主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2025, Vol. 50 ›› Issue (8): 10-15.DOI: 10.16638/j.cnki.1671-7988.2025.008.003

• 新能源汽车 • 上一篇    

考虑噪声变化的路面附着系数估计

虢沧岩   

  1. 长安大学 汽车学院
  • 发布日期:2025-04-25
  • 通讯作者: 虢沧岩
  • 作者简介:虢沧岩（2000－），男，硕士研究生，研究方向为路面附着系数估计

Estimation of Road Adhesion Coefficient Considering Noise Changes

GUO Cangyan   

  1. School of Automobile, Chang'an University
  • Published:2025-04-25
  • Contact: GUO Cangyan

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摘要： 为提高车辆在不同噪声条件下的路面附着系数估计精度，文章提出了基于鲸鱼优化的 无迹卡尔曼滤波（UKF）算法，对噪声协方差矩阵进行实时寻优。采用最优噪声协方差矩阵 和 UKF，利用车辆动力学方程进行路面附着系数估计。仿真结果表明，文章所提出的基于鲸 鱼优化的 UKF 算法，能够有效提升估计器的鲁棒性和最终路面附着系数估计结果的精度。

关键词: 路面附着系数估计；无迹卡尔曼滤波；鲸鱼优化

Abstract: To improve the estimation accuracy of the road adhesion coefficient under different noise conditions, this paper proposes an unscented Kalman filter (UKF) algorithm based on whale optimization to optimize the noise covariance matrix in real time. By using the optimal noise covariance matrix and the UKF, the road adhesion coefficient is estimated through the vehicle dynamics equation. Simulation results show that the proposed UKF algorithm based on whale optimization can effectively enhance the robustness of the estimator and the accuracy of the final road adhesion coefficient estimation results.

Key words: road adhesion coefficient estimation; UKF; whale optimization