基于自适应观测器的重卡行驶道路附着系数实时估计方法

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关键词：重卡；道路附着系数；自适应观测器；Sage-Husa噪声估计中图分类号：U469 收稿日期：2026-03-08 DOI: 10.19999/j.cnki.1004-0226.2026.04.016

Real Time Estimation Method of Road Adhesion Coefficient for Heavy-duty Truck Driving Based on Adaptive Observer

Chen Shengbo BYDAuto Industry Co.,Ltd.,Shenzhen 518118,China

Abstract:Toadresstheissuesoflowaccuracyandpoorrobustness inreal-timeestimationofroadadhesioncoeffcientsforheavy trucks,thispaperintegrates theadaptiveobservermethodoftheSage-Husanoiseestimatorwithmulti-bodydynamicsofheavytrucks andtheBurckhardttiremodel.Theadesioncoficientisteatedasatatevariableforreal-timeetimation.Jointsimulationvalidation demonstrates that this method achieves maximum estimation errors of no more than 0.62% at high adhesion and 1.05% at low adhesion. Compared to the unscented Kalman filter,it improves convergence speed by 32.7% ，enabling high-precision,fast-response adhesion coefficient estimation that meets the requirements for active safety control in heavy trucks.

Key words:Heavy-duty trucks;Road adhesion coeficient;Adaptive observer;Sage-Husa noise estimation

1前言

道路附着系数是决定重卡制动、驱动及转向稳定性的核心参数，其实时准确获取是防抱死制动系统（ABS）、电子稳定程序(ESP)等主动安全系统优化控制的前提[1-2]。（剩余6502字）