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Pavement peak-value attachment coefficient estimating method on basis of UKF (unscented kalman filter) and corrected Dugoff tire model

A road surface peak value and adhesion coefficient technology, which is applied in calculation, electrical digital data processing, special data processing applications, etc., can solve problems such as single working conditions

Active Publication Date: 2014-09-03
TSINGHUA UNIV
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Problems solved by technology

[0006] Aiming at the problem that the existing road surface peak adhesion coefficient algorithm is only applicable to a single working condition, the purpose of the present invention is to provide a method for estimating road surface peak adhesion coefficient based on UKF and modified Dugoff tire model to accurately estimate the road surface adhesion coefficient under various working conditions in real time. road condition

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  • Pavement peak-value attachment coefficient estimating method on basis of UKF (unscented kalman filter) and corrected Dugoff tire model
  • Pavement peak-value attachment coefficient estimating method on basis of UKF (unscented kalman filter) and corrected Dugoff tire model
  • Pavement peak-value attachment coefficient estimating method on basis of UKF (unscented kalman filter) and corrected Dugoff tire model

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[0084] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0085] figure 1 Shown is the system diagram applied by the real-time estimation method of road surface peak adhesion coefficient of the present invention, the external hardware includes a driving torque sensor 1 arranged on the vehicle drive system, a steering wheel angle sensor 2 arranged at the steering column tube, a set The wheel speed sensor 3 at the wheel place, a vehicle speed sensor and 4-inertia sensor 5 arranged at the center of mass of the vehicle, the processing module arranged in the vehicle controller includes a wheel slip calculation module 6, a vehicle based on longitudinal power A tire force estimation module 7 based on science, a tire slip angle calculation module 8, a UKF coefficient calculation module 9 based on the modified Dugoff model, and a UKF road surface peak adhesion coefficient estimation module 10. The above-mentioned dr...

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Abstract

The invention discloses a pavement peak-value attachment coefficient estimating method on the basis of a UKF (unscented kalman filter) and a corrected Dugoff tire model. The method is characterized by comprising the following steps: collecting each sensor signal of a vehicle in real time, estimating a slip rate and a slip angle of each wheel by utilizing a longitudinal kinetic equation and a geometric coordinate relation of the model; and transmitting the estimated slip rate, vertical force, the slip angle and the like to a UKF coefficient calculation module based on the corrected Dugoff model to obtain a coefficient vector of a nonlinear system, and transmitting the vector and real-time estimated longitudinal force to a UKF pavement peak-value attachment coefficient estimation module to solve a peak-value attachment coefficient. A vehicle state observation system is used for collecting the signals in real time, so that the real-time property of the calculation is guaranteed, and the estimation accuracy on pavement situations which are not fitted is high. By utilizing the corrected Dugoff tire model and a UKF theory, the solving process is simple, the number of operation is small, the rapidness in operation is realized, and the convergence time is short. The method is good in robustness, capable of well recognizing the pavement situations of each wheel and suitable for being used for estimating the pavement peak-value attachment coefficient in real time.

Description

technical field [0001] The invention relates to a method for estimating the road surface peak adhesion coefficient of a distributed drive electric vehicle, in particular to a method for estimating the road surface peak adhesion coefficient based on UKF and a modified Dugoff tire model. Background technique [0002] Road surface peak adhesion coefficient: refers to the maximum value of the ratio of the resultant force of the longitudinal force and lateral force acting between the tire and the ground to the vertical force. At present, a lot of research has been done on the real-time estimation method of road surface peak adhesion coefficient at home and abroad. These methods can be divided into two categories: cause-based methods and effect-based methods. The former uses ultrasonic sensors to detect road conditions to estimate the road adhesion coefficient. This type of method requires additional expensive sensors and is highly dependent on the environment. The latter method...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F19/00
Inventor 李克强陈龙边明远罗禹贡张书玮秦兆博向勇连小珉王建强杨殿阁郑四发
Owner TSINGHUA UNIV
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