轮胎路面表面特征估计滑行方向轮式车辆的轮胎路面特征估计
Ao Li1, Xiaolin Guo2, Yuzheng Zhu1
1National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing, 100081, China.
Scientific reports
|April 3, 2025
概括
这项研究引入了一种新的混合方法,用于准确估计滑行方向车辆的轮胎刚度和路粘度. 该方法通过提高参数估计精度来增强车辆控制智能.
科学领域:
- 机器人技术和自主系统
- 车辆动力学和控制控制
背景情况:
- 滑行方向轮式车辆由于其机动性而广泛使用,对智能控制功能的需求日益增加.
- 准确的车辆智能依赖于精确估计轮胎刚度和道路附着系数.
- 现有的估计方法的精度低,验证有限,阻碍了智能控制的发展.
研究的目的:
- 为准确估计轮胎刚度和道路附着系数,开发一种混合离线和线上方法.
- 为了解决滑行方向车辆当前估计技术的局限性.
- 提高对智能汽车控制至关重要的参数的精度和验证.
主要方法:
- 构建一个多轴车辆动态模型和一个基于刷的轮胎模型.
- 开发一个扩展的忘记因子递归最小方程 (EFRLS) 算法用于道路粘附系数估计.
- 实现适应性遗传算法 (AGA) 用于轮胎参数估计.
- 使用Tracksim和SimLink的联合模拟,通过真实世界的车辆测试进行验证.
主要成果:
- 拟议的方法在参考范围内实现了道路粘附系数的稳定估计.
- 在模拟和现实世界轮胎刚度值之间观察到很小的差异 (约为[公式:参见文本]).
- 混合方法在参数估计中显示出更高的准确性和可靠性.
结论:
- 混合线下和线上估计方法有效地解决了当前方法中的精度和验证挑战.
- 可以准确地估计轮胎刚度和路粘度,为更智能滑行方向车辆控制铺平了道路.
- 经过验证的方法为提高车辆性能和安全提供了可靠的解决方案.
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