CN105083292B - A kind of method for estimating unknown surface friction coefficient - Google Patents
A kind of method for estimating unknown surface friction coefficient Download PDFInfo
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- CN105083292B CN105083292B CN201510573305.6A CN201510573305A CN105083292B CN 105083292 B CN105083292 B CN 105083292B CN 201510573305 A CN201510573305 A CN 201510573305A CN 105083292 B CN105083292 B CN 105083292B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
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- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Tires In General (AREA)
Abstract
The present invention relates to tire road surface PVvalue testing field, more particularly to a kind of method for estimating unknown surface friction coefficient, this method is by the way that known experiment tire is arranged on test experimental bed, the known road surface of setting experiment, measure straight skidding rigidity of the detected tyre on known road surface, longitudinal force when measurement tire is moved on known road surface, vertical force and slip rate, longitudinal force when measurement tire is moved on road surface is estimated, vertical force and slip rate, estimate the realization of the steps such as the calculating of the coefficient of friction on road surface, this method has step simple, computing is few, the advantages of error is small.
Description
Technical field
The present invention relates to tire-road PVvalue testing field, unknown pavement friction is estimated more particularly to one kind
The method of coefficient.
Background technology
Tire-road coefficient of friction is the key character parameter in tire motion, during automobile traveling, tire-road
Face coefficient of friction will be travelled to calculate after a segment distance by vehicle and obtained.And tire-road coefficient of friction real-time change, vehicle control
Device processed continuously must monitor and calculate coefficient of friction and be used so as to each control system.
The method of conventional estimation tire-road friction coefficient, such as：Longitudinal tire-road friction coefficient it is linear and non-
Linear identification（CN 102582625a）Simply judge whether the slope of longitudinal tire stiffness reaches non-linear whether to judge tire
Saturation, so as to estimate tire-road friction coefficient, such critical value judges to be difficult to determine its critical point, and the error estimated
It is very big.For another example Continental Europe company be used for estimate the method and apparatus of friction coefficient（CN 101636299A）, it mainly should
Estimate tire road friction coefficient with recursive algorithm.This method surveys side-friction coefficient and side drift angle in present road, it is impossible to and
When unknown road surface is effectively estimated, and recursive algorithm expense is very big, process is cumbersome, is difficult to carry out repetition test.
The content of the invention
The invention aims to provide a kind of method for estimating unknown surface friction coefficient, this method is by deducing formula
To measurable amount（Mechanical characteristics amount）Build mapping relations and set up functional relation with unknown parameter.This method is simple, computing
It is few（Only need two groups of parallel data constructors）And error very little（Same operating mode, identical preset value）.
The purpose of the present invention is achieved by the following technical programs：The method for estimating unknown surface friction coefficient includes
Following steps：The method for estimating unknown surface friction coefficient comprises the following steps：
The first step：Known experiment tire is arranged on test experimental bed, slip angle of tire α=0 is set, angle of heel γ=
0;
Second step：The known road surface of setting experiment：On the table top that tire and experimental bench are in contact, known friction system has been pasted
NumberSand paper；
3rd step：Detected tyre is measured in the longitudinal direction known to step 2 on road surface by the test experimental bed described in step one
Slide rigidity, tire is set and is fixed on experiment table top, experiment table top is vertically moved, it is ensured that tire is not rotated and without cunning
Move, measure vertical load Fz, longitudinal force Fx and length travel s size, longitudinal force Fx and the ratio both length travel s are
Straight skidding rigidity；By the change to vertical load Fz numerical value, repeat the above steps and obtain multigroup straight skidding rigidity
Value, by multigroup straight skidding rigidity Value Data, obtains straight skidding rigidityLinear relationship between vertical load Fz,
I.e.。
4th step：Longitudinal force when tire is moved on known road surface is measured by the test experimental bed described in step one
Fx0, vertical force Fz0And slip rate 0；The known relative motion velocity amplitude between road surface and detected tyre of setting, passes through test
Experimental bench applies brake force to tire, tire is produced straight skidding, is measured by the six-component sensor of test experimental bed
The longitudinal force F of tirex0, vertical force Fz0And slip rate 0；
5th step：Longitudinal direction when tire is moved on unknown road surface is estimated is measured by the test experimental bed described in step one
Power Fx, vertical force FzAnd slip rate；So that tire moves on unknown road surface is estimated and produces straight skidding, pass through test
The six-component sensor of experimental bench it is measurable go out longitudinal force F of tire when being moved on unknown road surface is estimatedx, vertical force FzAnd
Slip rate；
6th step：Estimate the calculating of the coefficient of friction on unknown road surface：
According to formula：,
Wherein equivalent slip rate。
According to formula、、Known,,,,The coefficient of friction for estimating unknown road surface can be tried to achieve down。
The present invention using the above method due to being had the advantages that：
1st, the inventive method is to measurable amount according to deduction formula（Mechanical characteristics amount）Build mapping relations and with it is unknown
Parameter sets up functional relation.This method is simple, and computing is few（Only need two groups of parallel data constructors）And error very little（It is same
Plant operating mode, identical preset value）.
2nd, the inventive method can be estimated to unknown road surface tire coefficient of friction so that control system is carried out effectively in advance
Operation, it is ensured that traffic safety.
3rd, the inventive method can not constrained carrying out real vehicle measurement by experimental site, workable.
Brief description of the drawings
Fig. 1 is the flow chart of the inventive method.
Embodiment
As shown in accompanying drawing 1：The method for estimating unknown surface friction coefficient comprises the following steps：
1st, a kind of method for estimating unknown surface friction coefficient, it is characterised in that：This estimates unknown surface friction coefficient
Method comprises the following steps：
The first step：Known experiment tire is arranged on test experimental bed（Jilin University's earlier application, the patent No.：
201110254282.4）On, set slip angle of tire α=0, angle of heel γ=0;
Second step：The known road surface of setting experiment：On the table top that tire and experimental bench are in contact, known friction system has been pasted
NumberSand paper；
3rd step：Detected tyre is measured in the longitudinal direction known to step 2 on road surface by the test experimental bed described in step one
Slide rigidity, tire is set and is fixed on experiment table top, experiment table top is vertically moved, it is ensured that tire is not rotated and without cunning
Move, measure vertical load Fz, longitudinal force Fx and length travel s size, longitudinal force Fx and the ratio both length travel s are
Straight skidding rigidity；By the change to vertical load Fz numerical value, repeat the above steps and obtain multigroup straight skidding rigidity
Value, by multigroup straight skidding rigidity Value Data, obtains straight skidding rigidityLinear relationship between vertical load Fz,
I.e.
————（1.1）
Wherein, e can be drawn by experimental data.
4th step：Longitudinal force when tire is moved on known road surface is measured by the test experimental bed described in step one
Fx0, vertical force Fz0And slip rate 0；The known relative motion velocity amplitude between road surface and detected tyre of setting, passes through test
Experimental bench applies brake force to tire, tire is produced straight skidding, is measured by the six-component sensor of test experimental bed
The longitudinal force F of tirex0, vertical force Fz0And slip rate 0；
5th step：Longitudinal direction when tire is moved on unknown road surface is estimated is measured by the test experimental bed described in step one
Power Fx, vertical force FzAnd slip rate；So that tire moves on unknown road surface is estimated and produces straight skidding, pass through test
The six-component sensor of experimental bench it is measurable go out longitudinal force F of tire when being moved on unknown road surface is estimatedx, vertical force FzAnd
Slip rate；
6th step：Estimate the calculating of the coefficient of friction on unknown road surface：
According to formula：,
Wherein equivalent slip rate。
According to formula：——（1.2）,
Wherein equivalent slip rate——（1.3）.
According to formula（1.1）（1.2）（1.3）Known,,,,The friction system for estimating road surface can be tried to achieve down
Number——（1.4）.
Claims (1)
1. a kind of method for estimating unknown surface friction coefficient, it is characterised in that：This estimates the method for unknown surface friction coefficient
Comprise the following steps：
The first step：Known experiment tire is arranged on test experimental bed, slip angle of tire α=0, angle of heel γ=0 is set;
Second step：The known road surface of setting experiment：On the table top that tire and experimental bench are in contact, known coefficient of friction has been pasted
Sand paper；
3rd step：Detected tyre is measured in the straight skidding known to step 2 on road surface by the test experimental bed described in step one
Rigidity, tire is set and is fixed on experiment table top, experiment table top is vertically moved, it is ensured that tire is not rotated and without sliding, is surveyed
Go out vertical load Fz, longitudinal force Fx and length travel s size, longitudinal force Fx and ratio both length travel s are longitudinal direction
Slide rigidity；By the change to vertical load Fz numerical value, repeat the above steps and obtain multigroup straight skidding rigidity value, lead to
Multigroup straight skidding rigidity Value Data is crossed, straight skidding rigidity is obtainedLinear relationship between vertical load Fz, i.e.,；
4th step：Longitudinal force F when tire is moved on known road surface is measured by the test experimental bed described in step onex0, hang down
To power Fz0And slip rate 0；The known relative motion velocity amplitude between road surface and detected tyre of setting, passes through test experimental bed
Apply brake force to tire, tire is produced straight skidding, tire is measured by the six-component sensor of test experimental bed
Longitudinal force Fx0, vertical force Fz0And slip rate 0；
5th step：Longitudinal force F when tire is moved on unknown road surface is estimated is measured by the test experimental bed described in step onex、
Vertical force FzAnd slip rate；So that tire moves on unknown road surface is estimated and produces straight skidding, pass through test experimental bed
Six-component sensor it is measurable go out longitudinal force F of tire when being moved on unknown road surface is estimatedx, vertical force FzAnd slip rate；
6th step：Estimate the calculating of the coefficient of friction on unknown road surface：
According to formula：,
Wherein equivalent slip rate
According to formula、 、Known,,,,Under
The coefficient of friction for estimating unknown road surface can be tried to achieve 。
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3206924B1 (en) * | 2015-12-18 | 2020-01-29 | Nira Dynamics AB | Tire stiffness estimation and road friction estimation |
| KR101897628B1 (en) * | 2017-02-06 | 2018-10-04 | 서울대학교산학협력단 | Method and apparatus for estimating friction coefficient of tire surface in high-speed normal driving situation |
| CN111060445A (en) * | 2019-10-30 | 2020-04-24 | 同济大学 | Modeling method for pavement friction coefficient estimation |
| CN113788022B (en) * | 2020-11-19 | 2023-08-11 | 北京京东乾石科技有限公司 | Vehicle control method, device, computer readable storage medium and electronic equipment |
| CN116908088B (en) * | 2023-07-14 | 2024-03-22 | 河北省交通规划设计研究院有限公司 | Road friction coefficient acquisition method based on vehicle information |
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| JP3798668B2 (en) * | 2001-10-11 | 2006-07-19 | 本田技研工業株式会社 | Road friction coefficient calculation device |
| JP2007308027A (en) * | 2006-05-18 | 2007-11-29 | Gm Global Technology Operations Inc | Method for estimating friction coefficient of road surface, system for estimating friction coefficient of road surface, and computer program for estimating friction coefficient of road surface |
| EP2295301A4 (en) * | 2008-06-30 | 2014-07-09 | Nissan Motor | Road surface friction coefficient estimating device and road surface friction coefficient estimating method |
| WO2010001820A1 (en) * | 2008-06-30 | 2010-01-07 | 日産自動車株式会社 | Road surface friction coefficient estimating device and road surface friction coefficient estimating method |
| JP5332728B2 (en) * | 2009-02-26 | 2013-11-06 | 日産自動車株式会社 | Vehicle ground contact surface friction state estimation apparatus and method |
| JP5995040B2 (en) * | 2011-09-26 | 2016-09-21 | 株式会社ジェイテクト | Road surface friction coefficient estimating apparatus and method |
| US8983749B1 (en) * | 2013-10-24 | 2015-03-17 | The Goodyear Tire & Rubber Company | Road friction estimation system and method |
| CN103776639B (en) * | 2014-02-19 | 2014-11-05 | 吉林大学 | Test method and device for tire mechanics characteristics within full-speed range |
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