Drive-by-wire automobile tire lateral force estimation method considering sensor data loss

Abstract

The invention relates to a drive-by-wire automobile tire lateral force estimation method considering sensor data loss, wherein the method comprises the steps that: firstly, a front wheel steering angle, a longitudinal speed, a side slip angle, a longitudinal acceleration signal and a transverse acceleration signal with partial measurement data loss are acquired by utilizing an electric automobile vehicle-mounted sensor; and longitudinal driving force information of a tire is obtained through a CAN bus in a drive-by-wire system, the information is combined with a nonlinear vehicle model, the lateral force of the tire is estimated through a prior estimation method and a posterior updating method, and accurate obtaining of the lateral force of the tire is achieved. The technical blank that the tire force cannot be estimated under the condition that the current sensor data is lost can be filled, and the development of an automobile active safety control technology is promoted.

Description

technical field [0001] The invention relates to the field of vehicle-mounted sensor control, in particular to a method for estimating lateral force of a wire-controlled automobile tire in consideration of sensor data loss. Background technique [0002] In order to improve vehicle safety, many active safety technologies have been developed to reduce traffic accidents, such as electronic stability control system, traction control system, anti-lock brake control system. The effective implementation of these systems is directly affected by critical information such as tire forces. However, tire forces, especially lateral tire forces, cannot be directly measured by on-board sensors. [0003] Therefore, some estimation methods based on state observer and Kalman filter are used to solve this problem. But a basic premise in the traditional estimation method is that the estimator can completely receive the real measurement signal. However, it ignores some practical working conditi...

AI Technical Summary

Problems solved by technology

However, it ignores some practical working conditions, such as the information from the sensors in the vehicle may be partially or completely lost, the measurement signal from the sensor is not always correct, and may contain a damaged signal caused by a sensor failure, which leads to Existing tire force estimation methods are too ideal and cannot be applied in practice

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