A Tire-Pavement Adhesion Coefficient Obtaining Method Considering Time Domain Attenuation of Observation Information

Abstract

The invention provides a tire-road adhesion coefficient acquisition method considering the time domain attenuation of observation information. First, the dynamic equations about the lateral and yaw motion of the vehicle are established, the lateral resultant force of the front and rear axles is decoupled, and an unknown input observer is designed, Realize the observation of the lateral resultant force of the front and rear axles of the vehicle; secondly, simplify the vehicle double-track model, design an augmented model, and use the volumetric Kalman filter to estimate the longitudinal resultant force of the front axle and the vehicle center of mass sideslip angle; finally, establish the second factor considering the longitudinal slip rate. The modified Brush tire model for the second time is input into the tire-road adhesion coefficient regressor as the known information of the above-mentioned observation value of the lateral resultant force of the front and rear axles and the estimated value of the vehicle's center of mass slip angle, and the regression model based on the observed time-domain attenuation Realize the acquisition of tire-road adhesion coefficient. The invention can quickly obtain the tire-road adhesion coefficient, and has the characteristics of simplicity and high efficiency especially on the butting road surface.

Description

technical field [0001] The invention belongs to the field of vehicle engineering, and in particular relates to a tire-road adhesion coefficient acquisition method considering the time-domain attenuation of observation information. Background technique [0002] In the past decade, autonomous driving has begun to appear more and more in academic research and practical applications. However, realizing the control of the steering wheel completely out of the human hand is a very challenging problem. In order to realize the fully autonomous driving of the vehicle, it is necessary to make a very keen judgment on the external environment (such as tire-road adhesion coefficient and other information), so as to take timely and effective safety control measures. At present, the tire-road adhesion coefficient can be directly measured by some special sensors, but the expensive cost and harsh installation conditions limit its application in mass production vehicles. In comparison, filte...

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Problems solved by technology

[0004] Aiming at the deficiencies in the prior art, the present invention provides a tire-road adhesion coefficient acquisition method that considers the time-domain attenuation of observation information, which can effectively avoid the disadvantages of using expensive sensors to obtain the tire-road adhesion coefficient, and at the same time optimize the vehicle-mounted low-cost Sensor configuration scheme to achieve real-time and accurate acquisition of tire-road adhesion coefficient

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