Calculation Algorithm of Tire-Road Friction Coefficient Based on Limited-Memory Adaptive Extended Kalman Filter
Joint Authors
Huang, Bin
Fu, Xiang
Wu, Sen
Huang, Song
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-05-14
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Huang, Bin& Fu, Xiang& Wu, Sen& Huang, Song. 2019. Calculation Algorithm of Tire-Road Friction Coefficient Based on Limited-Memory Adaptive Extended Kalman Filter. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-14.
https://search.emarefa.net/detail/BIM-1194207
Modern Language Association (MLA)
Huang, Bin…[et al.]. Calculation Algorithm of Tire-Road Friction Coefficient Based on Limited-Memory Adaptive Extended Kalman Filter. Mathematical Problems in Engineering No. 2019 (2019), pp.1-14.
https://search.emarefa.net/detail/BIM-1194207
American Medical Association (AMA)
Huang, Bin& Fu, Xiang& Wu, Sen& Huang, Song. Calculation Algorithm of Tire-Road Friction Coefficient Based on Limited-Memory Adaptive Extended Kalman Filter. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-14.
https://search.emarefa.net/detail/BIM-1194207
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1194207