The invention discloses a road adhesion coefficient estimation method based on fast convergence SCKF and adaptive tire rigidity and a medium. The method comprises the following steps: 1) acquiring automobile parameters and real-time sensor signals; 2) establishing a vehicle dynamics model based on the vehicle parameters and the real-time sensor signals; 3) calculating a tire slip rate kappa ij, a tire slip angle alpha ij, a tire rotation angle delta ij and a tire vertical force Fz, ij, and establishing a combined brush tire model; 4) based on the vehicle dynamics model, a combined brush tire model and a fast convergence SCKF estimation algorithm, establishing a road adhesion coefficient estimation system; and 5) resolving the road adhesion coefficient estimation system to obtain the road adhesion coefficient and the tire rigidity. A computer program is stored in the medium. According to the method, the road adhesion coefficient can be accurately calculated under various working conditions, and the road adhesion coefficient can be correctly identified even if the tire is damaged and the vertical elastic rigidity is changed.
本发明公开基于快速收敛SCKF和自适应轮胎刚度的路面附着系数估计方法及介质,方法包括以下步骤:1)获取汽车参数和实时传感器信号;2)基于汽车参数和实时传感器信号,建立车辆动力学模型;3)计算轮胎滑移率κij、轮胎侧偏角αij、轮胎转角δij、轮胎垂向力Fz,ij,并建立组合刷子轮胎模型;4)基于车辆动力学模型、组合刷子轮胎模型和快速收敛SCKF估计算法,建立路面附着系数估计系统;5)对路面附着系数估计系统进行解算,得到路面附着系数和轮胎刚度。介质存储有计算机程序。本发明可以在各种工况下准确计算出路面附着系数,即使在轮胎出现破损而导致垂向弹性刚度发生变化时,本方法也能够正确识别路面附着系数。
Road adhesion coefficient estimation method based on fast convergence SCKF and adaptive tire stiffness and medium
基于快速收敛SCKF和自适应轮胎刚度的路面附着系数估计方法及介质
2023-06-23
Patent
Elektronische Ressource
Chinesisch
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