Abstract: In order to realize the basic algorithm of indirect tire pressure monitoring system, and to ensure the subsequent compensation algorithm of the system, a real-time calculation method of tire pressure and tire road friction is proposed for the state detection of the vehicle during driving. Firstly, the function of this method in the whole system algorithm is analyzed. Then, focusing on the relationship curve between the slip ratio and the friction force, in the linear stage of the curve, the mathematical models of these two parameters are simplified. The optimal state is estimated for using the Kalman filter, and the real-time calculation of the friction state and the tire pressure related state are realized. Through the simulation test and the actual data test, there are very accurate results. The results show that this method detected the change of tire pressure and road friction in real time. Using this method, the tire pressure change and road friction can be easily detected during normal road driving.

Key words: Tire pressure; Road friction; Kalman filter; Indirect tire pressure monitoring system

摘要： 为实现汽车间接式胎压监测系统的基础算法，保证系统后续补偿算法顺利进行，针对 汽车行驶过程中的状态检测，提出了汽车轮胎压力和轮胎路面摩擦力的实时计算方法。首先 分析本方法在整个系统算法中的作用；然后以滑移率和摩擦力的关系曲线入手，对曲线线性 阶段，简化出两者的数学模型；使用卡尔曼滤波算法提出最优状态估计，实现实时计算摩擦 力状态以及胎压相关状态。通过仿真测试以及实际数据检验，都有准确的结果。结果表明， 该方法能够实时检测到汽车胎压变化与路面摩擦力。使用本方法能够在正常道路行驶中，简 便地检测出轮胎压力变化情况和路面摩擦力情况。

关键词: 汽车胎压；路面摩擦力；卡尔曼滤波；间接式胎压监测系统