The invention relates to the technical field of automobiles, in particular to a method for estimating a road adhesion coefficient based on Kalman filtering, which comprises the following steps: firstly, establishing a vehicle seven-degree-of-freedom model, and obtaining a calculation mode of four tire parameters; secondly, a Dugoff tire model is established, and the normalized tire force of a tire is obtained; and finally, estimating the road adhesion coefficient by using an unscented Kalman filtering algorithm. According to the method, errors caused by linearization of a Kalman filtering algorithm are solved through an unscented Kalman filtering method, state variable estimation of a nonlinear system is achieved through unscented transformation (UT) on the basis of Kalman filtering, neglecting of high-order terms caused by linearization is avoided, and estimation accuracy is improved.
本发明涉及汽车技术领域,具体涉及一种基于卡尔曼滤波估计道路附着系数的方法,首先建立车辆七自由度模型,获取四个轮胎参数的计算方式;其次建立Dugoff轮胎模型,获取轮胎归一化轮胎力;最后利用无迹卡尔曼滤波算法估计道路附着系数。本发明具体通过无迹卡尔曼滤波的方法解决卡尔曼滤波算法因为线性化而导致的误差,在卡尔曼滤波的基础上利用无迹变换(Unscented Transform,UT)实现非线性系统的状态变量估计,不会因为线性化而导致高阶项被忽略,提高了估计的精确度。
Method for estimating road adhesion coefficient based on Kalman filtering
一种基于卡尔曼滤波估计道路附着系数的方法
2025-01-24
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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