Speed estimation and friction identification method of four-wheel turning/driving vehicle

An identification method and speed estimation technology, applied in the direction of vehicle components, transportation and packaging, external condition input parameters, etc., can solve problems such as incorrectness, high measurement cost, and unreliable information

Active Publication Date: 2015-03-25
SHANDONG COMP SCI CENTNAT SUPERCOMP CENT IN JINAN
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Problems solved by technology

Some of this information can be obtained through direct measurement, but due to the influence of the environment, the information obtained by the sensor may be unreliable, incorrect, or the measurement cost is high. Therefore, we consider designing an observer to provide accurate state information and Parameter Estimation

Method used

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  • Speed estimation and friction identification method of four-wheel turning/driving vehicle
  • Speed estimation and friction identification method of four-wheel turning/driving vehicle
  • Speed estimation and friction identification method of four-wheel turning/driving vehicle

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Embodiment Construction

[0059] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0060] The speed estimation and friction identification method of the four-wheel steering / drive vehicle of the present invention is realized by the following methods:

[0061] a). Establish the vehicle body coordinate system, with the longitudinal, lateral and center of mass of the vehicle as positive axis, The positive axis and the origin establish a Cartesian coordinate system ;

[0062] like figure 1 As shown, the established car body coordinate system is given The schematic diagram of the model, The positive direction of the axis is consistent with the longitudinal direction of the body, The forward direction of the vehicle body is consistent with the lateral direction of the vehicle body;

[0063] b). Establish the vehicle dynamics equation, considering the longitudinal, lateral and yaw dynamics of the vehicle and the 7 degrees of free...

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Abstract

The invention discloses a velocity estimation and friction identification method of a four-wheel turning/driving vehicle. The velocity estimation and friction identification method comprises the steps that firstly, a vehicle body coordinate system O-XY is established; secondly, a vehicle kinetic equation is established; thirdly, a wheel kinetic equation is established; fourthly, a wheel velocity equation is established; fifthly, a wheel slip rate equation is established; sixthly, the longitudinal force and lateral force of a wheel are obtained; seventhly, a friction model is parameterized; eighthly, a kinematical equation describing the relation of the vehicle velocity, the yaw velocity and the acceleration is established; ninthly, an observer is designed under the situation that detectable signals z comprise the longitudinal acceleration ax, the lateral acceleration ay, the yaw velocity r, the wheel angular velocity wj and the steering wheel rotation angle delta i; tenthly, persistent excitation conditions are defined. According to the velocity estimation and friction identification method, the nonlinearity self-adaptation observer for estimating the vehicle longitudinal velocity and the lateral velocity is established, the tire road surface friction parameters are established in real time according to the change of road surface conditions, and the velocity is estimated more accurately.

Description

technical field [0001] The present invention relates to a speed estimation and friction identification method of a four-wheel steering / driving vehicle, more specifically, a method for speed estimation and friction identification of a four-wheel steering / driving vehicle applicable to various road conditions. Background technique [0002] With the widespread application of vehicle active safety systems, such as anti-lock braking system (ABS), traction control system (TCS) and yaw stability control system (ESP), we need accurate vehicle status information and feedback of surrounding environment information. Some of this information can be obtained through direct measurement, but due to the influence of the environment, the information obtained by the sensor may be unreliable, incorrect, or the measurement cost is high. Therefore, we consider designing an observer to provide accurate state information and Parameter Estimation. [0003] In practical applications, the vehicle's l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/105B60W40/068
CPCB60W40/068B60W40/105B60W2520/10B60W2552/40
Inventor 陈长芳王英龙舒明雷杨明孔祥龙许继勇魏诺周书旺
Owner SHANDONG COMP SCI CENTNAT SUPERCOMP CENT IN JINAN
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