The invention discloses an image and vehicle dynamics fused road adhesion coefficient estimation method, and belongs to the field of automatic driving vehicle control. The method comprises the following steps: acquiring upper and lower bounds of a road adhesion coefficient by utilizing road image information; establishing a three-degree-of-freedom vehicle dynamics model and a Dugoff tire model; and estimating the road adhesion coefficient by adopting a rolling time domain method. In order to reduce the influence of the model, especially the deviation of the cornering stiffness, on estimation of the road adhesion coefficient, correction factors of the cornering stiffness of the front and rear tires are introduced into the model and serve as a parameter to be estimated with the road adhesion coefficient at the same time, and the estimation precision of the road adhesion coefficient is further improved. In order to reduce the estimation range of the road adhesion coefficient, a rolling time domain estimation method is adopted, and image recognition results are used as upper and lower bounds of constraints through a camera, so that online fusion is carried out, and the real-time performance of fusion estimation is improved.
一种图像和车辆动力学融合的路面附着系数估计方法,属于自动驾驶汽车控制领域。所述方法为:利用道路图像信息获取路面附着系数的上下界;建立三自由度车辆动力学模型和Dugoff轮胎模型;采用滚动时域方法估计路面附着系数。本发明为了减小模型尤其是侧偏刚度的偏差对路面附着系数估计的影响,将前后轮胎侧偏刚度的修正因子引入到模型中,将其作为一个参数与路面附着系数同时估计,进一步提高路面附着系数的估计精度。为了减小路面附着系数的估计范围,本发明采用滚动时域估计方法,并通过摄像头将图像识别的结果作为其约束的上下界,从而进行在线融合,提升融合估计的实时性。
Image and vehicle dynamics fused road adhesion coefficient estimation method
一种图像和车辆动力学融合的路面附着系数估计方法
2024-04-09
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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