Segmented Estimation of Road Adhesion Coefficient Based on Multimodal Vehicle Dynamics Fusion in a Large Steering Angle Range
Abstract
:1. Introduction
2. Vehicle Dynamics Modeling
2.1. Tire Model
2.2. Vehicle Model
3. Piecewise Combination Estimation of Road Surface Friction Coefficient Based on Dynamics Model Fusion
3.1. Principle of Adaptive Unscented Kalman Filtering
Basic Process of AUKF (Adaptive Unscented Kalman Filter)
3.2. Road Surface Friction Coefficient Estimation Based on Adaptive Unscented Kalman Filtering
3.3. Road Surface Friction Coefficient Estimation Based on Steering Rack Force
3.3.1. Steering Rack Force Observer Design
3.3.2. Road Surface Friction Coefficient Estimation Based on Steering Rack Force
4. Simulation Experiment and Results Analysis
4.1. Estimation of Road Surface Friction Coefficient Based on the Combination of AUKF Algorithm and Rack Force Method
4.1.1. Joint Simulation of CarSim and Matlab/Simulink
4.1.2. Results Analysis
4.2. Comparison with the Unscented Kalman Filter Method Results
5. HIL Testing of the Steer-by-Wire System
5.1. Composition and Functions of the Steer-by-Wire System HIL Test Rig
5.2. HIL Test of Road Surface Friction Coefficient Estimation Based on AUKF Algorithm and Rack Force Method
5.3. HIL Test Bench Comparison of the Dynamic Fusion Method and the Unscented Kalman Filter Algorithm Estimation Results
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Parameter | Value | Unit |
---|---|---|
Motor Moment of Inertia | 0.00085 | ·· |
Motor Viscous Damping Coefficient | 0.00022 | · |
Drive Shaft Torsional Stiffness | 20,000 | Nm/rad |
Gearbox Reduction Ratio | 16.5 | - |
Pitch Circle Radius | 7.8 | mm |
Rack Mass | 2.25 | kg |
Rack Damping | 651 | · |
Parameter | Value | Unit |
---|---|---|
Vehicle Mass | 1765 | kg |
Distance from the Center of Gravity to Front Axle | 1.2 | m |
Distance from the Center of Gravity to Rear Axle | 1.4 | m |
Center of Gravity Height | 0.5 | m |
Distance from Front Axle to Rear Axle | 2.6 | m |
Track Width | 1.6 | m |
Wheel Radius | 0.354 | m |
Wheel Longitudinal Stiffness | 10,803,737 | N/rad |
Wheel Lateral Stiffness | 105,344 | N/rad |
Road Surface Friction Coefficient | Relative Error Between Simulation and Set Friction Coefficient in CarSim (Small Front Wheel Angle) | Relative Error Between Simulation and Set Friction Coefficient in CarSim (Small Front Wheel Angle) | Relative Error Between Simulation and Set Friction Coefficient in CarSim (Large Front Wheel Angle) | Absolute Error Between Simulation and Set Friction Coefficient in CarSim (Large Front Wheel Angle) |
---|---|---|---|---|
0.85 | 2.9% | 0.025 | 5.9% | 0.05 |
0.32 | 5.3% | 0.017 | 6.25% | 0.02 |
Road Surface Friction Coefficient | Relative Error Between HIL Test Result and Set Friction Coefficient in CarSim (Small Front Wheel Angle) | Absolute Error Between HIL Test Result and Set Friction Coefficient in CarSim (Small Front Wheel Angle) | Relative Error Between HIL Test Result and Set Friction Coefficient in CarSim (Large Front Wheel Angle) | Absolute Error Between HIL Test Result and Set Friction Coefficient in CarSim (Large Front Wheel Angle) |
---|---|---|---|---|
0.85 | 2.3% | 0.02 | 5.9% | 0.05 |
0.32 | 9.4% | 0.017 | 6.25% | 0.02 |
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Jiang, H.; Shen, T.; Tang, B.; Yang, K. Segmented Estimation of Road Adhesion Coefficient Based on Multimodal Vehicle Dynamics Fusion in a Large Steering Angle Range. Sensors 2025, 25, 2234. https://doi.org/10.3390/s25072234
Jiang H, Shen T, Tang B, Yang K. Segmented Estimation of Road Adhesion Coefficient Based on Multimodal Vehicle Dynamics Fusion in a Large Steering Angle Range. Sensors. 2025; 25(7):2234. https://doi.org/10.3390/s25072234
Chicago/Turabian StyleJiang, Haobin, Tonghui Shen, Bin Tang, and Kun Yang. 2025. "Segmented Estimation of Road Adhesion Coefficient Based on Multimodal Vehicle Dynamics Fusion in a Large Steering Angle Range" Sensors 25, no. 7: 2234. https://doi.org/10.3390/s25072234
APA StyleJiang, H., Shen, T., Tang, B., & Yang, K. (2025). Segmented Estimation of Road Adhesion Coefficient Based on Multimodal Vehicle Dynamics Fusion in a Large Steering Angle Range. Sensors, 25(7), 2234. https://doi.org/10.3390/s25072234