Abstract: A method for adaptive estimation of a road surface adhesion coefficient for a vehicle with complex excitation conditions taken into consideration comprises the following steps: 1) designing an estimator according to a single-wheel dynamics model of a vehicle, and estimating a longitudinal tire force and a road surface peak adhesion coefficient under longitudinal excitation; 2) designing an estimator according to a two-degree-of-freedom kinematic model of the vehicle, and estimating a tire aligning moment and a road surface peak adhesion coefficient under excitation of a lateral force; and 3) determining an excitation condition met by the vehicle according to a vehicle state parameter, performing fuzzy inference to obtain limits achievable by current longitudinal and lateral tire forces, and designing a fusion observer to fuse estimation results. The method achieves favorable robustness, improves real-time capability, and can be performed quickly and accurately.

Abstract: A method for adaptive estimation of a road surface adhesion coefficient for a vehicle with complex excitation conditions taken into consideration comprises the following steps: 1) designing an estimator according to a single-wheel dynamics model of a vehicle, and estimating a longitudinal tire force and a road surface peak adhesion coefficient under longitudinal excitation; 2) designing an estimator according to a two-degree-of-freedom kinematic model of the vehicle, and estimating a tire aligning moment and a road surface peak adhesion coefficient under excitation of a lateral force; and 3) determining an excitation condition met by the vehicle according to a vehicle state parameter, performing fuzzy inference to obtain limits achievable by current longitudinal and lateral tire forces, and designing a fusion observer to fuse estimation results. The method achieves favorable robustness, improves real-time capability, and can be performed quickly and accurately.

Abstract: A yaw motion control method for a four-wheel distributed vehicle includes: calculating the steering response of the vehicle in a steady state using a nonlinear vehicle model in reference with an understeering degree while constraining by the limit value of the road surface adhesion condition according to the sideslip angle response and the vertical load change in the steady state, calculating the lateral force response and the self-aligning moment response of the tires in the steady state by a magic tire formula, calculating the required additional yaw moment by using the yaw motion balance equation, reasonably distributing the generalized control force to the four drive motors through the optimization algorithm in combination with the current driving conditions; finally, off-line storing and retrieving the calculation results of the off-line distribution of different vehicle parameters required by different upper layers to distribute the torques to the four drive wheels.

Abstract: A yaw motion control method for a four-wheel distributed vehicle includes: calculating the steering response of the vehicle in a steady state using a nonlinear vehicle model in reference with an understeering degree while constraining by the limit value of the road surface adhesion condition according to the sideslip angle response and the vertical load change in the steady state, calculating the lateral force response and the self-aligning moment response of the tires in the steady state by a magic tire formula, calculating the required additional yaw moment by using the yaw motion balance equation, reasonably distributing the generalized control force to the four drive motors through the optimization algorithm in combination with the current driving conditions; finally, off-line storing and retrieving the calculation results of the off-line distribution of different vehicle parameters required by different upper layers to distribute the torques to the four drive wheels.

Abstract: A method for storing data, comprises the steps of: defining one or more intervals for one or more virtual disks, wherein each of the intervals has data; receiving a storage command in a cache, wherein the command having a logical address and a data block; determining a respective interval for the data block corresponding to the logical address of the data block; determining whether the data of the respective interval is to be written to a corresponding storage unit; and receiving a next storage command.

Abstract: A method for storing data, comprises the steps of: defining one or more intervals for one or more virtual disks, wherein each of the intervals has data; receiving a storage command in a cache, wherein the command having a logical address and a data block; determining a respective interval for the data block corresponding to the logical address of the data block; determining whether the data of the respective interval is to be written to a corresponding storage unit; and receiving a next storage command.