method for estimating a road adhesion coefficient according to an on-line modified automobile state parameter. The method comprises the following steps: carrying out on-line identification on related parameters; transmitting a modified parameter to a state estimator; feeding back an estimation value obtained through the state estimator to a parameter modification part; then estimating the cornering force of a tire according to the estimation value, the identified parameter values and signals obtained through all sensors; transmitting the estimation result to a road adhesion coefficient estimator; finally, estimating the road adhesion coefficient; feeding back the result to a cornering force estimating module, thereby enabling the estimation result to be more accurate. The method adopts a parameter real-time modification function during the state estimation process, and feeds back the estimation value for re-modification, so that the problem of high filter divergence possibility during the state estimation process due to error caused by linearization of a non-linear model is solved, on-line renewal and modification of model parameters are realized, self-adaption of the estimation effect can be realized, and on-line estimation accuracy can be improved.

Description

technical field [0001] The invention relates to the field of automobile active safety systems, in particular to a method for estimating road surface adhesion coefficient by using online corrected automobile state parameters. Background technique [0002] With the growing of China's auto industry and the substantial increase in car ownership, more and more casualties are caused by traffic accidents in my country every year, and more and more people pay attention to the safety of cars. In recent years, automobile safety has also been developed rapidly. The active safety system of automobiles is mainly guaranteed by different electronic control systems. For example, the anti-lock brake system (ABS) can ensure that the car can stop safely in the shortest distance during emergency braking, and ensure that the steering wheels do not lose their steering ability; The electronic stability program (ESP) can keep the car on the expected driving track and avoid serious accidents such a...

AI Technical Summary

Problems solved by technology

However, because the mathematical model does not match the actual physical process very well, and the tire model is complex, in the process of model processing, the model will be inaccurate, and when the filter is estimated, it is easy to cause the phenomenon of filter divergence.

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