The invention discloses a road adhesion coefficient cascade estimation method and system considering model parameter mismatch, and relates to the technical field of intelligent vehicle state estimation. The method comprises the following steps: receiving parameter information of a front wheel turning angle, longitudinal acceleration and lateral acceleration of a vehicle; and constructing a vehicle motion state estimation dynamic model, inputting the parameter information into the vehicle motion state estimation dynamic model, and constructing a nonlinear state-space equation of the vehicle motion state. According to the method, unscented Kalman filtering is adopted as a basic framework, strong tracking filtering is introduced based on an orthogonal theory, and a gain matrix is dynamically updated in real time by adjusting an attenuation factor matrix, so that the problem of estimation precision reduction caused by model parameter mismatch and model uncertainty is effectively solved; the two strong tracking unscented Kalman filters are connected in series, so that high-precision estimation of the road adhesion coefficient is realized, and the robustness of road adhesion coefficient estimation under the condition of model parameter mismatch non-ideal condition is effectively enhanced.
本发明公开了考虑模型参数失配的路面附着系数级联估计方法及系统,涉及智能车辆状态估计技术领域。本发明包括:接收车辆的前轮转角、纵向加速度、侧向加速度参数信息;构建车辆运动状态估计动力学模型,将上述参数信息输入车辆运动状态估计动力学模型,并构建车辆运动状态的非线性状态空间方程。本发明采用无迹卡尔曼滤波作为基本框架,基于正交理论引入强跟踪滤波,通过调节衰减因子矩阵对增益矩阵实时动态更新,有效降低了模型参数失配、模型不确定性引起的估计精度下降问题,通过将两个强跟踪无迹卡尔曼滤波器串联连接,实现了对路面附着系数的高精度估计,有效增强了模型参数失配非理想状况下路面附着系数估计的鲁棒性。
Road adhesion coefficient cascade estimation method and system considering model parameter mismatch
考虑模型参数失配的路面附着系数级联估计方法及系统
2024-10-11
Patent
Electronic Resource
Chinese
Tire road adhesion coefficient multi-model fusion estimation method considering quality mismatch
European Patent Office | 2022
|Self-adaptive cruise control method considering road adhesion coefficient
European Patent Office | 2024
|European Patent Office | 2023
|Vehicle road adhesion coefficient estimation method and device
European Patent Office | 2025
|