The invention discloses an automobile road adhesion coefficient estimation method and device, a storage medium and an automobile. The method comprises the following steps: respectively determining a yaw velocity estimation value and a rotation velocity estimation value of an automobile according to sensor information and vehicle information of the automobile; determining a four-wheel transverse force estimated value of the automobile according to the yaw velocity error of the automobile through a self-adaptive sliding mode observer; and determining the four-wheel longitudinal force estimation value of the automobile through a feedback observer based on PID according to the rotation angular velocity error of the automobile. According to the method provided by the invention, the transverse force and the longitudinal force of the automobile tire are determined according to the estimation error, so that the influence of environmental factors on sensor noise can be reduced; the adhesion coefficient is determined through the longitudinal force and the transverse force of the tire, and the estimation precision can be improved while the application scene is expanded.
本发明公开了一种汽车路面附着系数估计方法及装置、存储介质、汽车。所述方法包括:根据汽车的传感器信息和车辆信息分别确定汽车的横摆角速度估计值和转动角速度估计值;通过自适应滑模观测器根据汽车的横摆角速度误差确定汽车的四轮横向力估计值;通过基于PID的反馈观测器根据汽车的转动角速度误差确定汽车的四轮纵向力估计值。根据本发明提供的方法,根据估计误差确定汽车轮胎横向力和轮胎纵向力,能够减小环境因素对传感器噪声的影响;通过轮胎的纵向力和横向力共同确定附着系数,在扩大应用场景的同时能够提升估计精度。
Automobile road adhesion coefficient estimation method and device, storage medium and automobile
汽车路面附着系数估计方法及装置、存储介质、汽车
2024-06-14
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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