Tire road adhesion coefficient multi-model fusion estimation method considering quality mismatch
A road surface adhesion coefficient and fusion estimation technology, applied in the field of vehicle control, can solve the problems of obvious differences in vehicle quality, impossibility of application, large estimation deviation, etc., and achieve the effect of improving estimation accuracy and scope of application
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[0113] Such as figure 1 as shown,
[0114] The present invention first utilizes vehicle-mounted sensors to obtain longitudinal and lateral accelerations, yaw angular velocities and front wheel angle signals, utilizes these information and non-linear vehicle models and utilizes strong tracking unscented Kalman filtering to estimate the longitudinal and lateral forces of the front and rear axles of the vehicle, based on Vehicle Axial Force Information Using Interactive Multi-Model Unscented Kalman Estimation of Tire-Pavement Adhesion Coefficient.
[0115] The specific implementation method based on the system structure includes the following steps:
[0116] Step 1: Obtain the longitudinal, lateral acceleration and yaw rate through the gyroscope installed on the car, and obtain the front wheel angle information through the front wheel angle sensor;
[0117] Step 2: Establish a nonlinear body model,
[0118]
[0119]
[0120]
[0121] where r is the yaw rate, F yf is ...
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