Application of Recursive Least Square Algorithm on Estimation of Vehicle Sideslip Angle and Road Friction英文文献资料.docVIP

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Application of Recursive Least Square Algorithm on Estimation of Vehicle Sideslip Angle and Road Friction英文文献资料.doc

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Application of Recursive Least Square Algorithm on Estimation of Vehicle Sideslip Angle and Road Friction英文文献资料

HindawiPublishingCorporation MathematicalProblemsinEngineering Volume2010,ArticleID541809,18pages doi:10.1155/2010/541809 ResearchArticle Application ofRecursiveLeastSquareAlgorithm onEstimation ofVehicleSideslipAngle andRoadFriction NenggenDing andSaiedTaheri 1 2 1Department ofAutomobile Engineering, BeihangUniversity,37XueyuanRoad,HaidianDistrict, Beijing100083,China 2Mechanical Engineering Department, VirginiaPolytechnic InstituteandStateUniversity, Blacksburg,VA24060,USA Correspondence shouldbeaddressedtoNenggenDing,dingng@ Received3August2009;Revised5December 2009;Accepted 10February2010 Academic Editor:J.Rodellar Copyright q2010N.DingandS.Taheri. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction inanymedium,providedtheoriginalworkisproperlycited. ArecursiveleastsquareRLSalgorithm forestimation ofvehiclesideslipangleandroadfriction coe?cient is proposed. The algorithm uses the information from sensors onboard vehicle and controlinputsfromthecontrollogicandisintendedtoprovidetheessentialinformation foractive safetysystemssuchasactivesteering,directyawmomentcontrol,ortheircombination.Basedona simple two-degree-of-freedom DOFvehicle model, thealgorithm minimizes thesquared errors between estimated lateral acceleration and yaw acceleration of the vehicle and their measured values.Thealgorithmalsoutilizesavailablecontrolinputssuchasactivesteeringangleandwheel braketorques.Theproposedalgorithmisevaluatedusingan8-DOFfullvehiclesimulation model includingallessentialnonlinearitiesandanintegratedactivefrontsteeringanddirectyawmoment controlondryandslipperyroads. 1.Introduction Theperformanceofavehicleactivesafetysystemdependsonnotonlythecontrolalgorithm, butalsoontheestimationofsomekeystatesiftheycannotdirectlybemeasured.Among these states to be estimated online, vehicle sideslip angle and tire-road friction coe?cient ha