Road surface maximum adhesion coefficient estimation method and terminal
An adhesion coefficient, the largest technology, applied in the estimation method and terminal field of the maximum adhesion coefficient of the pavement, can solve the problems of inaccurate estimation of large nonlinear regions, inaccurate estimation of extremely small excitation regions, and inaccurate estimation of transverse and longitudinal dynamic coupling regions. , to avoid inaccurate estimation in large nonlinear regions and inability to calculate in extremely small excitation regions, simplify the calculation, and improve the estimation accuracy
Pending Publication Date: 2022-06-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0004] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a method and terminal for estimating the maximum adhesion coefficient of the road surface, so as to solve the inaccurate estimation of the large nonlinear area, the inability to estimate the extremely small excitation area, and the horizontal and vertical Problems such as inaccurate estimation of dynamic coupling area
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[0066] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the embodiments and the accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.
[0067] refer to figure 1 As shown, a method for estimating the maximum adhesion coefficient of a road surface of the present invention, the steps are as follows:
[0068] 1) Obtain the longitudinal slip rate and lateral slip angle of each tire of the vehicle;
[0069] Specifically, the acceleration and yaw rate in three directions of the vehicle are measured by the combined inertial navigation system (IMU), and the longitudinal vehicle speed, the yaw rate, and the side-slip angle of the center of mass of the vehicle are obtained in combination with the three-degree-of-freedom nonlinear vehicle dynamics mathematical model, Then, the lateral slip angle of each tire is estimated; the rotatio...
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The invention discloses a method for estimating the maximum adhesion coefficient of a road surface and a terminal. The method comprises the steps that the longitudinal slip rate and the lateral slip angle of each tire of a vehicle are obtained; the vertical force of each tire of the vehicle is calculated according to the tire vertical force calculation equation, and the equivalent longitudinal slip rate and longitudinal force of each tire are calculated according to the nonlinear tire mathematical model; carrying out regional division on the slip rate by utilizing an adhesion coefficient coordinate plane; selecting a slip rate-utilization adhesion coefficient curve as an estimation standard of the maximum adhesion coefficient of each road surface; and calculating the maximum adhesion coefficients of the road surfaces in different areas. According to the method, the advantages that the reference curve is selected on the basis of similarity characteristics, off-line data can be obtained and accurately fitted are adopted, and the whole nonlinear region is accurately estimated; meanwhile, the method also gives consideration to the transverse and longitudinal dynamic characteristics, integrates the transverse dynamic characteristics into the longitudinal dynamic characteristics, and improves the estimation precision of the transverse and longitudinal coupling region.
Description
technical field [0001] The invention belongs to the field of estimating key parameters of vehicle dynamics, and particularly relates to a method and a terminal for estimating the maximum adhesion coefficient of a road surface. Background technique [0002] The development of vehicle electrification, intelligence, and networking has put forward higher requirements for some performance responses of vehicles, and also provided more possibilities for the acquisition of some important information. The acquisition of key parameters of vehicle dynamics is crucial for the accurate control of modern vehicles. For example, the standard ABS control, ESP control, and AYC control in vehicles all rely heavily on the accurate acquisition of key vehicle dynamics parameters. It is the most difficult and important to obtain the maximum adhesion coefficient of the road surface. Therefore, it is very important to use a reasonable estimation method to obtain the maximum adhesion coefficient of ...
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IPC IPC(8): B60W40/064B60W40/10B60W40/00
CPCB60W40/064B60W40/10B60W40/00Y02T90/00
Inventor 陈翔赵万忠王春燕
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS