The invention provides a road adhesion coefficient estimation method and system, and relates to the technical field of vehicles. The method comprises the following steps: acquiring a longitudinal pavement adhesion coefficient of a previous scheduling period as an initial longitudinal pavement adhesion coefficient, and determining a first longitudinal pavement adhesion coefficient of the scheduling period according to the initial longitudinal pavement adhesion coefficient and a tire model; obtaining a lateral road adhesion coefficient of a previous scheduling period as an initial lateral road adhesion coefficient, and determining a first lateral road adhesion coefficient of the scheduling period according to the initial lateral road adhesion coefficient and a tire model; determining a second lateral pavement adhesion coefficient of the scheduling period according to the initial lateral pavement adhesion coefficient by using extended Kalman filtering; and determining a final pavement adhesion coefficient according to the first longitudinal pavement adhesion coefficient, the first lateral pavement adhesion coefficient, the second lateral pavement adhesion coefficient and the utilization pavement adhesion coefficient in the scheduling period. According to the invention, preconditions required for estimating the road adhesion coefficient can be reduced.
本发明提供了一种路面附着系数估算方法及系统,涉及车辆技术领域。本发明的方法包括:获取上一调度周期的纵向路面附着系数作为初始纵向路面附着系数,根据初始纵向路面附着系数和轮胎模型确定本调度周期的第一纵向路面附着系数;获取上一调度周期的侧向路面附着系数作为初始侧向路面附着系数,根据初始侧向路面附着系数和轮胎模型确定本调度周期的第一侧向路面附着系数;利用扩展卡尔曼滤波,根据初始侧向路面附着系数确定本调度周期的第二侧向路面附着系数;根据本调度周期的第一纵向路面附着系数、第一侧向路面附着系数、第二侧向路面附着系数和利用路面附着系数确定最终路面附着系数。本发明能够减少估算路面附着系数所需的前置条件。
Road adhesion coefficient estimation method and system
一种路面附着系数估算方法及系统
2023-12-29
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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