期刊
ELECTRONICS
卷 12, 期 3, 页码 -出版社
MDPI
DOI: 10.3390/electronics12030525
关键词
road friction coefficient estimation; vehicle dynamics; moving horizon estimation; real-time performance
In this study, a hierarchical estimation method combining single-step MHE (S-MHE) and inverse tire model (ITM) based on lateral vehicle dynamics is proposed to improve the real-time performance of the estimation method of road friction coefficient (RFC) based on moving horizon estimation (MHE). The proposed method reduces the average computation time to about 0.125 s and improves the real-time performance by more than 30% while ensuring the estimation accuracy and convergence speed compared with the traditional MHE method.
To improve the real-time performance of the estimation method of road friction coefficient (RFC) based on moving horizon estimation (MHE), a hierarchical estimation method for RFC combining single-step MHE (S-MHE) and inverse tire model (ITM) based on lateral vehicle dynamics is proposed in this study. Firstly, a hierarchical estimation framework is designed to decouple vehicle and tire systems. Secondly, the S-MHE estimator is designed based on the nonlinear vehicle model to estimate the lateral tire force. Thirdly, the ITM is deduced based on the Pacejka model, and the estimator for the RFC based on the ITM is designed. Finally, the estimation accuracy, convergence speed, and real-time performance of the proposed method and the traditional MHE method are compared and discussed through different tests based on CarSim and Simulink. The results show that compared with the traditional MHE method, the proposed method reduces the average computation time to about 0.125 s and improves the real-time performance by more than 30% while ensuring the estimation accuracy and convergence speed.
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