The invention discloses a four-wheel drive automobile road adhesion coefficient estimation method and device based on intelligent tire multi-sensor information fusion, and the method comprises the steps: firstly representing a road type through the change of the circumferential acceleration power spectral density of an intelligent tire by using a tire vibration mode, and calculating the road adhesion coefficient of the intelligent tire according to a Burckhardt typical road adhesion coefficient and a slip rate model; obtaining peak road adhesion coefficient empirical values of different road types; secondly, under the high slip rate, according to vehicle dynamics response information, an unscented Kalman filter estimation method is adopted to obtain a road adhesion coefficient estimation value; and then setting a proper road surface slip rate threshold value, realizing estimation of the road surface adhesion coefficient in a larger range by adopting switching logic, and fusing and outputting a final road surface adhesion coefficient estimation value. The road adhesion coefficient estimation value is obtained according to the road type, the road adhesion coefficient estimation value in a larger excitation range is obtained through fusion with a dynamic estimation algorithm, and compared with a traditional sensor estimation method, the estimation precision is higher.
本发明公开了基于智能轮胎多传感器信息融合的四轮驱动汽车路面附着系数估计方法及装置,首先借助智能轮胎的周向加速度功率谱密度的变化,利用轮胎振动模式来表征路面类型,根据Burckhardt典型路面附着系数和滑移率模型,获得不同路面类型的峰值路面附着系数经验值;其次在高滑移率下,根据车辆动力学响应信息,采用无迹卡尔曼滤波器估计方法得到路面附着系数估计值;然后设置适当的路面滑移率阈值,采用切换逻辑来实现更大范围内路面附着系数的估计,融合输出最终的路面附着系数估计值。本发明根据路面类型获得路面附着系数估计值,通过与动力学估计算法融合,获得更大激励范围内的路面附着系数估计值,相比传统的传感器估计方法,估计精度更高。
Method and device for estimating road adhesion coefficient of four-wheel drive automobile based on intelligent tire multi-sensor information fusion
基于智能轮胎多传感器信息融合的四轮驱动汽车路面附着系数估计方法及装置
2023-08-29
Patent
Elektronische Ressource
Chinesisch
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