Road adhesion coefficient estimation by multi-sensors with LM-MMSOFNN algorithm

Abstract

Accurate and efficient road adhesion coefficient estimation is the premise for the proper functioning of vehicle active safety control system. With the increased application of distributed drive vehicles and on-board sensors, a multi-module self-organizing feedforward neural network (LM-MMSOFNN) based on improved Levenberg-Marquardt (LM) learning algorithm is proposed for online road adhesion coefficient estimation. In this method, the vehicle dynamics model and the Dugoff tire model were well established, and the input and output variables of the neural network model were obtained by Principal Component Analysis (PCA) method. To improve the estimation accuracy, Extended Kalman Filter (EKF) and Moving Average (MA) were used to denoise the measured signal. On this basis, a road adhesion coefficient estimation model based on multi-module self-organizing neural network was established. Both sides of road adhesion coefficients are calculated by multi-module self-organizing neural network simultaneously. Through the increase and decrease of self-organizing neurons and the improved LM learning algorithm, the computational complexity and system hardware storage are reduced, and the algorithm exhibits a good adaptability to different roads. Simulation and vehicle experiments show that the proposed method can fully extract multi-sensor information and adapt to the different road characteristics changes under driving condition. As compared with Kmeans method, it has higher estimation accuracy and stronger adaptability to varying speed.