Method, device and vehicle for estimating friction coefficient of road surface

Abstract

The invention relates to the technical field of vehicles, and provides a method, a device and a vehicle for estimating the friction coefficient of a road surface. The estimation method includes: determining a plurality of classifier sets for calculating the road surface friction coefficient, wherein the classifier set is determined according to vehicle operation data and vehicle lateral control related data, and the vehicle lateral control related data includes The vehicle's tire slip angle, tire lateral force, the first self-aligning torque SAT estimated based on the EPS system, the second SAT estimated based on the tire lateral dynamics model, and the derivative of the mean and variance of the first SAT; according to driving According to the tire slip angle, tire lateral force and steering speed generated by the operator's lateral operation of the vehicle, the corresponding classifier set is selected to calculate the road surface friction coefficient; and the calculated maximum road surface friction coefficient is determined as the final road surface friction coefficient . The invention utilizes a multi-set classifier to accurately detect the maximum friction coefficient of the road surface when the driver performs lateral operations in different degrees.

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 method for estimating the road surface friction coefficient to solve the technical problem in the prior art that the driver needs to use intense lateral operations to measure the road surface friction coefficient

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