Road surface friction coefficient estimation method and device and vehicle

Abstract

The invention relates to the technical field of vehicles, and provides a road surface friction coefficient estimation method and device and a vehicle. The estimation method comprises the following steps: 1, determining a plurality of classifier sets for calculating a road surface friction coefficient, wherein the classifier sets are determined according to vehicle operation data and vehicle lateral control related data, and the vehicle lateral control related data comprises a vehicle tire slip angle, a tire lateral force, a first self-aligning torque SAT estimated based on an EPS system, a second SAT estimated based on a tire lateral kinetic model, and derivatives of a mean value and a variance of first SAT; selecting a corresponding classifier set to calculate the road surface friction coefficient according to a tire slip angle, a tire lateral force and a steering rate which are generated when a driver performs lateral operation on the vehicle; and determining a calculated maximum road surface friction coefficient as the final road surface friction coefficient. By utilizing the multi-set classifier, the maximum friction coefficient of the road surface can be accurately detected when a driver performs different degrees of lateral operation.

Description

technical field [0001] The invention relates to the technical field of vehicles, in particular to a method, device and vehicle for estimating the friction coefficient of a road surface. Background technique [0002] During vehicle driving, the driver may encounter different road surfaces, such as asphalt road, gravel road, dry road, wet road, ice, snow and so on. Some of these and other types of road surfaces each have a different coefficient of road friction, and these different coefficients of friction can affect tire grip and vehicle stability. [0003] For safety reasons, it is critical that a vehicle be able to operate in a manner that allows it to respond quickly to various road conditions at any time, especially when the vehicle is moving sideways, for example during a turn, during a lane change or during obstacle avoidance Time. In this regard, one way to solve this problem is to use an estimate of the instantaneous road friction. Therefore, it is desirable to kno...

AI Technical Summary

Problems solved by technology

[0006] In view of this, the present invention aims to propose a more reliable and robust road surface friction coefficient estimation method to solve the technical problem in the prior art that the driver needs to use intense lateral operation to measure the road surface friction coefficient

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