基于归一化轮胎模型的路面附着系数观测  

Tire-road friction coefficient estimation based on normalized tire model

作　　者：刘力[1] 罗禹贡[1] 李克强[1] 

机构地区：[1]清华大学汽车安全与节能国家重点实验室,北京100084

出　　处：《清华大学学报（自然科学版）》2009年第5期723-727,共5页Journal of Tsinghua University(Science and Technology)

基　　金：国家"八六三"高技术项目(2006AA110101)

摘　　要：针对已有的最大路面附着系数观测算法存在收敛速度不够快以及观测精度不够高的问题,提出一种新型的基于归一化轮胎模型理论的路面附着系数观测算法。该算法通过引进归一化轮胎模型,提出基于滑移斜率(slip-slope)的参考路面附着曲线识别算法,并据此开发了一种基于线性插值的最大路面附着系数观测方法,同时引入了回归最小二次算法(RLS)方法对观测结果实时进行数据后处理。仿真分析表明,该算法能准确识别路面附着系数,可使观测精度提高约30%,同时能有效提高识别的收敛速度。A tire-road friction coefficient estimation method was developed based on normalized tire model theory that improves the estimation convergence speed and accuracy. Once the slip slope is estimated, the normalized tire model theory is used to distinguish the various adhesion conditions, with the maximum tire-road friction coefficient then estimated using linear interpolation. The method includes an RLS based data processing method. The simulations show that this method reduces the convergence time, and improves the estimation accuracy by 300%.

关 键 词：车辆参数观测 路面最大附着系数观测 归一化轮胎模型 RLS算法 

分 类 号：U27[机械工程—车辆工程]