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Estimation of tire-road friction coefficient based on frequency domain data fusion

机译：基于频域数据融合的轮胎-道路摩擦系数估计

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摘要

Due to the noise of sensing equipment, the tire states, such as the sideslip angle and the slip ratio, cannot be accurately observed under the conditions with small acceleration, which results in the inapplicability of the time domain data based tire-road friction coefficient (TRFC) estimation method. In order to overcome this shortcoming, frequency domain data fusion is proposed to estimate the TRFC based on the natural frequencies of the steering system and the in-wheel motor driving system. Firstly, a relationship between TRFC and the steering system natural frequency is deduced by investigating its frequency response function (FRF). Then the lateral TRFC is determined by the steering natural frequency which is only identified using the information of the assist motor current and the steering speed of the column. With spectral comparison between the steering and driving systems, the data fusion is carried out to get a comprehensive TRFC result, using the different frequency information of the longitudinal and lateral value. Finally, simulations and experiments on different road surfaces validated the correctness of the steering system FRF and the effectiveness of the proposed approach.
机译：由于传感设备的噪音，无法在加速度较小的情况下准确观察到轮胎的状态，如侧滑角和滑移率，这导致基于时域数据的轮胎-道路摩擦系数（ TRFC）估算方法。为了克服该缺点，提出了基于转向系统和轮内电动机驱动系统的固有频率的频域数据融合来估计TRFC。首先，通过研究其频率响应函数（FRF），推导了TRFC与转向系统固有频率之间的关系。然后，由转向固有频率确定横向TRFC，该转向固有频率仅使用辅助电动机电流和立柱转向速度的信息来识别。通过对转向系统和驱动系统之间的频谱进行比较，使用纵向和横向值的不同频率信息，进行数据融合以获得全面的TRFC结果。最后，在不同路面上的仿真和实验验证了转向系统FRF的正确性和所提出方法的有效性。

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