Citation

Zhang Z, Zheng L, Wu H, Zhang Z, Li Y, Liang Y. Veh. Syst. Dyn. 2022; 60(8): 2775-2804.

Copyright

(Copyright © 2022, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2021.1928247

PMID

unavailable

Abstract

In order to identify the road friction coefficient of the left and right sides of the vehicle more accurately, this paper presents an estimation framework based on a novel tyre model and modified square-root cubature Kalman filter (SCKF). To begin with, a novel tyre model is proposed by adaptively calculating the longitudinal and lateral stiffness and the effective friction coefficient. The tyre forces calculated by this model are more accurate than those calculated by the Brush model. Then, to avoid the influence of abnormal measurement noise on the estimation effect, we develop an improved SCKF (ISCKF) algorithm based on the maximum correntropy criterion. The algorithm can update the measurement noise covariance adaptively. Furthermore, a real-time estimation scheme of road friction coefficient is designed by combining the vehicle dynamics model with the proposed novel tyre model and ISCKF algorithm. Finally, the performance of the presented method is verified by the co-simulation of CarSim and MATLAB/Simulink. The results show that the designed estimation scheme not only has excellent robustness in the case of abnormal measurement noise interference but also has good adaptability to the uncertainty of road friction coefficients distribution.

Language: en

Keywords

abnormal measurement noise; improved square-root cubature Kalman filter; novel tyre model; Road friction coefficient estimation; vehicle dynamics