The invention discloses an image recognition and dynamics fused road adhesion coefficient estimation method and system. The method comprises the steps of determining a road type by using a semantic segmentation network and a convolutional neural network; according to the vehicle state information, based on a single-wheel dynamics model, estimating the longitudinal force of the tire by adopting Kalman filtering; according to the longitudinal force of the tire, based on a magic tire formula, establishing a road adhesion coefficient estimator by adopting a particle filtering algorithm, and estimating a first road adhesion coefficient; determining all image recognition results corresponding to the road surface with the first road surface adhesion coefficient through a space-time synchronization module, and determining a final image recognition result and image recognition confidence according to all the image recognition results; according to the final image recognition result, the image recognition confidence, the first road adhesion coefficient and the difference between the estimated value and the true value of the vehicle longitudinal acceleration, an image recognition and dynamics fusion strategy is established, and the final road adhesion coefficient is determined. The accuracy of road adhesion coefficient estimation can be improved.

    本发明公开一种图像识别与动力学融合的路面附着系数估计方法及系统,该方法包括利用语义分割网络和卷积神经网络确定路面类型;根据车辆状态信息,基于单轮动力学模型,采用卡尔曼滤波估计轮胎纵向力;根据轮胎纵向力,基于魔术轮胎公式,采用粒子滤波算法,建立路面附着系数估计器,估计第一路面附着系数;通过时空同步模块确定与第一路面附着系数路面对应的所有图像识别结果,并根据所有图像识别结果确定最终图像识别结果以及图像识别置信度;根据最终图像识别结果、图像识别置信度、第一路面附着系数及车辆纵向加速度的估计值与真实值之差,建立图像识别与动力学融合策略,确定最终路面附着系数。本发明可提高路面附着系数估计的准确性。


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    Title :

    Road adhesion coefficient estimation method and system based on image recognition and dynamics fusion


    Additional title:

    图像识别与动力学融合的路面附着系数估计方法及系统


    Contributors:
    ZHANG LEI (author) / WANG ZHENPO (author) / GUAN KEREN (author)

    Publication date :

    2023-08-01


    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



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