The invention provides a road adhesion coefficient estimation method based on multivariate information fusion. The road adhesion coefficient estimation method comprises the following steps: acquiring a yaw angle, a wheel speed, a yaw velocity, a lateral acceleration, a steering wheel angle and a transverse distance between a preview point of a camera and a lane line of a vehicle; according to the yaw angle and the wheel speed of the vehicle, the transverse distance between the preview point of the camera and the lane line, the yaw velocity and the lateral acceleration, the mass center eccentric angle of the vehicle is estimated; estimating the lateral force of the vehicle according to the yaw velocity, the lateral acceleration and the steering wheel angle of the vehicle; and estimating the road adhesion coefficient according to the yaw velocity, the lateral acceleration, the steering wheel angle and the wheel speed of the vehicle in combination with the upper and lower bounds of the road adhesion coefficient, the upper and lower bounds of the tire cornering stiffness under the road adhesion state mapping acquired by the camera, and the estimated vehicle mass center eccentric angle and the vehicle lateral force. The method does not depend on tire model parameters, and is high in estimation precision and high in real-time performance.
本发明提供一种基于多元信息融合的路面附着系数的估计方法,包括获取车辆的横摆角、轮速、横摆角速度、侧向加速度、方向盘转角、摄像头的预瞄点与车道线间的横向距离;根据车辆的横摆角、轮速、摄像头的预瞄点与车道线间的横向距离、横摆角速度和侧向加速度,估算出车辆质心偏心角;根据车辆的横摆角速度、侧向加速度和方向盘转角,估算出车辆侧向力;根据车辆的横摆角速度、侧向加速度、方向盘转角和轮速,并结合摄像头获取的路面附着状态映射下的路面附着系数上下界,轮胎侧偏刚度上下界以及所估算的车辆质心偏心角和车辆侧向力,估算出路面附着系数。实施本发明,不依赖于轮胎模型参数、估计精度高且实时性强。
Road adhesion coefficient estimation method and system based on multivariate information fusion
一种基于多元信息融合的路面附着系数的估计方法及系统
2022-10-18
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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