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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Algorithms for Real-Time Estimation of Individual Wheel Tire-Road Friction Coefficients
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Algorithms for Real-Time Estimation of Individual Wheel Tire-Road Friction Coefficients

机译：车轮轮辋摩擦系数实时估计算法

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摘要

It is well recognized in the automotive research community that knowledge of the real-time tire-road friction coefficient can be extremely valuable for active safety applications, including traction control, yaw stability control and rollover prevention. Previous research results in literature have focused on the estimation of average tire-road friction coefficient for the entire vehicle. This paper explores the development of algorithms for reliable estimation of independent friction coefficients at each individual wheel of the vehicle. Three different observers are developed for the estimation of slip ratios and longitudinal tire forces, based on the types of sensors available. After estimation of slip ratio and tire force, the friction coefficient is identified using a recursive least-squares parameter identification formulation. The observers include one that utilizes engine torque, brake torque, and GPS measurements, one that utilizes torque measurements and an accelerometer and one that utilizes GPS measurements and an accelerometer. The developed algorithms are first evaluated in simulation and then evaluated experimentally on a Volvo XC90 sport utility vehicle. Experimental results demonstrate the feasibility of estimating friction coefficients at the individual wheels reliably and quickly. The sensitivities of the observers to changes in vehicle parameters are evaluated and comparisons of robustness of the observers are provided.
机译：在汽车研究社区中，众所周知的是，实时轮胎-道路摩擦系数的知识对于主动安全应用（包括牵引力控制，横摆稳定性控制和防侧翻）非常有价值。文献中的先前研究结果集中在整个车辆的平均轮胎-道路摩擦系数的估计上。本文探讨了用于可靠估计车辆每个车轮上独立摩擦系数的算法的开发。根据可用的传感器类型，开发了三种不同的观察器来估算滑移率和纵向轮胎力。在估计滑移率和轮胎力之后，使用递归最小二乘参数识别公式识别摩擦系数。观察者包括利用发动机扭矩，制动扭矩和GPS测量值的观察者，利用扭矩测量值和加速度计的观察者，以及利用GPS测量值和加速度计的观察者。首先在仿真中评估开发的算法，然后在Volvo XC90越野车上进行实验评估。实验结果证明了可靠，快速地估计各个车轮的摩擦系数的可行性。评估了观察者对车辆参数变化的敏感性，并提供了观察者鲁棒性的比较。

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