The invention provides an intelligent vehicle adhesion coefficient online estimation method fusing real vehicle data. The method comprises the following steps: constructing a vehicle dynamics model containing a vehicle tire force equation; the method comprises the following steps: acquiring a real vehicle operation data sequence of a vehicle, dividing input data and output data into past time periods and future time periods, and arranging the time periods according to a time sequence to form a data time sequence matrix; on the basis of the data time sequence matrix, an optimization problem fitting vehicle dynamics model is constructed with the purpose of minimizing the error between model output and actual observation data, and a vehicle dynamics model based on real vehicle operation data is obtained by solving the optimization problem; and based on the vehicle dynamics model obtained through fitting, real-time estimation of the road adhesion coefficient is realized through an unscented Kalman filtering algorithm. By fusing the vehicle dynamic model represented based on real vehicle data, the mismatch degree of the vehicle model in the existing adhesion coefficient estimation algorithm based on the dynamic model is effectively reduced, and the estimation precision of the road adhesion coefficient is improved.
本申请提出一种融合实车数据的智能车附着系数在线估计方法,包括:构建包含车辆轮胎力方程的车辆动力学模型;采集车辆的实车运行数据序列,将输入数据和输出数据划分为过去时间段和未来时间段,并按照时间顺序进行排列,形成数据时序矩阵;基于数据时序矩阵,以最小化模型输出与实际观测数据之间的误差为目标,构建优化问题拟合车辆动力学模型,通过求解优化问题获得基于实车运行数据的车辆动力学模型;基于拟合得到的车辆动力学模型,通过无迹卡尔曼滤波算法实现对路面附着系数的实时估计。通过融合基于实车数据表示的车辆动力学模型,有效减少了现有基于动力学模型的附着系数估计算法中车辆模型的失配程度,提高了路面附着系数的估计精度。
Intelligent vehicle attachment coefficient online estimation method fusing real vehicle data
一种融合实车数据的智能车附着系数在线估计方法
2025-03-21
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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