The invention provides a road adhesion coefficient determination method and device based on Kalman filtering. The method comprises the following steps: acquiring driving parameters in a vehicle driving process; the driving parameters are analyzed and processed through a Kalman filtering estimation algorithm, a first road adhesion coefficient and a second road adhesion coefficient of the vehicle are obtained, the first road adhesion coefficient is used for indicating the road adhesion coefficient of a left wheel of the vehicle, and the second road adhesion coefficient is used for indicating the road adhesion coefficient of a right wheel of the vehicle. The second road adhesion coefficient is used for indicating the road adhesion coefficient of the right wheel of the vehicle; and according to the first road adhesion coefficient and the second road adhesion coefficient, determining a target road adhesion coefficient when the vehicle runs. The method solves the problems that a conventional algorithm is large in calculation amount and poor in stability, and improves the accuracy of a road adhesion coefficient estimation result.

    本申请提供一种基于卡尔曼滤波的路面附着系数确定方法和设备。该方法通过获取车辆行驶过程中的行驶参数;采用卡尔曼滤波估计算法对所述行驶参数进行分析处理,得到所述车辆的第一路面附着系数和第二路面附着系数,其中,所述第一路面附着系数用于指示所述车辆左侧车轮的路面附着系数,所述第二路面附着系数用于指示所述车辆右侧车轮的路面附着系数;根据所述第一路面附着系数和所述第二路面附着系数,确定车辆行驶时的目标路面附着系数。该方法解决了常规算法计算量大、稳定性差的问题,提高了路面附着系数估计结果的准确性。


    Access

    Download


    Export, share and cite



    Title :

    Pavement adhesion coefficient determination method and device based on Kalman filtering


    Additional title:

    一种基于卡尔曼滤波的路面附着系数确定方法和设备


    Contributors:
    KONG LINGXING (author) / ZHAI XIAOYAN (author) / QIN TAO (author) / REN XIANFENG (author)

    Publication date :

    2024-04-09


    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



    Method for estimating road adhesion coefficient based on Kalman filtering

    LIU FUYUN / JIANG ZHINENG / HUH EUN-YOUNG et al. | European Patent Office | 2025

    Free access

    Pavement adhesion coefficient estimation method and device

    DING SHAOBING / YAN ZHONGYI / ZHANG DANG et al. | European Patent Office | 2021

    Free access

    Engineering vehicle road adhesion coefficient state estimation method based on improved double-layer Kalman filtering

    LIU YONGGANG / LIAO YIHUA / LYU CHANG et al. | European Patent Office | 2023

    Free access

    Pavement adhesion coefficient estimation method based on Bayes classifier

    ZHAO CHAOCHAO | European Patent Office | 2021

    Free access

    Pavement peak adhesion coefficient detection method and device and electronic equipment

    LI QIN / LIU ZHIFENG | European Patent Office | 2021

    Free access