The invention discloses an engineering vehicle road adhesion coefficient state estimation method based on improved double-layer Kalman filtering, and the method comprises the following steps: 1), building a vehicle dynamics model based on vehicle dynamics; 2) inputting an input signal into the dynamic model through a CAN signal, and obtaining and establishing a system state equation and a system observation equation of the vehicle dynamic model; 3) performing state estimation on a plurality of data points obtained by simulation by using first-layer extended Kalman filtering to obtain a yaw velocity, a longitudinal velocity and a lateral velocity; 4) taking the filtered state estimation data points as input, inputting the filtered state estimation data points into a whole vehicle dynamics simulation model, and utilizing a Dugoff tire model to obtain a longitudinal force and a lateral force of the vehicle; 5, a second layer of square root volume Kalman filtering is established, and finally the estimated value of the road adhesion coefficient is obtained.According to the method, the number of sensors of the vehicle is reduced, and the precision and accuracy of the engineering vehicle in the real-time road adhesion coefficient estimation process are improved.

    本发明公开了基于改进的双层卡尔曼滤波的工程车辆路面附着系数状态估计方法,包括以下步骤:1)基于车辆动力学,搭建车辆动力学模型;2)通过CAN信号将输入信号输入到动力学模型中,获取并建立车辆动力学模型的系统状态方程与系统观测方程;3)将仿真得到的若干数据点利用第一层扩展卡尔曼滤波进行状态估计,得到横摆角速度、纵向速度和侧向速度;4)将滤波后的状态估计数据点作为输入,输入到整车动力学仿真模型,并利用Dugoff轮胎模型,得到车辆的纵向力与侧向力;5)建立第二层平方根容积卡尔曼滤波,最终得到路面附着系数的估计值。本发明即减少了车辆的传感器数量,又提高了工程车辆在对实时路面附着系数估计时的精度与准确性。


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    Titel :

    Engineering vehicle road adhesion coefficient state estimation method based on improved double-layer Kalman filtering


    Weitere Titelangaben:

    基于改进的双层卡尔曼滤波的工程车辆路面附着系数状态估计方法


    Beteiligte:
    LIU YONGGANG (Autor:in) / LIAO YIHUA (Autor:in) / LYU CHANG (Autor:in) / SUN DANDAN (Autor:in)

    Erscheinungsdatum :

    15.09.2023


    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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