The invention discloses a Bayes-based road adhesion coefficient estimation method and electronic equipment, and the method determines the attribution of a road model through a data point set of traction force of a certain side and automobile slip rate when an automobile runs, and accurately calculates the adhesion coefficient of the road model. The method comprises the steps of dividing the overall data point set into a plurality of data subsets, the point sets of the road surfaces with different adhesion coefficients in each data subset present a normal distribution trend, and the expectation and variance of the normal distribution of the point sets of the road surfaces with different adhesion coefficients are different, and pavements with different adhesion coefficients can be distinguished through learning the difference; constructing a normal distribution probability function of the road surface model of each adhesion coefficient in each data subset, and when a real-time data point arrives, obtaining the attribution of the current road model through the traction force and slip rate of the real-time data point in combination with the normal distribution probability function, and finally, obtaining the adhesion coefficient of the pavement model through a Kalman filter.

    本发明公开了一种基于Bayes的路面附着系数估计方法及电子设备,该方法通过汽车行驶时某一侧的牵引力与汽车滑移率的数据点集决定道路模型的归属,并精确计算道路模型的附着系数。本发明将整体的数据点集划分成多个数据子集,每一个数据子集中不同附着系数的路面的点集呈现正态分布的趋势,且不同的附着系数的路面的点集的正态分布的期望与方差各有差异,通过对这种差异的学习可辨别不同附着系数的路面;进而通过构建每一个数据子集内每一种附着系数的路面模型的正态分布概率函数,当实时的数据点到来时,通过实时的数据点的牵引力以及滑移率,结合正态分布概率函数可以得到当前的道路模型的归属,最终通过卡尔曼滤波器得到路面模型的附着系数。


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    Titel :

    Bayes-based road adhesion coefficient estimation method and electronic equipment


    Weitere Titelangaben:

    基于Bayes的路面附着系数估计方法及电子设备


    Beteiligte:
    ZHONG YI (Autor:in)

    Erscheinungsdatum :

    2022-01-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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