Abstract: In order to obtain the information of mass and centroid position changes of distributed single-trailer vehicles more accurately, an estimation method combining cluster analysis and fuzzy rules is proposed. Based on the five-degree-of-freedom nonlinear vehicle dynamics model, the co-simulation experiment analysis was carried out with the help of Trucksim and MTTLAB/Simulink platform. The results show that the algorithm can accurately estimate the trailer mass and the centroid position in real time, and make the trailer mass estimation error within 1%, the centroid longitudinal height estimation error within 15%, and the centroid longitudinal position estimation error within 2%.

Key words: Heavy semi-trailer; Cluster analysis; Fuzzy rules; Centroid position estimation; Trailer mass estimation

摘要： 为了更精确地获取分布式单拖挂汽车行驶过程中的质量和质心位置变化信息，提出一 种聚类分析和模糊规则相结合的估计方法，并基于五自由度非线性整车动力学模型，借助 Trucksim 和 MTTLAB/Simulink 平台进行联合仿真实验分析。结果表明，该算法能实时准确地 估计挂车质量和质心位置，并使得挂车质量估计误差在 1%以内，质心的纵向高度估计误差在 15%以内，质心纵向位置估计误差在 2%以内。

关键词: 重型半挂汽车；聚类分析；模糊规则；质心位置估计；挂车质量估计