The invention relates to a road adhesion coefficient fusion estimation method using a trigger-type time-space synchronization method, and the method comprises the steps: updating a correction factor according to a visual estimation value of a road adhesion coefficient corresponding to a road type at a current moment and a dynamic estimation value of the road adhesion coefficient before the current moment; the visual estimation value of the road adhesion coefficient is corrected through the correction factor; according to the method, the road adhesion coefficient is estimated and predicted by utilizing the consistency of the adhesion coefficients between the roads, the change time of the predicted value is determined through a trigger type space-time synchronization method, and the method can give consideration to the response performance of a visual estimator and the accuracy of a dynamic estimator.
本申请涉及一种利用触发式时空同步方法的路面附着系数融合估计方法,该方法根据当前时刻的路面类型对应的路面附着系数的视觉估计值、以及当前时刻之前的路面附着系数的动力学估计值,更新修正因子,并通过修正因子修正路面附着系数的视觉估计值;本申请利用道路间附着系数的一致性估计并预测路面附着系数,通过触发式时空同步的方法决定预测值的更改时刻,该方法可兼顾视觉估计器的响应性能与动力学估计器的准确性。
Road adhesion coefficient fusion estimation method using trigger-type space-time synchronization method
利用触发式时空同步方法的路面附着系数融合估计方法
2024-08-23
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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