Estimation of tire-road friction coefficient based on combined APF-IEKF and iteration algorithm

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• 作者：Y.-H. Liu^a ; T. Li^a ; ^b ; Y.-Y. Yang^b ; X.-W. Ji^a ; ^{jixw@tsinghua.edu.cn} ; J. Wu^a
• 关键词：Tire-road friction coefficient ; Self-aligning torque ; APF-IEKF ; Iteration algorithm
• 刊名：Mechanical Systems and Signal Processing
• 出版年：2017
• 出版时间：1 May 2017
• 年：2017
• 卷：88
• 期：Complete
• 页码：25-35
• 全文大小：1242 K
• 卷排序：88

文摘

A method that combines APF-IEKF and iteration algorithm is proposed for tire-road friction coefficient. Tire slip angle estimated by APF-IEKF is much more accurate than common UKF because it is fit for non-Gaussian noise. Tire-road friction coefficient estimate by proposed method is also much more accurate.