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Adaptive Estimation Method of Vehicle Road Surface Adhesion Coefficient Considering Complex Excitation Conditions

A road surface adhesion coefficient and self-adaptive estimation technology, applied in the direction of external condition input parameters, vehicle components, calculation, etc., can solve the problems of inaccurate estimation, tire model distortion, slow convergence of estimator estimation, etc., and achieve good real-time effect

Active Publication Date: 2021-03-26
TONGJI UNIV
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Problems solved by technology

[0002] The vehicle road surface peak adhesion coefficient is a key parameter to realize precise vehicle high-quality motion control. The existing method is to construct a state observer based on a single-directional tire force excitation condition. This method cannot be accurately estimated when the excitation is not satisfied, and When the tire force produces longitudinal and side coupling, the tire model will be distorted, and the estimator has the characteristics of slow estimation convergence and low robustness

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  • Adaptive Estimation Method of Vehicle Road Surface Adhesion Coefficient Considering Complex Excitation Conditions
  • Adaptive Estimation Method of Vehicle Road Surface Adhesion Coefficient Considering Complex Excitation Conditions
  • Adaptive Estimation Method of Vehicle Road Surface Adhesion Coefficient Considering Complex Excitation Conditions

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[0050] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0051] Example

[0052] like figure 1 As shown, the present invention provides an adaptive estimation method for vehicle road surface adhesion coefficient considering complex excitation conditions, including the following steps:

[0053] Step 1: Design an estimator based on the single-wheel dynamics model to estimate the longitudinal tire force and the road surface peak adhesion coefficient under longitudinal excitation. The specific process includes:

[0054] 1.1. Establish a single wheel dynamics model of the vehicle.

[0055] First get t...

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Abstract

The invention relates to a method for adaptively estimating vehicle road surface adhesion coefficient considering complex excitation conditions, comprising the following steps: 1) designing an estimator according to the single-wheel dynamic model of the whole vehicle, and estimating the longitudinal tire force and road surface peak adhesion under longitudinal excitation coefficient; 2) Design an estimator based on the two-degree-of-freedom kinematics model of the vehicle, and estimate the peak adhesion coefficient of the road surface under tire righting moment and lateral force excitation; 3) Judging the excitation conditions that the vehicle satisfies through the vehicle state parameters, fuzzy inference The limit that the current longitudinal and lateral tire force can reach, and based on this, a fusion observer is designed to fuse the estimated results. Compared with the prior art, the present invention has the advantages of good robustness, high real-time performance, fast accuracy and the like.

Description

technical field [0001] The invention relates to the field of vehicle control, in particular to an adaptive estimation method for vehicle road surface adhesion coefficient considering complex excitation conditions. Background technique [0002] The peak adhesion coefficient of the vehicle road surface is a key parameter to realize the high-quality motion control of the vehicle. The existing method is to build a state observer based on the tire force excitation in a single direction. This method cannot accurately estimate when the excitation is not satisfied, and When the tire force is coupled longitudinally and laterally, the tire model will be distorted, and the estimator has the characteristics of slow estimation convergence and low robustness. Therefore, how to comprehensively utilize the road surface identification method of longitudinal and lateral tire excitation force will be the difficulty and focus of future research. SUMMARY OF THE INVENTION [0003] The purpose ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W40/064B60W50/00
CPCB60W40/064B60W50/00B60W2050/0037G06F18/25B60W40/068B60W2520/26B60W2520/28B60W2520/30B60W2552/40B60T8/174B60T8/172B60T2210/12
Inventor 冷搏金达杨兴熊璐余卓平
Owner TONGJI UNIV
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