Centroid slip angle estimation method considering dynamic load and pavement adhesion coefficient
A technology of pavement adhesion coefficient and centroid side-slip angle, which is used in electrical digital data processing, special data processing applications, instruments, etc., and can solve the problem that piecewise linear models cannot be used.
Active Publication Date: 2020-11-06
HARBIN INST OF TECH
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Therefore, although the use of piecewise linear technology to describe the tire lateral force has many advantages, the piecewise linear model established under the determined tire vertical load and road adhesion coefficient cannot be used in practice
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[0054] The technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of them. Based on the present invention All other embodiments obtained by persons of ordinary skill in the art without creative efforts, all belong to the scope of protection of the present invention.
[0055] refer to figure 1 As shown, the present invention discloses a method for estimating the sideslip angle of the center of mass considering dynamic load and road surface adhesion coefficient, comprising the following steps:
[0056] Step 1: According to adhesion coefficient μ=1 and nominal load F zf , F zr The following experimental data of the relationship between lateral force and slip angle or the data obtained by the magic formula tire model, determine the segment interval and segmen...
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The invention discloses a centroid slip angle estimation method considering a dynamic load and a pavement adhesion coefficient, and relates to a vehicle centroid slip angle estimation method. The method comprises the following steps: determining a piecewise interval and a piecewise number of a lateral force linear piecewise model; establishing a PWA relational expression of the lateral force of the front and rear axle wheels and the wheel slip angle under the conditions of the adhesion coefficient being equal to 1 and the nominal load; establishing a PWA relational expression of the lateral force of the front and rear axle wheels and the wheel slip angle under the conditions of the adhesion coefficient being less than 1 and the nominal load; establishing a PWA relational expression of thelateral force of the front and rear axle wheels and the slip angle under the conditions of considering the dynamic load and setting the adhesion coefficient to be less than 1; establishing a switchinglateral kinetic model; and converting the switching lateral kinetic model into a switching T-S fuzzy model, estimating front and rear wheel slip angles, and calculating an estimated value of a mass center slip angle. A method for establishing a piecewise affine lateral kinetic model by adopting a piecewise linear modeling thought is provided, and the change of a tire vertical load and a road adhesion coefficient can be reflected in real time.
Description
technical field [0001] The invention relates to a method for estimating the side slip angle of the center of mass of a vehicle, in particular to a method for estimating the side slip angle of the center of mass considering dynamic load and road surface adhesion coefficient, and belongs to the technical field of vehicle state estimation. Background technique [0002] The sideslip angle of the center of mass of the vehicle is an important parameter to characterize the stability of the vehicle, and it is used to judge the stability boundary of the vehicle and control the yaw stability. At present, the center-of-mass side slip angle sensor is expensive, and it is only used for analysis, testing, and evaluation research, and cannot be used as a vehicle sensor. In an actual vehicle, the sideslip angle information of the center of mass is obtained through estimation techniques, and the estimation of the sideslip angle of the mass center involves estimator modeling and design techni...
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IPC IPC(8): G06F30/15B60W40/12B60W40/064B60W40/00G06F119/14
CPCG06F30/15B60W40/00B60W40/064B60W40/12G06F2119/14
Inventor 张茜周洪亮刘志远
Owner HARBIN INST OF TECH