The invention discloses a tire cornering stiffness online identification method and system. The method comprises the following steps: step 1, establishing a vehicle kinetic model; step 2, simplifyingthe vehicle dynamics model based on the linear lateral tire force model to obtain a vehicle dynamics simplified model; step 3, discretizing the simplified vehicle dynamics model to obtain a recursivemodel taking the cornering stiffness of the front and rear wheels of the vehicle as to-be-estimated parameters; and step 4, identifying the cornering stiffness of the front and rear wheels of the vehicle in the recursion model by adopting a finite memory recursion least square online identification method with forgetting factors. The lateral stiffness of the front wheel and the lateral stiffness of the rear wheel are identified through a finite memory recursive least square online identification method with forgetting factors, the dimensionality disaster phenomenon can be avoided, the real-time performance of identification is improved, limited historical data are used, online identification of the tire cornering stiffness is achieved, the method is suitable for most environments, internalmechanical devices are simple, stability is high, and algorithm efficiency is high.
本发明公开一种轮胎侧偏刚度在线辨识方法及系统,该方法包括如下步骤:步骤1,建立车辆动力学模型;步骤2,基于线性侧向轮胎力模型对车辆动力学模型进行简化,得到车辆动力学简化模型;步骤3,对车辆动力学简化模型进行离散化,得到以车辆前、后轮侧偏刚度为待估计参数的递推模型;步骤4,采用具有遗忘因子的有限记忆递推最小二乘在线辨识方法对递推模型中的车辆前、后轮侧偏刚度进行辨识。实现了通过具有遗忘因子的有限记忆递推最小二乘在线辨识方法对前、后轮侧偏刚度进行辨识,可以避免维度灾难现象,增加辨识的实时性,且使用有限的历史数据,实现在线辨识轮胎侧偏刚度,且整体适合大多数环境,内部机械装置简单,稳定性高,算法效率高。
Tire cornering stiffness online identification method and system
一种轮胎侧偏刚度在线辨识方法及系统
2020-11-06
Patent
Electronic Resource
Chinese
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 |
Tire wear state estimation system utilizing cornering stiffness and method
European Patent Office | 2016
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