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Road adhesion coefficient interactive estimation method based on vision and dynamics

A technology of road surface adhesion coefficient and adhesion coefficient, which is applied in the direction of external condition input parameters, control devices, transportation and packaging, etc., can solve the problems of expensive sensors and easy to be affected by the environment, and achieve high estimation accuracy, avoid chattering, and converge fast effect

Inactive Publication Date: 2020-09-22
TONGJI UNIV
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Problems solved by technology

However, most of the sensors used are expensive and susceptible to environmental

Method used

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  • Road adhesion coefficient interactive estimation method based on vision and dynamics
  • Road adhesion coefficient interactive estimation method based on vision and dynamics
  • Road adhesion coefficient interactive estimation method based on vision and dynamics

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Embodiment

[0054] like figure 1 As shown, the present invention provides a method for estimating road surface adhesion coefficient of vision and dynamic fusion, comprising the following steps:

[0055] S1: Obtain the road surface image in front of the vehicle during driving;

[0056] S2: Input the road surface image into the trained road surface classification model to obtain the road surface type ahead;

[0057] S3: According to the road surface type ahead and the mapping relationship between the road surface type and the road surface adhesion coefficient, obtain the visual estimated value of the road surface adhesion coefficient θ yimage ;

[0058] S4: Obtain the dynamic information of the tire during the driving process of the vehicle;

[0059] S5: Use the road surface adhesion coefficient-tire righting moment estimator to obtain the estimated value of the current road surface peak adhesion coefficient θ y ;

[0060] S6: Combining with the visual estimation value of road surface ...

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Abstract

The invention relates to a road adhesion coefficient interactive estimation method based on vision and dynamics. The method comprises the following steps of: S1, acquiring a road image in front of a vehicle in a driving process; S2, inputting the road image into a trained road classification model to obtain a front road type; S3, according to the front road type and the mapping relationship between the road type and a road adhesion coefficient, acquiring a road adhesion coefficient visual estimation value theta yimage; S4, acquiring dynamic information of tires in the vehicle driving process;S5, acquiring a current road peak adhesion coefficient estimation value theta y by utilizing a road adhesion coefficient-tire aligning torque estimator; and S6, combining the road adhesion coefficientvisual estimation value theta ximage and the current road peak adhesion coefficient estimation value theta y, and acquiring a final road adhesion coefficient estimation value by utilizing a fuzzy reasoning rule. Compared with the prior art, the method has the advantages of high estimation precision, good real-time performance, strong robustness and the like.

Description

technical field [0001] The invention relates to the field of electric vehicle control, in particular to an interactive estimation method for road surface adhesion coefficient based on vision and dynamics. Background technique [0002] Road surface adhesion coefficient is an important parameter in vehicle system dynamics control, and the accuracy of estimation will greatly affect the control quality. If the current road surface adhesion coefficient can be obtained accurately, the number of traffic accidents in rainy and snowy days can be greatly reduced. [0003] The current research methods can be roughly divided into two categories: one is to estimate the road adhesion coefficient based on the vehicle dynamics estimator, which mainly considers the excitation of the road to the tire. The advantage of this method is that the hardware required for recognition is relatively easy to meet and has been installed on most cars, and the recognition accuracy is very high. However, i...

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Application Information

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IPC IPC(8): B60W40/064B60W50/00
CPCB60W40/064B60W50/00B60W2050/0028B60W2552/05
Inventor 冷搏金达熊璐杨兴关佚卓于洋余卓平
Owner TONGJI UNIV
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