The invention provides a road adhesion coefficient monitoring method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a wheel speed signal and a CAN signal of a vehicle; obtaining a first normalized traction force and a first slip rate based on the wheel speed signal, the CAN signal and the vehicle operation condition; obtaining a traction force measurement value of the vehicle, determining a constraint condition and an error function based on the traction force measurement value and the first normalized traction force, and performing graph optimization processing on the first normalized traction force to obtain a second normalized traction force; screening the first slip rate based on the instantaneous standard deviation to obtain a second slip rate; and inputting the second normalized traction force and the second slip rate into a preset Kalman filter model to obtain linear slopes of the second normalized traction force and the second slip rate, and obtaining an adhesion coefficient of the pavement based on the linear slopes. According to the invention, the road adhesion coefficient can be monitored without installing an additional sensor on the vehicle or acquiring the prior data of the road.
本发明提供一种路面附着系数监测方法、装置、电子设备及存储介质,该方法包括:获取车辆的轮速信号和CAN信号;基于轮速信号、CAN信号以及车辆运行工况得到第一归一化牵引力和第一滑移率;获取车辆的牵引力测量值,基于牵引力测量值和第一归一化牵引力确定约束条件和误差函数,对第一归一化牵引力进行图优化处理得到第二归一化牵引力;基于瞬时标准差对第一滑移率进行筛选得到第二滑移率;将第二归一化牵引力和第二滑移率输入至预设的卡尔曼滤波器模型中,得到第二归一化牵引力和第二滑移率的线性斜率,基于线性斜率,得到路面的附着力系数。本发明可以不需要在车辆上安装额外的传感器,不需要获取路面的先验数据,就可以监测路面附着系数。
Road adhesion coefficient monitoring method and device, electronic equipment and storage medium
路面附着系数监测方法、装置、电子设备及存储介质
2023-05-30
Patent
Electronic Resource
Chinese
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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