Pavement adhesion estimation method based on electro-hydraulic parameters

Abstract

The invention discloses a pavement adhesion coefficient estimation method by utilizing electric and hydraulic parameters, and belongs to the technical field of electric vehicle dynamics control. The method is characterized in that a driver inputs and decides a required torque of a whole vehicle, and a torque distribution controller decides torque distribution of each wheel; an actuator obtains electric and hydraulic operation parameters; according to a tire force observer, a tire longitudinal force (derived by utilizing electric and hydraulic operation parameters) and a transverse force are acquired; a pavement utilization adhesion coefficient under a driving / braking working condition based on electric and hydraulic parameters and a pavement utilization adhesion coefficient under a steering working condition are solved through a pavement utilization adhesion coefficient solver; error compensation is adopted to obtain a real pavement adhesion coefficient under each working condition; weight of each working condition is identified according to a working condition weight decision maker in order to estimate the road adhesion coefficient under a self-adaptive full working condition; andthe road adhesion coefficient is estimated under all working conditions by adopting information fusion. Compared with the prior art, the method has advantages of high reliability, high working condition adaptability, a high application value and the like.

Description

technical field [0001] The invention belongs to the technical field of distributed drive electric vehicle control, and specifically relates to a method for estimating the adhesion coefficient of road surface under driving / braking working conditions by using electric and hydraulic parameters, and obtaining the road surface adhesion coefficient under the current working condition through compensation. In order to fuse and estimate the road surface adhesion coefficient under all working conditions, by defining and solving the road surface adhesion coefficient under turning conditions, and compensating it through the nonlinearity deviation of yaw angular velocity, a working condition weight decision maker is established, based on the information fusion algorithm Estimation of road surface adhesion coefficient under composite conditions. Background technique [0002] Tire force control is currently the most direct and effective vehicle active safety technology, but tire force is ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a method based on electrical and hydraulic parameters to estimate the road surface utilization adhesion under driving / braking conditions in order to overcome the shortcomings of existing estimation methods such as high dependence on model accuracy, single working conditions, and high cost of using special sensors. coefficient, based on the Dugoff tire model to solve the lateral force, and solve the road surface adhesion coefficient under the steering condition by definition, and finally use the error compensation method to compensate the road surface adhesion coefficient under the driving / braking and steering conditions respectively

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