The invention relates to a multi-working-condition road adhesion coefficient estimation method and system based on particle filtering, and belongs to the technical field of road adhesion coefficient estimation. The method comprises the following steps: acquiring vehicle operation data based on a novel sensor arrangement system; estimating a longitudinal working condition road adhesion coefficient by using a particle filtering method according to the vehicle operation data based on a vehicle longitudinal dynamic model; estimating a transverse working condition road adhesion coefficient by using a particle filtering method according to the vehicle operation data based on a vehicle transverse dynamic model; and according to the longitudinal working condition pavement adhesion coefficient and the transverse working condition pavement adhesion coefficient, using an estimation mode decision method to update the pavement adhesion coefficient. By adopting the method, accurate estimation of longitudinal and transverse multi-working-condition pavement adhesion coefficients can be realized.
本发明涉及一种基于粒子滤波的多工况路面附着系数估计方法及系统,属于路面附着系数估计技术领域。所述方法包括:基于新型传感器布置系统获取车辆运行数据;基于车辆纵向动力学模型,根据所述车辆运行数据使用粒子滤波方法估计纵向工况路面附着系数;基于车辆横向动力学模型,根据所述车辆运行数据使用粒子滤波方法估计横向工况路面附着系数;根据所述纵向工况路面附着系数和所述横向工况路面附着系数,使用估计模式决策方法更新路面附着系数。采用本发明方法能够实现纵向和横向多工况路面附着系数的精确估计。
Multi-working-condition road adhesion coefficient estimation method and system based on particle filtering
一种基于粒子滤波的多工况路面附着系数估计方法及系统
2022-11-22
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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