The invention provides a method and device for estimating a road adhesion coefficient, a vehicle and a storage medium. When the vehicle is in a driving state, the method fuses the dynamic pavement adhesion coefficient and the kinematic pavement adhesion coefficient, so that the characteristics of the driving pavement can be reflected from various different angles, and the error caused by estimating the pavement adhesion coefficient by a single factor is reduced. And further, fusing the first road adhesion coefficient, a fourth road adhesion coefficient estimated by the acceleration and a utilization adhesion coefficient of the wheel, and determining a target road adhesion coefficient of the driving road. Therefore, the method can comprehensively consider the road adhesion coefficients of different sources, and effectively associate and fuse the various road adhesion coefficients to obtain the road adhesion coefficient which can better reflect the overall adhesion characteristics of the driving road, so that the estimation precision of the road adhesion coefficient under different driving conditions is improved, and the estimation accuracy of the road adhesion coefficient under different driving conditions is improved. Accurate control over the movement process of the vehicle is achieved.
本申请提供估计路面附着系数的方法、装置、车辆及存储介质。在车辆处于行驶状态时,该方法对动力学路面附着系数和运动学路面附着系数进行融合,这能够从多种不同的角度反映行驶路面的特性,减少单一因素对路面附着系数进行估计时的误差。进一步地,将第一路面附着系数、加速度估计的第四路面附着系数和车轮的利用附着系数进行融合,确定行驶路面的目标路面附着系数。这样,该方法能够综合地考虑不同来源的路面附着系数,将多种路面附着系数进行有效关联与融合,得到更能反映行驶路面的整体附着特性的路面附着系数,从而提高不同行驶工况下对路面附着系数的估计精度,实现车辆的运动过程的精确控制。
Method and device for estimating road adhesion coefficient, vehicle and storage medium
估计路面附着系数的方法、装置、车辆及存储介质
2025-01-14
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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