摘要
为提高车辆行驶安全性,研究适用于车辆稳定性控制系统的实时路面附着系数估计算法。利用多传感器数据融合综合车辆稳定性控制系统的各传感器数据,从中提取轮胎-路面附着系数得到充分利用的特征信息。根据路面附着系数充分利用时的侧向加速度估算路面附着系数。通过15自由度硬件在环仿真平台以及实车试验两种方式对算法进行验证。一定条件下的仿真结果表明算法的最大估算误差不超过0.04,车辆双移线实车试验的通过率从25%提高到100%。
A road friction coefficient estimation algorithm was developed for dynamic stability control systems to improve driving safety. Multisensor data from the vehicle dynamic stability control system was integrated using a multisensor data fusion algorithm. Feature information was extracted to predict the tire-road friction coefficient. The road friction coefficient was estimated from the lateral acceleration when the tire-road friction was maximized. The algorithm was verified by simulations on a 15 DOF hardware-in-loop simulation system and real vehicle experiments. The simulations show that the maximum estimation error is within 0.04 while the experimental results show that the double lane change test success rate increases from 25% to 100.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2009年第5期715-718,共4页
Journal of Tsinghua University(Science and Technology)
基金
国家自然科学基金资助项目(50575120)
关键词
附着系数识别
多传感器数据融合
汽车动力学
算法
road friction coefficient estimation
multisensor data fusion
vehicle dynamics
algorithm
