TY - JOUR
T1 - Online identification and fusion estimation of road resistance coefficient based on FFRLS and EKF
AU - Wang, Miqi
AU - Zhang, Fujun
AU - Lv, Hang
AU - Shang, Xianhe
AU - Cui, Tao
N1 - Publisher Copyright:
© IMechE 2025
PY - 2026/6
Y1 - 2026/6
N2 - To improve the accuracy of estimating the coefficient of road resistance for tracked vehicles on unpaved roads, this study proposes an online estimation method combining linear regression and nonlinear system analysis. The method utilizes Forgetting Factor Recursive Least Square (FFRLS) and Extended Kalman Filtering (EKF) to dynamically identify the coefficients for ground deformation resistance and slope resistance in real-time. Confidence levels are defined by calculating the standard deviations of both algorithms, and the estimation results from both methods are fused based on these confidence levels. The results demonstrate that the accuracy of this method in identifying road resistance coefficient (RRC) under flat and sloping conditions is 92.9% and 94.3%, respectively, significantly enhancing the precision of coefficient estimation.
AB - To improve the accuracy of estimating the coefficient of road resistance for tracked vehicles on unpaved roads, this study proposes an online estimation method combining linear regression and nonlinear system analysis. The method utilizes Forgetting Factor Recursive Least Square (FFRLS) and Extended Kalman Filtering (EKF) to dynamically identify the coefficients for ground deformation resistance and slope resistance in real-time. Confidence levels are defined by calculating the standard deviations of both algorithms, and the estimation results from both methods are fused based on these confidence levels. The results demonstrate that the accuracy of this method in identifying road resistance coefficient (RRC) under flat and sloping conditions is 92.9% and 94.3%, respectively, significantly enhancing the precision of coefficient estimation.
KW - Forgetting factor recursive least square
KW - confidence fusion
KW - extended Kalman filtering
KW - road resistance coefficient
UR - https://www.scopus.com/pages/publications/105012576899
U2 - 10.1177/09544070251352254
DO - 10.1177/09544070251352254
M3 - Article
AN - SCOPUS:105012576899
SN - 0954-4070
VL - 240
SP - 4728
EP - 4737
JO - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
IS - 7
ER -