A method and system for online identification of tire cornering stiffness

Abstract

The invention discloses an online identification method and system for tire cornering stiffness. The method comprises the following steps: step 1, establishing a vehicle dynamics model; step 2, simplifying the vehicle dynamics model based on a linear lateral tire force model to obtain a vehicle Simplified model of dynamics; Step 3, discretize the simplified model of vehicle dynamics to obtain a recursive model with the cornering stiffness of the front and rear wheels of the vehicle as the parameter to be estimated; Step 4, use the finite memory recursive minimum with forgetting factor The two times online identification method is used to identify the front and rear wheel cornering stiffness of the vehicle in the recursive model. The front and rear wheel cornering stiffness can be identified through the finite memory recursive least squares online identification method with forgetting factor, which can avoid the dimension disaster phenomenon, increase the real-time identification, and use limited historical data to achieve online identification Tire cornering stiffness, and overall suitable for most environments, with simple internal mechanical devices, high stability, and high algorithm efficiency.

Description

technical field [0001] The invention relates to the technical field of vehicle parameter identification, in particular to an online identification method and system for tire cornering stiffness. Background technique [0002] For vehicle control, the vehicle dynamics model has properties such as strong coupling and nonlinearity. At present, the most commonly used modeling method is to establish a simplified physical model through the analysis of the force and moment of the vehicle. The main nonlinear characteristics of this model come from the tires, especially when the vehicle is running on a curve, the cornering characteristics of the tire directly determine the handling stability of the vehicle, and the cornering stiffness of the tire is a very important parameter in the cornering characteristics of the tire. It will change accordingly in different road surface environments. At present, the cornering stiffness of tires cannot be directly measured. How to use the measured ...

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Problems solved by technology

[0004] However, the above-mentioned existing tire cornering stiffness online identification methods mainly have the following defects: with the gradual increase of new observation data, ① a large amount of observation data will be accumulated and stored in the identification algorithm, and the phenomenon of dimension disaster will appear; The real-time performance of identification is greatly reduced; ③Although the forgetting factor is added, a large amount of historical data is still used in identification

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