线控转向( SBW)系统采用电子元件代替了转向盘到转向车轮之间的机械连接,其车轮回正力矩较传统汽车更容易获得.本文中通过建立SBW系统动力学模型和利用车轮回正力矩信息,采用双扩展卡尔曼滤波(DEKF)算法对汽车状态和路面附着系数进行联合估计.通过DEKF估算与CarSim仿真结果的对比,验证了联合估计算法的有效性.%Steer by wire (SBW) system uses electronic elements to replace mechanical connection between steering wheel and steered wheels, and its tire aligning torque becomes easier to estimate than that in conventional vehicle. In this paper, by setting up the dynamics model for SBW system and based on the information on wheel a-ligning torque, the co-estimation of vehicle states and road adhesion coefficient is conducted by usng dual extended Kalman filter (DEKF) algorithm. The comparison between the results of DEKF estimation and CarSim simulation verifies the effectiveness of co-estimation algorithm.
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