The invention relates to a tire road adhesion coefficient estimation method and device, electronic equipment and a vehicle, and relates to the field of automobile safety measurement and control, and the method comprises the following steps: determining tire longitudinal characteristics and tire lateral characteristics of each tire corresponding to a target vehicle; in response to a longitudinal dynamic estimation condition for triggering a road adhesion coefficient by the tire longitudinal characteristics, calculating a first road adhesion coefficient estimation value based on the tire longitudinal characteristics; in response to a lateral dynamic estimation condition for triggering the road adhesion coefficient by the tire lateral characteristics, calculating a second road adhesion coefficient estimation value based on the tire lateral characteristics; and determining a final road adhesion coefficient estimation value of the target vehicle according to the first road adhesion coefficient estimation value and/or the second road adhesion coefficient estimation value. By applying the technical scheme of the invention, the adhesion coefficient deviation caused by the slip rate and the slip angle estimation error under the conditions of small slip and small lateral deviation is effectively avoided, and the adhesion coefficient estimation error under the conditions of high adhesion and insufficient excitation is solved.

    本申请涉及一种轮胎路面附着系数估计方法、装置、电子设备及车辆,涉及汽车安全测量及控制领域,包括:确定目标车辆对应各个轮胎的轮胎纵向特征和轮胎侧向特征;响应于轮胎纵向特征触发路面附着系数的纵向动力学估计条件,基于轮胎纵向特征计算第一路面附着系数估计值;响应于轮胎侧向特征触发路面附着系数的侧向动力学估计条件,基于轮胎侧向特征计算第二路面附着系数估计值;根据第一路面附着系数估计值和/或第二路面附着系数估计值,确定目标车辆最终的路面附着系数估计值。通过应用本申请的技术方案,有效规避了小滑移和小侧偏情况下,由于滑移率及侧偏角估计误差所导致的附着系数偏差,解决了高附、非充分激励情况下的附着系数估计误差。


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    Titel :

    Tire road adhesion coefficient estimation method and device, electronic equipment and vehicle


    Weitere Titelangaben:

    轮胎路面附着系数估计方法、装置、电子设备及车辆


    Beteiligte:
    WANG JIAWEI (Autor:in) / NI MIN (Autor:in)

    Erscheinungsdatum :

    2023-12-05


    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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