路面峰值附着系数辨识算法研究

A Research on the Algorithm for Identifying the Peak Adhesion Coefficient of Road Surface

为改善现有路面辨识方法,兼顾其准确性和实时性,在Burckhardt轮胎-路面数学模型的基础上,基于类比特性提出了快速准确的路面辨识算法,能实时计算汽车当前行驶路面的峰值附着系数。通过Car Sim软件建立整车模型,并测试了路面峰值附着系数,验证路面-轮胎模型。利用Burckhardt轮胎模型验证算法的有效性和可行性,再分别在单一路面和对接路面上进行Car Sim/Simulink联合仿真。结果表明,该算法能快速准确地计算出路面峰值附着系数,滞后仅0.1s,误差在5%左右。该辨识算法可同时兼顾准确性和实时性,且适用路面范围广。

In order to improve existing road surface identification method with concurrent consideration of its accuracy and real-time performance,on the basis of Burckhardt tire-road mathematical model,a fast and accurate identification algorithm is proposed based on analogy characteristics to calculate the peak adhesion coefficient of the road vehicle currently running on.Vehicle model is built with software Car Sim and the road adhesion coefficient peak is measured to verify tire-road model.The effectiveness and feasibility of the algorithm is validated by Burckhardt tire model,and Car Sim/Simulink co-simulation is conducted on both single road with uniform adhesion coefficient and butt-joint road composed of segments with different adhesion coefficient respectively.The results show that the algorithm proposed can quickly and accurately calculate the road adhesion coefficient peak,with a time lag of only 0.1 s and an error of around 5%.The identification algorithm concurrently takes into account both accuracy and real-time performance,and suitable for a wide range of road surface.