The invention provides a road adhesion coefficient estimation device and method based on vision and dynamics information fusion. The method comprises the steps of vehicle dynamics estimation based on extended Kalman filtering, road type identification based on a lightweight convolutional neural network and a fusion strategy of vision and dynamics information. According to the pavement type identification method based on the lightweight convolutional neural network, efficient and accurate visual information processing is realized; in combination with dynamic response information, space-time synchronization and fusion estimation of vision and dynamic data are realized, and predictability and accuracy of road adhesion coefficient estimation are improved; in addition, real-time and reliable adhesion coefficient input is provided for an active safety system, and the vehicle safety and stability in a complex scene are remarkably improved.
本发明提供一种视觉与动力学信息融合的路面附着系数估计装置及方法,步骤包括:基于扩展卡尔曼滤波的车辆动力学估计、基于轻量化卷积神经网络的路面类型识别、视觉与动力学信息的融合策略。本发明提出了基于轻量化卷积神经网络的路面类型识别方法,实现了高效、准确的视觉信息处理;结合动力学响应信息,实现了视觉与动力学数据的时空同步和融合估计,提升了路面附着系数估计的预测性和精确性;此外,本发明为主动安全系统提供了实时、可靠的附着系数输入,显著提升了复杂场景下的车辆安全性与稳定性。
Vision and dynamics information fused road adhesion coefficient estimation device and method
一种视觉与动力学信息融合的路面附着系数估计装置及方法
2025-04-15
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 |
Vision and dynamics fused road adhesion coefficient estimation method
European Patent Office | 2020
|Image and vehicle dynamics fused road adhesion coefficient estimation method
European Patent Office | 2024
|Road adhesion coefficient interactive estimation method based on vision and dynamics
European Patent Office | 2020
|Yo-v9 multi-mode road adhesion coefficient estimation algorithm fused with dynamics
European Patent Office | 2024
|Vehicle road adhesion coefficient estimation method and device
European Patent Office | 2025
|