Joint Estimation Method of State Parameters and Slope of Heavy Commercial Vehicles Based on Interactive Multiple Models
In order to accurately and real-time estimate the state parameters and driving conditions of heavy commercial vehicles,so as to facilitate the stability control and driving mode real-time switching of heavy commercial vehicles.In this paper,the kinematics model and dynamics model of commercial vehicles are established.The multi-model interaction(IMM)algorithm and the square root volume Kalman filter algorithm are combined to estimate the road slope of heavy commercial vehicles.The sliding mode observation is used to estimate the vehicle tire force.On the basis of obtaining the tire longitudinal force,the road adhesion coefficient is estimated by using the method of look-up feedback.Finally,the joint estimation method is verified by the hardware-in-the-loop test bench,and the verification results show that the algorithm has good accuracy and real-time performance.
vehicle dynamicsroad slopeinteractive multiple modelssquare root cubature kalman filterhardware in the Loop
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