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.

    本发明公开了一种路面最大附着系数的估算方法及终端,方法包括:获取车辆各个轮胎的纵向滑移率和侧向滑移角;根据轮胎垂向力计算方程计算得到车辆各轮胎的垂向力,根据非线性轮胎数学模型计算得到各轮胎的等效纵向滑移率和纵向力;对滑移率‑利用附着系数坐标平面进行区域划分;选取一个滑移率‑利用附着系数曲线作为各种路面最大附着系数的估算标准;对不同区域的路面最大附着系数进行计算。本发明的方法采用基于相似性特征、选取基准曲线,可以进行离线数据获取并准确拟合的优势,对整个非线性区域进行准确估算;同时该方法还兼顾了横纵向动力学特性,将横向动力学特性融入到了纵向动力学特性中,提高了横纵向耦合区的估算精度。


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    Titel :

    Road surface maximum adhesion coefficient estimation method and terminal


    Weitere Titelangaben:

    一种路面最大附着系数的估算方法及终端


    Beteiligte:
    CHEN XIANG (Autor:in) / ZHAO WANZHONG (Autor:in) / WANG CHUNYAN (Autor:in)

    Erscheinungsdatum :

    2022-06-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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