摘要
为研究汽车纵向动力学控制中的路面识别问题,提出了一种适应全工况的分级路面附着估计方法。在正常行驶工况下,通过对轮胎纵滑刚度Cs的估算与校验,实现高附着路面与低附着路面的辨别;在ABS制动工况和ASR驱动工况下,通过比较路面附着系数估算值与其在不同路面下模型参考值之间的匹配程度,并且基于可信度阈值校验综合确定最终的路面类型;在此基础上,通过实车试验对纵向路面识别方法进行评价与验证。结果表明:所提出的路面识别方法对于不同直行工况、不同附着条件的路面均具有较好的实时性和有效性。
To study road identification method for vehicle longitudinal dynamic control a multi- level estimation of road adhesion under all conditions was proposed. In normal driving condition, the high-μ, road and low-μ, road could be distinguished effectively through the estimation and validation of tire longitudinal slide stiffness Cs. Under ABS/ASR condition, the estimation of road adhesive coefficient was compared with its model reference value for different roads, hence the matching road type was determined based on the validation of confidence threshold. On that basis, the longitudinal road identification method was evaluated and verified through the vehicle experiment. The results show that the proposed method is of fine real-time performance and effectiveness for different straight conditions and different road adhesions.
出处
《中国公路学报》
EI
CAS
CSCD
北大核心
2014年第5期177-182,共6页
China Journal of Highway and Transport
基金
国家自然科学基金项目(51005019)
