Method for estimating pavement friction coefficient of tires of autonomous vehicle

A road surface friction coefficient and automatic driving technology, applied in the direction of measuring devices, instruments, sustainable transportation, etc., can solve the problems that safety and reliability affect the commercial implementation of automatic driving technology, it is difficult to drive autonomous vehicles, and interfere with vehicle movement, etc. Achieve the effects of enhancing safety and reliability, high practical value, and ensuring estimation accuracy

Pending Publication Date: 2022-07-12
ANHUI UNIVERSITY
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Problems solved by technology

Although the estimation algorithm based on these working conditions can accurately estimate TRFC, the estimation process seriously interferes with the movement of the vehicle, and it is also very unsafe, and it is difficult to truly apply it to actual autonomous vehicles.
Although autonomous driving has developed into the main direction of the global automobile and transportation field, its safety and reliability issues are still the key reasons affecting the commercial implementation of autonomous driving technology

Method used

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  • Method for estimating pavement friction coefficient of tires of autonomous vehicle
  • Method for estimating pavement friction coefficient of tires of autonomous vehicle
  • Method for estimating pavement friction coefficient of tires of autonomous vehicle

Examples

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Embodiment 1

[0028] The invention focuses on the safety and reliability of the automatic driving vehicle, based on the difficulty of how to balance the TRFC estimation accuracy and the reduction of vehicle motion interference, and from the perspective of practical application, comprehensively utilizes two types of TRFC qualitative estimation and quantitative estimation methods. Advantages, a TRFC estimation method based on brake pipe brake pressure pulse input is designed. The estimation method designed by the present invention estimates the road TRFC by applying a set of brake pipe brake pressure pulse input to the automatic driving vehicle, and according to the designed tire slip rate or triggering the ABS system at different pulses to estimate the road TRFC, which can better realize In order to obtain the estimation results with sufficient accuracy, it can also ensure that there is less disturbance to the motion of the autonomous vehicle.

[0029] A method for estimating road friction c...

Embodiment 2

[0052] Based on the description of Embodiment 1, when the TRFC estimation method proposed by the present invention is applied in practice, the key lies in determining the amplitude p of each pulse in the brake pressure pulse group pi , that is, the key is to determine and α i . Obviously, and α 1 It is closely related to the vehicle model and the tires used. Next, taking the C-class hatchback as an example, the example shows how to set the parameters and use the proposed method to estimate the TRFC. The main parameters of the C-class hatchback selected for the example are shown in Table 2.

[0053] Table 2. Main parameters of C-class hatchback and its tires

[0054]

[0055]

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Abstract

The invention belongs to the technical field of automatic driving, and particularly relates to an automatic driving vehicle tire road surface friction coefficient estimation method which comprises the following steps: applying a plurality of groups of brake pipe pressure pulses ppi with sequentially increased amplitudes to an automatic driving vehicle, and monitoring the slip rate of a tire at the same time; when it is observed that the tire slip rate is close to the shear slip rate (tire slip rate threshold) or the ABS system has been triggered, stopping the pressure pulse input; according to the corresponding group of pressure pulse input at the stopping position in the specific step (2), the pulse ordinal number is recorded as n, an estimation rule is formulated, and the estimation result of the road surface type and the tire road surface friction coefficient TRFC is obtained according to the estimation rule. According to the designed tire road surface friction coefficient estimation framework, the advantages of a traditional qualitative estimation method and a traditional quantitative estimation method are creatively fused, the whole estimation process is easy to operate, the estimation precision is guaranteed, meanwhile, the influence on vehicle movement is very small, and the practical value is very high.

Description

technical field [0001] The invention belongs to the technical field of automatic driving, and in particular relates to a method for estimating the road friction coefficient of tires of automatic driving vehicles. Background technique [0002] As the only contact part of the autonomous vehicle with the road, the tire directly affects the motion control performance of the autonomous vehicle. This is because autonomous vehicles transmit the forces and moments required for vehicle motion through tires to achieve various motion manipulations. The interaction between tires and road surfaces has an important impact on vehicle dynamics, safety, and economy. For a given tire and road surface, the maximum tire force and torque that the road surface can provide to the autonomous vehicle mainly depends on the tire-road friction coefficient (Tire-Road Friction Coefficient, TRFC, generally represented by letters). Obviously, TRFC is an important parameter reflecting the road environment ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01N19/02
CPCG01N19/02Y02T90/00
Inventor 胡钜奇高赫佳
Owner ANHUI UNIVERSITY
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