The invention discloses a vehicle road adhesion early warning method, which comprises the following steps: acquiring the wheel speed of each wheel under the condition that the vehicle driving state and the environment information around the vehicle meet the road sensing condition; according to the wheel speed of each wheel on the vehicle, determining a rear wheel locking moment of a rear wheel of the vehicle; wherein the vehicle rear wheels comprise a left rear wheel and a right rear wheel; the rear wheel braking torque of the rear wheels of the vehicle at the rear wheel locking moment is obtained, and the maximum braking force of the rear wheels of the vehicle is determined according to the vehicle speed, the rear wheel braking torque and the reference wheel speed of the rear wheels of the vehicle; according to the maximum braking force, the suspension rigidity characteristic and the longitudinal displacement, corresponding to the rear wheel locking moment, of the rear suspension of the vehicle, the wheel attachment coefficient of the rear wheels of the vehicle is determined; and determining a road adhesion coefficient according to the wheel adhesion coefficient of the rear wheels of the vehicle, and sending out early warning information when the road adhesion coefficient meets a vehicle road adhesion early warning condition. And the calculation efficiency and the calculation precision of the road adhesion coefficient calculation are improved.

    本发明公开了一种车辆路面附着预警方法,包括:在车辆行驶状态和车辆周围的环境信息满足路面感知条件的情况下,获取各个车轮的车轮轮速;根据车辆上各个车轮的车轮轮速,确定车辆后轮的后轮抱死时刻;其中,车辆后轮包括左侧后车轮和右侧后车轮;获取车辆后轮在后轮抱死时刻的后轮制动力矩,并根据车辆速度、后轮制动力矩和车辆后轮的参考轮速,确定车辆后轮的最大制动力;根据最大制动力,悬架刚度特性,以及后轮抱死时刻对应的车辆后悬架的纵向位移,确定车辆后轮的车轮附着系数;根据车辆后轮的车轮附着系数,确定路面附着系数,并在路面附着系数满足车辆路面附着预警条件时发出预警信息。提高了路面附着系数计算的计算效率和计算精度。


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    Title :

    Vehicle road adhesion early warning method, device and equipment and storage medium


    Additional title:

    一种车辆路面附着预警方法、装置、设备和存储介质


    Contributors:
    PENG LIANG (author) / WU ZHENXIN (author) / LIU TAO (author) / ZHOU SHIYING (author) / LIU YE (author) / ZHAO PENGGANG (author) / CHI TING (author) / ZHANG ZHENGLONG (author) / ZHAO SIJIA (author) / LIU RU (author)

    Publication date :

    2022-11-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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