Calculation algorithm of tire-road friction coefficient based on limited-memory adaptive extended Kalman filter

DOI10.1155/2019/1056269MaRDI QIDQ2298018zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/1056269

Mathematics Subject Classification ID

Problems involving a system of particles with friction (70F40) Estimation and detection in stochastic control theory (93E10) Filtering in stochastic control theory (93E11)

Review text

Summary: In this paper, a limited-memory adaptive extended Kalman Filter (LM-AEKF) to estimate tire-road friction coefficient is proposed. By combining extended Kalman filter (EKF) with the limited-memory filter, this algorithm can reduce the effects of old measurement data on filtering and improve the estimation accuracy. Self-adaptive regulatory factors were introduced to weigh covariance matrix of evaluated error. Meanwhile, measured noise covariance matrix was adjusted dynamically by fuzzy inference to accurately track the breaking status of system. Therefore, problems, including large filter error and divergence caused by incorrect model, can be solved. Joint simulation was conducted for the proposed algorithm with Carsim and Matlab/Simulink. Under the different road conditions, real-vehicle road tests were conducted in various working conditions for contrast with traditional EKF results. Simulation and real-vehicle road tests show that this algorithm can enhance the filter stability, improve the estimation accuracy of algorithm, and increase algorithm robustness.

Recommendations

• Estimation of vehicle states and tire-road friction using parallel extended Kalman filtering
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Cites work

• An improved fuzzy Kalman filter for state estimation of non-linear systems
• Estimation of lateral tire-road forces and sideslip angle for electric vehicles using interacting multiple model filter approach
• Modeling and State Estimation for Dynamic Systems With Linear Equality Constraints

Cited in

(7)

• Estimation of vehicle states and tire-road friction using parallel extended Kalman filtering
• Adaptive nonlinear tire-road friction force estimation for vehicular systems based on a novel differentiable friction model
• Estimation of road friction coefficient and vehicle states by 3-DOF dynamic model and HSRI model based on information fusion
• Data-driven algorithm to estimate friction in automobile engine
• An adaptive cascade predictive control strategy for connected and automated vehicles
• Adaptive moving horizon state estimation for linear time-varying systems with unknown model parameters and noise statistics
• Application of recursive least square algorithm on estimation of vehicle sideslip angle and road friction

Describes a project that uses

Uses Software

• Simulink

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