The invention relates to the technical field of vehicles, and provides a road surface friction coefficient estimation method and device and a vehicle. The estimation method comprises the following steps: 1, determining a plurality of classifier sets for calculating a road surface friction coefficient, wherein the classifier sets are determined according to vehicle operation data and vehicle lateral control related data, and the vehicle lateral control related data comprises a vehicle tire slip angle, a tire lateral force, a first self-aligning torque SAT estimated based on an EPS system, a second SAT estimated based on a tire lateral kinetic model, and derivatives of a mean value and a variance of first SAT; selecting a corresponding classifier set to calculate the road surface friction coefficient according to a tire slip angle, a tire lateral force and a steering rate which are generated when a driver performs lateral operation on the vehicle; and determining a calculated maximum road surface friction coefficient as the final road surface friction coefficient. By utilizing the multi-set classifier, the maximum friction coefficient of the road surface can be accurately detected when a driver performs different degrees of lateral operation.
本发明涉及车辆技术领域,提供一种路面摩擦系数的估测方法、装置及车辆。所述估测方法包括:确定多个用于计算路面摩擦系数的分类器集合,其中分类器集合是根据车辆运行数据及车辆侧向控制相关数据确定的,且所述车辆侧向控制相关数据包括车辆的轮胎滑移角、轮胎侧向力、基于EPS系统估计的第一自回正扭矩SAT、基于轮胎侧向动力学模型估计的第二SAT以及第一SAT的均值和方差的导数;根据驾驶员对车辆进行侧向操作而产生的轮胎滑移角、轮胎侧向力及转向速率,选择对应的分类器集合来计算路面摩擦系数;以及确定所计算出的最大路面摩擦系数为最终路面摩擦系数。本发明利用多集分类器,可在驾驶员进行不同程度的侧向操作时,准确检测出路面最大摩擦系数。
Road surface friction coefficient estimation method and device and vehicle
路面摩擦系数的估测方法、装置及车辆
02.06.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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