The invention discloses a longitudinal instantaneous slip rate estimation method based on adaptive filtering. The method comprises the following steps: 1, acquiring a vehicle driving state, four-wheel wheel speed original signals, vehicle longitudinal acceleration signals, four-wheel driving/braking torque signals and four-wheel tire pressure signals; 2, estimating the vehicle speed, the longitudinal slippage rigidity of four-wheel tires and the longitudinal rigidity value of four-tire bodies; 3, calculating a four-wheel filter coefficient and a cut-off frequency, and selecting a filter type and a filter coefficient in combination with a vehicle system vibration inherent frequency characteristic; and 4, filtering the original longitudinal slip rate of the four wheels to obtain an estimated value of the longitudinal instantaneous slip rate of the four wheels. The method considers the influence of the dynamic deformation of the tire on the estimation of the longitudinal slip rate of the wheel, can improve the estimation precision of the longitudinal slip rate of the wheel, further improves the control precision of a wheel slip control system, and has the advantages of simplicity, easiness in implementation and good robustness.
本发明公开了一种基于自适应滤波的纵向瞬时滑移率估算方法,包括以下步骤:1获取车辆行驶状态、四轮轮速原始信号、车辆纵向加速度信号、四轮驱动/制动力矩信号、四轮轮胎压力信号;2估算车辆速度、四轮轮胎纵向滑移刚度、四轮胎体纵向刚度值;3计算四轮滤波器系数和截止频率并结合车辆系统振动固有频率特性选择滤波器类型和滤波器系数;4对四轮原始纵向滑移率进行滤波处理,获取四轮纵向瞬时滑移率估算值。本发明考虑轮胎动态变形对于车轮纵向滑移率估计影响,能够提高车轮纵向滑移率估计精度、并进一步提高车轮滑移控制系统的控制精度,具有简单容易实现,鲁棒性能好的优点。
Longitudinal instantaneous slip rate estimation method based on adaptive filtering
一种基于自适应滤波的纵向瞬时滑移率估算方法
2024-04-05
Patent
Elektronische Ressource
Chinesisch
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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