The invention provides an intelligent vehicle controllability level prediction method, which comprises the following steps of: firstly, identifying a road surface type in a range of 30-50 meters in front of an intelligent vehicle through a visual sensor mounted on the intelligent vehicle, and obtaining a road surface peak adhesion coefficient according to a road surface adhesion coefficient range corresponding to the road surface type in the range of 30-50 meters in front; according to vehicle dynamics response information collected by the intelligent vehicle in real time, estimating a pavement utilization adhesion coefficient of the position where the current vehicle is located through an extended Kalman filtering algorithm; carrying out space-time alignment on the road surface peak adhesion coefficient and the road surface utilization adhesion coefficient by adopting a space-time synchronization method; and finally, the maximum tire force and the current tire force are calculated through the tire model, and the controllable capacity grade of the intelligent vehicle is predicted according to the remaining amount of the tire force.
本发明提供了一种智能车辆可控能力等级预测方法,首先通过安装在智能车辆的视觉传感器识别智能车辆前方30米至50米范围的路面类型,根据前方30米至50米范围的路面类型对应的路面附着系数范围得到路面峰值附着系数;根据智能车辆实时采集到的车辆动力学响应信息,通过扩展卡尔曼滤波算法估计当前车辆所在位置的路面利用附着系数;然后采用时空同步方法将路面峰值附着系数和路面利用附着系数进行时空对齐;最后通过轮胎模型分别计算得到最大轮胎力和当前轮胎力,根据轮胎力的余量预测智能车辆的可控能力等级。
Intelligent vehicle controllability level prediction method
一种智能车辆可控能力等级预测方法
2022-07-29
Patent
Elektronische Ressource
Chinesisch
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