The invention discloses a method for calculating a road adhesion coefficient through an integral estimator. The method comprises the steps that S1, the wheel center longitudinal speed is calculated; s2, calculating the slip rate of the tire; s3, calculating the vertical force of the four tires; s4, calculating the longitudinal force of the four tires; s5, calculating pavement real-time utilization adhesion coefficients of the four tires; s6, when the tire slip rate is within the slip rate threshold range, starting a road adhesion coefficient estimator algorithm; s7, calculating a road adhesion coefficient; and S8, calculating the road surface by using an adhesion coefficient peak integrator. The integral estimator is adopted for calculation, the convergence time can be greatly shortened, and the accuracy of an estimated value is improved.
本发明公开一种积分估计器计算路面附着系数的方法,包括S1,计算车轮中心纵向速度;S2,计算轮胎的滑移率;S3,计算四个轮胎垂向力;S4,计算四个轮胎的纵向力;S5,计算四个轮胎路面实时利用附着系数;S6,当轮胎滑移率处于滑移率阀值范围内时,启动路面附着系数估算器算法;S7,路面附着系数计算;S8,路面利用附着系数峰值积分器计算。本发明采用积分估计器进行计算,可以大大缩短收敛时间,提高估计值的准确度。
Method for calculating road adhesion coefficient by integral estimator
一种积分估计器计算路面附着系数的方法
2024-03-19
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 |
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