A seven-degree-of-freedom electric vehicle model driven by independent four wheels based on the Dugoff tire model was constructed,and a pavement adhesion coefficient estimator was designed based on the square root cubature Kalman filter(SRCKF)algorithm.The pavement adhesion coeffi-cient was estimated using the joint simulation platform of Simulink and Carsim,and the results were compared with those of the traditional cubature Kalman filter algorithm.The experimental results show that the SRCKF algorithm enhances the stability of filtering and real-time estimation accuracy.
万方数据
维普
