A Real Time Estimation Method of Road Adhesion Conditions based on PSO-Recursive Least Squares

In order to improve the safety and stability of vehicle braking, the optimal slip rate estimation problem for anti lock braking control strategy was analyzed. The principle of road adhesion condition estimation was analyzed, and the parameters of the Burckhardt model were linearized using exponential polynomials. The optimization process of particle swarm optimization for the preset parameters of the exponential polynomial model was studied. Based on the optimal preset parameters, the recursive least squares method was used to fit the estimated parameters of the exponential polynomial model, achieving estimation of road adhesion conditions. Amesim simulation results show that the estimation error of this method is within ± 10% under various road conditions.