The invention discloses a longitudinal driving maneuver-oriented road adhesion coefficient learning method and device, and the method comprises the steps: 1, setting the input of a CNN network for a steady-state driving maneuver working condition and an unsteady-state driving maneuver working condition; 2, inputting the input of the CNN network into a parallel space-time convolutional neural network; 3, inputting a feature vector output by the parallel space-time convolutional neural network into a random variational Gaussian process to form a road adhesion coefficient learning strategy based on random variational deep kernel learning, and optimizing a marginal likelihood lower bound; 4, training a road adhesion coefficient learning strategy based on random variational deep kernel learning by using the training data set and the corresponding road adhesion coefficient to obtain a trained road adhesion coefficient learning strategy based on random variational deep kernel learning; and 5, inputting the test data set into the trained road adhesion coefficient learning strategy based on random variational deep kernel learning, and outputting an estimated value of the road adhesion coefficient.
本发明公开了一种面向纵向驾驶机动的路面附着系数学习方法及装置,其包括:步骤1,针对稳态驾驶机动工况和非稳态驾驶机动工况,分别设置CNN网络的输入;步骤2,将CNN网络的输入输入到并行时空卷积神经网络;步骤3,将并行时空卷积神经网络输出的特征向量输入到随机变分高斯过程中,构成基于随机变分深度核学习的路面附着系数学习策略,对边际似然下界进行优化;步骤4,利用训练数据集和对应的路面附着系数对基于随机变分深度核学习的路面附着系数学习策略进行训练,得到训练好的基于随机变分深度核学习的路面附着系数学习策略;步骤5,将测试数据集输入训练好的基于随机变分深度核学习的路面附着系数学习策略中,输出路面附着系数的估计值。
Longitudinal driving maneuver-oriented road adhesion coefficient learning method and longitudinal driving maneuver-oriented road adhesion coefficient learning device
一种面向纵向驾驶机动的路面附着系数学习方法及装置
2023-10-20
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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