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发明公开
CN110095801A 考虑车辆轮加速度的多模型轮胎半径自适应方法及系统 有权

考虑车辆轮加速度的多模型轮胎半径自适应方法及系统
摘要：
本发明涉及一种考虑车辆轮加速度的多模型轮胎半径自适应方法及系统，该方法包括以下步骤：1)轮加速度估计模块采用卡尔曼滤波对GNSS传感器检测到的轮速信号进行估计得到轮加速度信号；2)轮胎半径估计模块中的第一估计子模块根据GNSS传感器测量得到的车辆速度v和轮速信号进行卡尔曼滤波估计，得到第一轮胎半径估计值r1；3)轮胎半径估计模块中的第二估计子模块根据轮加速度信号以及GNSS传感器测量得到的车辆速度v和轮速信号进行卡尔曼滤波估计，得到第二轮胎半径估计值r2；4)输出融合模块对第一轮胎半径估计值r1和第二轮胎半径估计值r2进行融合，最终输出轮胎半径输出值rout。与现有技术相比，本发明具有成本低廉、估计稳定准确、适应高动态情况等优点。
摘要（英）：

The invention relates to a multi-model tire radius adaptive method and system with consideration of the vehicle wheel acceleration. The method comprises the following steps: step one, with a wheel acceleration estimation module, estimating a wheel speed signal detected by a GNSS sensor by using Kalman filter to obtain a wheel acceleration signal step two, carrying out Kalman filter estimation by afirst estimation sub-module in a tire radius estimation module according to a vehicle speed v measured by the GNSS sensor and the wheel speed signal to obtain a first tire radius estimation value r1;step three, carrying out Kalman filter estimation by a second estimation sub-module in the tire radius estimation module according to the vehicle speed v measured by the GNSS sensor and the wheel speed signal to obtain a second tire radius estimation value r1; and step four, carrying out fusion on the first tire radius estimation value r1 and the second tire radius estimation value r1 by using anoutput fusion module and then outputting a tire radius output value rout. Compared with the prior art, the multi-model tire radius adaptive method and system have advantages of low cost, stable and accurate estimation, and high dynamic condition adaptability and the like.

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