The invention discloses a road surface adhesion coefficient estimation method and system based on multi-information fusion, and the method comprises the steps: firstly recognizing the type of a road surface in real time through the image features obtained by a camera, and obtaining a first road surface adhesion coefficient of an area according to an empirical value; secondly, constructing a groundpoint cloud reflection intensity graph obtained by laser radar scanning to obtain a second pavement adhesion coefficient; then, in the traveling process of the vehicle, estimating a third road surface adhesion coefficient at the tire position of the vehicle by adopting the longitudinal dynamic response of a tire; and finally, correcting the first road surface adhesion coefficient and the second road surface adhesion coefficient by taking the third road surface adhesion coefficient as a reference to obtain a final road surface adhesion coefficient. According to the method, on the premise of ensuring the recognition accuracy, the requirement for real-time performance is met, and the method and the system have important guiding significance for reasonably making a vehicle active safety control strategy and coordinating and controlling all subsystems of a chassis.
本发明公开了一种多信息融合的路面附着系数估计方法及系统,该方法包括:首先,借助摄像头获取的图像特征来实时识别路面类型,根据经验值获取该区域的第一路面附着系数;其次,构建激光雷达扫描获得的地面点云反射强度图,得到第二路面附着系数;然后,在车辆行进过程中,采用轮胎的纵向动力学响应估计车辆轮胎位置处的第三路面附着系数;最后,以第三路面附着系数为基准,对第一路面附着系数和所述第二路面附着系数进行修正,得到最终的路面附着系数。本发明在保证识别准确性的前提下,又满足了实时性的要求,对合理制定车辆主动安全控制策略以及对底盘各子系统间协调控制有重大的指导意义。
Road surface adhesion coefficient estimation method and system based on multi-information fusion
一种基于多信息融合的路面附着系数估计方法及系统
2020-10-30
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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