The invention provides a vehicle road adhesion coefficient estimation method and device, and the method comprises the steps: setting related parameters of a vehicle, and outputting the rotation speed of wheels of the vehicle; building a three-degree-of-freedom vehicle model, inputting the wheel rotating speed into the three-degree-of-freedom vehicle model, and obtaining different vehicle state quantities under a three-degree-of-freedom vehicle dynamic model; a Dugoff tire model is constructed, the vehicle state quantity is input into the Dugoff tire model, the longitudinal force and the lateral force of the vehicle are obtained, and a road adhesion coefficient expression is established; and adopting an MCUKF estimation algorithm to obtain an estimated value of the road adhesion coefficient. According to the method, the unscented Kalman filter algorithm is improved by adopting the maximum correlation entropy criterion, the three-degree-of-freedom vehicle dynamics model fused with the Dugoff tire model is established, the road adhesion coefficient is estimated, and the robustness and the estimation precision of the estimated value of the road adhesion coefficient are improved.
本发明提供了一种车辆路面附着系数估计方法及装置,其中方法包括:设置车辆的相关参数,输出车辆的车轮转速;搭建三自由度车辆模型,将所述车轮转速输入到所述三自由度车辆模型,获取三自由度车辆动力学模型下不同的车辆状态量;构建Dugoff轮胎模型,将所述车辆状态量输入到所述Dugoff轮胎模型,获取车辆的纵向力与车辆的侧向力,建立路面附着系数表达式;采用MCUKF估计算法,得到路面附着系数的估计值。本发明采用最大相关熵准则改进无迹卡尔曼滤波算法,建立融合Dugoff轮胎模型的三自由度车辆动力学模型,进行路面附着系数的估计,提高路面附着系数的估计值的鲁棒性和估计精度。
Vehicle road adhesion coefficient estimation method and device
车辆路面附着系数估计方法及装置
2025-01-17
Patent
Electronic Resource
Chinese
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