一种道路纵向附着系数估计方法.pdf

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1、JournalofSoutheastUniversity(EnglishEdition)Vo1．29，No．3，PP．310—315Sept．2013ISSNl003—_7985Approachtoestimationofvehicle·roadlongitudinalfrictioncoeficientSongXiangLiXuZhangWeigongChenWeiXuQimin(SchoolofInstrumentScienceandEngineering，SoutheastUniversity，Nan

2、jing210096，China)Abstract：AccordingtotheroadadaptiverequirementsforthecruisecontrolfACC)system，roadconditioninformationvehiclelongitudin~safetyassistantsystem，allestimationfromthefrictioncoefficientestimationcanbeusedtoad—methodoftheroadlongitudinalfrictio

3、ncoeficientisjustthelongitudinalspacingheadwayfromtheprecedingproposed．TI1emethodcansimultaneouslybeappliedtobothvehiclethattheACCvehicleshouldmaintain．thehighandthelowslipratioconditions．BasedontheThetire．roadfrictioncoeficientmustbeestimatedinsimplifiedm

4、agicformulatiremodel，theroadlongitudinalrea1．timetomeettherequirementsofthevehiclelongitu—-frictioncoeficientispreliminarilyestimatedbytherecursivedinalactivesafetycontrolsystemsundernormaldrivingleastsquaresmethod．Theestimatedfrictioncoeficientandconditio

5、ns．Sothemethodoftire—roadfrictioncoefflcientthetiresmodelparametersareconsideredasextendedstates．estimationbasedonvehiclelongitudinaldynamicsismostTheextendedKalmanfilteralgorithmisemployedtofilteroutfeasible．thenoiseandadaptivelyadjustthetiremodelparamete

6、rs．TherelationshipbetweenthenormalizedlongitudinalThenthefinalroadlongitudinalfrictioncoeficientisaccuratelyandrobustlyestimated．耵leCarsimsimulationtireforceandtheslipratioisdifferentunderdifferentroadresultsshowthattheproposedmethodisbetterthantheconditio

7、ns．whichisthebasisofutilizingthevehicleIon—conventionalalgorithm．eroadlongi【tudinalfrictiongitudinaldynamicstoestimatethetire．roadfrictioncoeffi-coefficientcanbequicklyandaccuratelyestimatedunderbothcientL．Themostwellknownresearchinthisareaisonthehighandth

8、elowslipratioconditions．11heerrorislesstheuseofslip．slopeforfrictioncoeficientidentifica．-than0．1andtheresponsetimeislessthan2s。whichmeetstiont吲Inthismethod．thenormalizedlongitudinal．therequirementsofthevehic