Adhesion coefficient determination method and apparatus, vehicle, medium, and program product

Abstract

Disclosed herein are an adhesion coefficient determination method and apparatus, a vehicle, a medium, and a program product. The method comprises: obtaining tire information of each tire of a vehicle, the tire information comprising tire longitudinal force, tire lateral force, and tire vertical load of the tire; on the basis of the tire information of each tire, determining a first adhesion coefficient of the vehicle; on the basis of the first adhesion coefficient and the tire information of each tire, determining a gain coefficient; on the basis of the gain coefficient and the acceleration of the vehicle, determining a second adhesion coefficient; and, on the basis of the first adhesion coefficient and the second adhesion coefficient, determining a target adhesion coefficient of the vehicle. By means of the method of the embodiments of present application, the accuracy of determining the target adhesion coefficient of the vehicle is improved, thus matching the target adhesion coefficient of the vehicle with actual conditions, thereby improving anti-skid control of the vehicle and improving the safety of passengers.

Description

Method, device, vehicle, medium and program product for determining adhesion coefficient

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on March 15, 2024, with application number 202410301423.0 and application name “A method, device, vehicle, medium and program product for determining adhesion coefficient”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to, but are not limited to, the field of vehicle technology, and in particular to a method, device, vehicle, medium, and program product for determining an adhesion coefficient. Background Art

[0003] The vehicle's adhesion coefficient plays a key role in the vehicle's longitudinal drive anti-skid control. Therefore, accurately determining the vehicle's adhesion coefficient is crucial for the vehicle's anti-skid control. Summary of the Invention

[0004] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0005] The embodiments of the present application provide a method, device, vehicle, medium, and program product for determining an adhesion coefficient, which improves the accuracy of determining the adhesion coefficient and the matching degree between the adhesion coefficient and the actual conditions of the vehicle, thereby improving the anti-skid control of the vehicle and the safety of the passengers.

[0006] In a first aspect, an embodiment of the present application provides a method for determining an adhesion coefficient, which is applied to a vehicle. The method includes:

[0007] Obtaining tire information of each tire of the vehicle, the tire information including tire longitudinal force, tire lateral force, and tire vertical load;

[0008] determining a first adhesion coefficient of the vehicle based on tire information of each tire;

[0009] determining a gain coefficient according to the first adhesion coefficient and tire information of each tire;

[0010] determining a second adhesion coefficient according to the gain coefficient and the acceleration of the vehicle;

[0011] A target adhesion coefficient of the vehicle is determined based on the first adhesion coefficient and the second adhesion coefficient.

[0012] In one implementation, determining a first adhesion coefficient of a vehicle based on tire information of each tire includes:

[0013] For any tire, determine the tire adhesion coefficient based on the tire information;

[0014] A first adhesion coefficient is determined based on the adhesion coefficient of each tire.

[0015] In one implementation, determining the first adhesion coefficient according to the adhesion coefficient of each tire includes:

[0016] Determine if the vehicle's stability control system is activated;

[0017] If yes, then calculating a first adhesion coefficient based on the adhesion coefficient of each tire, the tire longitudinal force and the tire lateral force corresponding to each tire;

[0018] If not, the turning state of the vehicle is determined, and a first adhesion coefficient is determined according to the turning state and the adhesion coefficient of each tire.

[0019] In one implementation, calculating the first adhesion coefficient based on the adhesion coefficient of each tire, the tire longitudinal force and the tire lateral force corresponding to each tire includes:

[0020] The sum of the adhesion coefficients of each tire is determined as the total adhesion coefficient;

[0021] Determine the target force on the vehicle in the horizontal plane based on the tire longitudinal force and tire lateral force corresponding to each tire;

[0022] The ratio of the total adhesion coefficient to the target force is determined as the first adhesion coefficient.

[0023] In one implementation, determining a first adhesion coefficient according to a turning state and an adhesion coefficient of each tire includes:

[0024] If the turning state is a left turning state, the maximum value of the adhesion coefficient of the right front tire and the adhesion coefficient of the right rear tire is determined as the first adhesion coefficient;

[0025] If the turning state is a right turning state or a straight driving state, the maximum value of the adhesion coefficient of the left front tire and the adhesion coefficient of the left rear tire is determined as the first adhesion coefficient.

[0026] In one implementation, determining a gain coefficient according to the first adhesion coefficient and tire information of each tire includes:

[0027] Determine the vehicle's overall tire adhesion coefficient based on the tire information of each tire;

[0028] determining a third adhesion coefficient by multiplying the first adhesion coefficient by a preset number, the preset number being the number of tires included in the vehicle;

[0029] The ratio of the third adhesion coefficient to the total tire adhesion coefficient is determined as the gain coefficient.

[0030] In one implementation, the acceleration includes longitudinal acceleration, lateral acceleration, and gravitational acceleration; determining the second adhesion coefficient according to the gain coefficient and the acceleration of the vehicle includes:

[0031] determining a fourth adhesion coefficient based on the longitudinal acceleration, the lateral acceleration, and the acceleration due to gravity;

[0032] The product of the gain coefficient and the fourth adhesion coefficient is determined as the second adhesion coefficient.

[0033] In one implementation, determining a target adhesion coefficient of the vehicle according to the first adhesion coefficient and the second adhesion coefficient includes:

[0034] determining a first weighted value of the first adhesion coefficient and a second weighted value of the second adhesion coefficient based on vehicle information and / or a second adhesion coefficient of the vehicle, wherein the vehicle information includes at least one of the following: an actual yaw angle, a tire slip ratio, and a longitudinal vehicle speed;

[0035] A target adhesion coefficient is determined according to the first adhesion coefficient, the second adhesion coefficient, the first weight value, and the second weight value.

[0036] In a second aspect, an embodiment of the present application provides a device for determining an adhesion coefficient, comprising:

[0037] An acquisition module, configured to acquire tire information of each tire of the vehicle, the tire information including tire longitudinal force, tire lateral force, and tire vertical load;

[0038] a processing module, configured to determine a first adhesion coefficient of the vehicle based on tire information of each tire;

[0039] The processing module is further configured to determine a gain coefficient based on the first adhesion coefficient and tire information of each tire;

[0040] The processing module is further configured to determine a second adhesion coefficient based on the gain coefficient and the acceleration of the vehicle;

[0041] The processing module is further configured to determine a target adhesion coefficient of the vehicle according to the first adhesion coefficient and the second adhesion coefficient.

[0042] In one implementation, the processing module is specifically configured to:

[0043] For any tire, determine the tire adhesion coefficient based on the tire information;

[0044] A first adhesion coefficient is determined based on the adhesion coefficient of each tire.

[0045] In one implementation, the processing module is specifically configured to:

[0046] Determine if the vehicle's stability control system is activated;

[0047] If yes, then calculating a first adhesion coefficient based on the adhesion coefficient of each tire, the tire longitudinal force and the tire lateral force corresponding to each tire;

[0048] If not, the turning state of the vehicle is determined, and a first adhesion coefficient is determined according to the turning state and the adhesion coefficient of each tire.

[0049] In one implementation, the processing module is specifically configured to:

[0050] The sum of the adhesion coefficients of each tire is determined as the total adhesion coefficient;

[0051] Determine the target force on the vehicle in the horizontal plane based on the tire longitudinal force and tire lateral force corresponding to each tire;

[0052] The ratio of the total adhesion coefficient to the target force is determined as the first adhesion coefficient.

[0053] In one implementation, the processing module is specifically configured to:

[0054] If the turning state is a left turning state, the maximum value of the adhesion coefficient of the right front tire and the adhesion coefficient of the right rear tire is determined as the first adhesion coefficient;

[0055] If the turning state is a right turning state or a straight driving state, the maximum value of the adhesion coefficient of the left front tire and the adhesion coefficient of the left rear tire is determined as the first adhesion coefficient.

[0056] In one implementation, the processing module is specifically configured to:

[0057] Determine the vehicle's overall tire adhesion coefficient based on the tire information of each tire;

[0058] determining a third adhesion coefficient by multiplying the first adhesion coefficient by a preset number, the preset number being the number of tires included in the vehicle;

[0059] The ratio of the third adhesion coefficient to the total tire adhesion coefficient is determined as the gain coefficient.

[0060] In one implementation, the acceleration includes longitudinal acceleration, lateral acceleration, and gravitational acceleration; the processing module is specifically configured to:

[0061] determining a fourth adhesion coefficient based on the longitudinal acceleration, the lateral acceleration, and the acceleration due to gravity;

[0062] The product of the gain coefficient and the fourth adhesion coefficient is determined as the second adhesion coefficient.

[0063] In one implementation, the processing module is specifically configured to:

[0064] determining a first weighted value of the first adhesion coefficient and a second weighted value of the second adhesion coefficient based on vehicle information and / or a second adhesion coefficient of the vehicle, wherein the vehicle information includes at least one of the following: an actual yaw angle, a tire slip ratio, and a longitudinal vehicle speed;

[0065] A target adhesion coefficient is determined according to the first adhesion coefficient, the second adhesion coefficient, the first weight value, and the second weight value.

[0066] In a third aspect, an embodiment of the present application provides a vehicle, comprising:

[0067] a processor, and a memory communicatively coupled to the processor;

[0068] a memory configured to store computer-executable instructions;

[0069] The processor is configured to execute computer-executable instructions stored in the memory to implement the method for determining the adhesion coefficient of the first aspect.

[0070] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are configured to implement the method for determining the adhesion coefficient of the first aspect.

[0071] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the method for determining the adhesion coefficient as in the first aspect.

[0072] The embodiments of the present application provide a method, device, vehicle, medium, and program product for determining an adhesion coefficient. In the method, a vehicle obtains tire information of each tire of the vehicle, and the tire information includes the tire longitudinal force, tire lateral force, and tire vertical load of the tire. The vehicle determines a first adhesion coefficient of the vehicle based on the tire information of each tire. The vehicle determines a gain coefficient based on the first adhesion coefficient and the tire information of each tire, and determines a second adhesion coefficient based on the gain coefficient and the acceleration of the vehicle. The vehicle determines a target adhesion coefficient of the vehicle based on the first adhesion coefficient and the second adhesion coefficient. The method of the embodiments of the present application improves the accuracy of determining the adhesion coefficient, improves the matching degree between the adhesion coefficient and the actual situation of the vehicle, thereby improving the anti-skid control of the vehicle and improving the safety of the passengers.

[0073] Still other aspects will become apparent upon reading and understanding the accompanying drawings and detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] The drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0075] FIG1 is a schematic diagram of an application scenario applicable to an embodiment of the present application;

[0076] FIG2 is a flow chart of a first embodiment of a method for determining an adhesion coefficient provided in an embodiment of the present application;

[0077] FIG3 is a flow chart of a second embodiment of a method for determining an adhesion coefficient provided in an embodiment of the present application;

[0078] FIG4 is a flow chart of a third embodiment of a method for determining an adhesion coefficient provided in an embodiment of the present application;

[0079] FIG5 is a schematic structural diagram of an adhesion coefficient determination device provided in an embodiment of the present application;

[0080] FIG6 is a structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] The described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments made by ordinary technicians in this field under the inspiration of these embodiments are within the scope of protection of this application.

[0082] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the numbers used in this way are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0083] The vehicle's adhesion coefficient plays a key role in implementing longitudinal anti-skid control. In related technologies, the adhesion coefficient is typically estimated based on the ratio of longitudinal driving force to vertical load, and anti-skid control is implemented based on the estimated adhesion coefficient.

[0084] However, the method of estimating the adhesion coefficient directly based on the ratio of longitudinal driving force and vertical load has the problem that the estimated adhesion coefficient does not match the actual situation of the vehicle, which in turn leads to inaccurate anti-skid control of the vehicle and affects the safety of passengers.

[0085] In light of this, an embodiment of the present application provides a method for determining an adhesion coefficient. This method can determine a vehicle's first adhesion coefficient based on tire information (tire longitudinal force, tire lateral force, and tire vertical load) for each tire; determine a gain factor based on the first adhesion coefficient and the tire information for each tire; and determine a second adhesion coefficient based on the gain factor and the vehicle's acceleration. After determining the first and second adhesion coefficients, the vehicle fuses the first and second adhesion coefficients to determine the vehicle's target adhesion coefficient. This method improves the accuracy of adhesion coefficient determination, thereby enhancing the match between the adhesion coefficient and the vehicle's actual conditions and, in turn, improving the vehicle's anti-skid control.

[0086] The principles and features of the embodiments of the present application are described below in conjunction with the accompanying drawings. The examples given are only used to explain the embodiments of the present application and are not used to limit the scope of the embodiments of the present application.

[0087] FIG1 is a schematic diagram of an application scenario applicable to an embodiment of the present application. The application scenario includes a vehicle 10, which includes multiple tires. For example, FIG1 shows four tires, namely a left front tire 101, a right front tire 102, a left rear tire 103, and a right rear tire 104.

[0088] For example, the vehicle 10 includes a left front tire 101 , a right front tire 102 , a left rear tire 103 , and a right rear tire 104 .

[0089] The vehicle 10 obtains tire information of the left front tire 101, the right front tire 102, the left rear tire 103, and the right rear tire 104. The tire information includes tire longitudinal force, tire lateral force, and tire vertical load.

[0090] The vehicle 10 determines a first adhesion coefficient of the vehicle 10 based on tire information of the left front tire 101 , tire information of the right front tire 102 , tire information of the left rear tire 103 , and tire information of the right rear tire 104 .

[0091] The vehicle 10 determines a gain coefficient based on the first adhesion coefficient, tire information of the left front tire 101 , tire information of the right front tire 102 , tire information of the left rear tire 103 , and tire information of the right rear tire 104 .

[0092] The vehicle 10 determines the second adhesion coefficient based on the gain coefficient and the acceleration of the vehicle.

[0093] The vehicle 10 determines a target adhesion coefficient of the vehicle 10 based on the first adhesion coefficient and the second adhesion coefficient.

[0094] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0095] FIG2 is a flow chart of a first embodiment of a method for determining an adhesion coefficient provided in an embodiment of the present application. Referring to FIG2 , the method specifically includes the following steps:

[0096] S201: Obtain tire information of each tire of the vehicle.

[0097] In this embodiment, the vehicle may obtain tire information of each tire of the vehicle, where the tire information includes tire longitudinal force, tire lateral force, and tire vertical load of the tire.

[0098] S202: Determine a first adhesion coefficient of the vehicle according to tire information of each tire.

[0099] In this embodiment, the vehicle may determine the first adhesion coefficient of the vehicle based on tire information of each tire.

[0100] Specifically, for any tire, the vehicle can determine the adhesion coefficient of the tire based on the tire information of the tire.

[0101] For example, taking a vehicle including four tires (a left front tire, a right front tire, a left rear tire, and a right rear tire), the vehicle can determine the adhesion coefficient of the tire based on the tire information of the tire based on the following formula.

[0102] Where MueUtilWhl(k) represents the tire's adhesion coefficient. Fx_N(k) represents the tire's longitudinal force, Fy_N(k) represents the tire's lateral force, and Fz_N(k) represents the tire's vertical load. k = 1 represents the left front tire, k = 2 represents the right front tire, k = 3 represents the left rear tire, and k = 4 represents the right rear tire.

[0103] After calculating the adhesion coefficient of each vehicle, the vehicle may determine a first adhesion coefficient according to the adhesion coefficient of each tire.

[0104] S203: Determine a gain coefficient according to the first adhesion coefficient and tire information of each tire.

[0105] In this embodiment, the vehicle may determine the gain coefficient according to the first adhesion coefficient and tire information of each tire.

[0106] Specifically, the vehicle may determine the total tire adhesion coefficient of the vehicle based on tire information of each tire (tire longitudinal force, tire lateral force, and tire vertical load of the tire).

[0107] The vehicle may determine the third adhesion coefficient as a product of the first adhesion coefficient and a preset number, wherein the preset number is the number of tires included in the vehicle.

[0108] The vehicle determines the ratio of the third adhesion coefficient to the total tire adhesion coefficient as the gain coefficient.

[0109] For example, taking a vehicle including four tires (a left front tire, a right front tire, a left rear tire, and a right rear tire), the vehicle can determine a gain coefficient based on the following formula according to the first adhesion coefficient and tire information of each tire.

[0110] Where Gain represents the gain coefficient. Fx_N(k) represents the tire longitudinal force, Fy_N(k) represents the tire lateral force, and Fz_N(k) represents the tire vertical load. k=1 represents the left front tire, k=2 represents the right front tire, k=3 represents the left rear tire, and k=4 represents the right rear tire. MueUtilFromTqMdl represents the first adhesion coefficient.

[0111] S204: Determine a second adhesion coefficient according to the gain coefficient and the acceleration of the vehicle.

[0112] In this embodiment, the vehicle may determine the second adhesion coefficient based on the gain coefficient and the vehicle's acceleration, where the acceleration includes longitudinal acceleration, lateral acceleration, and gravitational acceleration.

[0113] Specifically, the vehicle may determine the fourth adhesion coefficient based on the longitudinal acceleration, the lateral acceleration, and the acceleration of gravity, and may determine the second adhesion coefficient as the product of the gain coefficient and the fourth adhesion coefficient.

[0114] The vehicle can determine the second adhesion coefficient based on the following formula.

[0115] Among them, MueUtilWhlIMU represents the second adhesion coefficient.

[0116] Gain represents the gain coefficient.

[0117] a x represents the longitudinal acceleration, a y It should be noted that a x and a y Detected by the inertial measurement unit (IMU) motion sensor.

[0118] represents the fourth adhesion coefficient.

[0119] S205: Determine a target adhesion coefficient of the vehicle according to the first adhesion coefficient and the second adhesion coefficient.

[0120] In this embodiment, after the vehicle determines the first adhesion coefficient and the second adhesion coefficient, it can determine a target adhesion coefficient of the vehicle according to the first adhesion coefficient and the second adhesion coefficient.

[0121] In one implementation, the vehicle may determine the sum of the product of the first adhesion coefficient and a preset first weight value and the product of the second adhesion coefficient and a preset second weight coefficient as the target coefficient of the vehicle.

[0122] In one implementation, the vehicle may determine a first weight value for the first adhesion coefficient and a second weight value for the second adhesion coefficient based on the acquired vehicle information and / or the second adhesion coefficient. The vehicle may also determine a target adhesion coefficient based on the first adhesion coefficient, the second adhesion coefficient, the first weight value, and the second weight value.

[0123] Beneficial effects of this embodiment: In this embodiment, a vehicle can determine a first adhesion coefficient based on tire information for each tire (tire longitudinal force, tire lateral force, and tire vertical load); determine a gain factor based on the first adhesion coefficient and the tire information for each tire; and determine a second adhesion coefficient based on the gain factor and the vehicle's acceleration. After determining the first and second adhesion coefficients, the vehicle fuses the first and second adhesion coefficients to determine a target adhesion coefficient for the vehicle. This method improves the accuracy of adhesion coefficient determination, thereby enhancing the match between the adhesion coefficient and the vehicle's actual conditions and, in turn, improving the vehicle's anti-skid control.

[0124] The following describes in detail a process of determining the first adhesion coefficient of the vehicle based on the tire information of each tire through a second method embodiment.

[0125] FIG3 is a flow chart of a second embodiment of a method for determining an adhesion coefficient provided in an embodiment of the present application. Referring to FIG3 , the method specifically includes the following steps:

[0126] S301: For any tire, determine the tire adhesion coefficient based on the tire information of the tire.

[0127] In this embodiment, for any tire, the vehicle can determine the adhesion coefficient of the tire based on the tire information of the tire.

[0128] For example, taking a vehicle including four tires (a left front tire, a right front tire, a left rear tire, and a right rear tire), the vehicle can determine the adhesion coefficient of the tire based on the tire information of the tire based on the following formula.

[0129] Where MueUtilWhl(k) represents the tire's adhesion coefficient. Fx_N(k) represents the tire's longitudinal force, Fy_N(k) represents the tire's lateral force, and Fz_N(k) represents the tire's vertical load. k = 1 represents the left front tire, k = 2 represents the right front tire, k = 3 represents the left rear tire, and k = 4 represents the right rear tire.

[0130] S302: Determine whether the vehicle stability control system is activated.

[0131] In this embodiment, the vehicle may determine whether the vehicle has a stability control system activated.

[0132] If yes, execute S303;

[0133] If not, execute S304.

[0134] In one implementation, the vehicle determines that the stability control system is activated when it is recognized that a brake flag position of a tire (wheel) is present and the braking torque of the tire (wheel) is greater than zero.

[0135] In one implementation, the vehicle determines that the stability control system is activated when it is recognized that a control flag of the anti-lock braking system of one tire (wheel) is set and the braking torque of the tire (wheel) is greater than zero.

[0136] In one implementation, the vehicle determines that the stability control system is activated when it is recognized that there is a tire (wheel) corresponding to the tire (wheel) identifier in the lift torque request and the slip ratio of the tire (wheel) is greater than zero.

[0137] S303: Calculate a first adhesion coefficient according to the adhesion coefficient of each tire, the tire longitudinal force and the tire lateral force corresponding to each tire.

[0138] In this embodiment, when it is determined that the vehicle stability control system is activated, the vehicle calculates a first adhesion coefficient according to the adhesion coefficient of each tire, the tire longitudinal force and the tire lateral force corresponding to each tire.

[0139] For example, taking a vehicle having four tires (a left front tire, a right front tire, a left rear tire, and a right rear tire), the vehicle can calculate a first adhesion coefficient based on the following formula according to the adhesion coefficient of each tire, the tire longitudinal force, and the tire lateral force corresponding to each tire.

[0140] Among them, MueUtilFromTqMdl represents the first adhesion coefficient.

[0141] Fx_N(k) represents the tire longitudinal force, Fy_N(k) represents the tire lateral force, and Fz_N(k) represents the tire vertical load.

[0142] k=1 represents the left front tire, k=2 represents the right front tire, k=3 represents the left rear tire, and k=4 represents the right rear tire.

[0143] Indicates the adhesion coefficient of a tire.

[0144] S304: Determine a turning state of the vehicle, and determine a first adhesion coefficient according to the turning state and the adhesion coefficient of each tire.

[0145] In this embodiment, when it is determined that the stability control system is not activated, the vehicle determines the turning state of the vehicle, wherein the turning state includes a left turning state, a right turning state, and a straight driving state.

[0146] The vehicle may determine a first adhesion coefficient according to a turning state and an adhesion coefficient of each tire.

[0147] Specifically, if the turning state is a left turning state, the maximum value of the adhesion coefficient of the right front tire and the adhesion coefficient of the right rear tire is determined as the first adhesion coefficient.

[0148] For example, if a vehicle includes four tires (a left front tire, a right front tire, a left rear tire, and a right rear tire), the vehicle can determine the maximum of the adhesion coefficients of the right front tire and the right rear tire as the first adhesion coefficient based on the following formula.

[0149] MueUtilFromTqMdl=max(MueUtilWhl(2),MueUtilWhl(4))

[0150] Among them, MueUtilFromTqMdl represents the first adhesion coefficient, MueUtilWhl(2) represents the adhesion coefficient of the right front tire, and MueUtilWhl(4) represents the adhesion coefficient of the right rear tire.

[0151] If the turning state is a right turning state or a straight driving state, the maximum value of the adhesion coefficient of the left front tire and the adhesion coefficient of the left rear tire is determined as the first adhesion coefficient.

[0152] For example, if a vehicle includes four tires (a left front tire, a right front tire, a left rear tire, and a right rear tire), the vehicle can determine the maximum of the adhesion coefficients of the right front tire and the right rear tire as the first adhesion coefficient based on the following formula.

[0153] MueUtilFromTqMdl=max(MueUtilWhl(1),MueUtilWhl(3))

[0154] Among them, MueUtilFromTqMdl represents the first adhesion coefficient, MueUtilWhl(1) represents the adhesion coefficient of the left front tire, and MueUtilWhl(3) represents the adhesion coefficient of the left rear tire.

[0155] Beneficial effects of this embodiment: In this embodiment, when the vehicle determines that the stability control system is activated, the vehicle can calculate a first adhesion coefficient based on the adhesion coefficient of each tire, the tire longitudinal force, and the tire lateral force corresponding to each tire. When the vehicle determines that the stability control system is not activated, the vehicle can determine the vehicle's turning state and determine the first adhesion coefficient based on the turning state and the adhesion coefficient of each tire. By identifying whether the vehicle's stability control system is activated, an appropriate method is used to determine the first adhesion coefficient, thereby improving the accuracy of determining the first adhesion coefficient and, in turn, improving the accuracy of determining the vehicle's target adhesion coefficient based on the first adhesion coefficient.

[0156] The following describes in detail a process of determining a target adhesion coefficient of the vehicle based on the first adhesion coefficient and the second adhesion coefficient through a third method embodiment.

[0157] FIG4 is a flow chart of a third embodiment of a method for determining an adhesion coefficient provided in an embodiment of the present application. Referring to FIG4 , the method specifically includes the following steps:

[0158] S401: Determine a first weight value of the first adhesion coefficient and a second weight value of the second adhesion coefficient according to vehicle information and / or the second adhesion coefficient.

[0159] In this embodiment, the vehicle may determine a first weighted value for the first adhesion coefficient and a second weighted value for the second adhesion coefficient based on vehicle information and / or the second adhesion coefficient, wherein the vehicle information includes at least one of the following: an actual yaw angle, a tire slip ratio, and a longitudinal vehicle speed.

[0160] For example, a vehicle determines a first weighted value of the first adhesion coefficient and a second weighted value of the second adhesion coefficient according to an actual yaw angle, a tire slip rate, a longitudinal vehicle speed, and a second adhesion coefficient.

[0161] The vehicle may determine an error between the actual yaw angle and a reference value based on the actual yaw angle, and query a table stored in the vehicle according to the error between the actual yaw angle and the reference value to determine a first correction weight coefficient.

[0162] The vehicle may determine a variance of a rate of change of the tire slip rate based on the tire slip rate, and determine a second correction weight coefficient by querying a table stored in the vehicle according to the variance of the rate of change of the tire slip rate.

[0163] The vehicle can query a table stored in the vehicle based on the second adhesion coefficient to determine a third correction weight coefficient.

[0164] The vehicle may query a table stored in the vehicle according to the longitudinal vehicle speed to determine the fourth correction weight coefficient.

[0165] The vehicle may determine the first weight value based on the following formula according to the first modified weight coefficient, the second modified weight coefficient, the third modified weight coefficient, and the fourth modified weight coefficient: λ1 = Factor1 * Factor2 * Factor3 * Factor4

[0166] Wherein, λ1 represents the first weight value, Factor1 represents the first modified weight coefficient, Factor2 represents the second modified weight coefficient, Factor3 represents the third modified weight coefficient, and Factor4 represents the fourth modified weight coefficient.

[0167] After determining the first weight value, the vehicle can determine the second weight value based on the following formula: λ1=1-λ2

[0168] Wherein, λ1 represents the first weight value. λ2 represents the second weight value.

[0169] S402: Determine a target adhesion coefficient according to the first adhesion coefficient, the second adhesion coefficient, the first weight value, and the second weight value.

[0170] In this embodiment, the vehicle may determine a target adhesion coefficient based on the first adhesion coefficient, the second adhesion coefficient, the first weight value, and the second weight value.

[0171] Specifically, the vehicle can determine the target adhesion coefficient based on the following formula: MueUtilizedInst = λ2*MueUtilWhlIMU+λ1*MueUtilFromTqMdl

[0172] Wherein, λ1 represents the first weight value, λ2 represents the first weight value, MueUtilFromTqMdl represents the first adhesion coefficient, and MueUtilWhlIMU represents the second adhesion coefficient.

[0173] The beneficial effects of this embodiment are as follows: the vehicle can determine the first weight value and the second weight value based on the vehicle information and / or the second adhesion coefficient, and then appropriately fuse the first adhesion coefficient and the second adhesion coefficient according to the first weight value and the second weight value, thereby improving the accuracy of determining the target adhesion coefficient of the vehicle, improving the matching degree between the target adhesion coefficient and the actual vehicle situation, and thus improving the control effect of the vehicle.

[0174] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0175] FIG5 is a schematic diagram of the structure of an adhesion coefficient determination device provided in an embodiment of the present application. As shown in FIG5 , the adhesion coefficient determination device 50 includes an acquisition module 51 and a processing module 52 .

[0176] The acquisition module 51 is used to acquire tire information of each tire of the vehicle, where the tire information includes tire longitudinal force, tire lateral force, and tire vertical load;

[0177] a processing module 52 for determining a first adhesion coefficient of the vehicle based on tire information of each tire;

[0178] The processing module 52 is further configured to determine a gain coefficient based on the first adhesion coefficient and tire information of each tire;

[0179] The processing module 52 is further configured to determine a second adhesion coefficient based on the gain coefficient and the acceleration of the vehicle;

[0180] The processing module 52 is further configured to determine a target adhesion coefficient of the vehicle according to the first adhesion coefficient and the second adhesion coefficient.

[0181] The device for determining the adhesion coefficient provided in the embodiment of the present application can implement the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0182] In one implementation, the processing module 52 is specifically configured to:

[0183] For any tire, determine the tire adhesion coefficient based on the tire information;

[0184] A first adhesion coefficient is determined based on the adhesion coefficient of each tire.

[0185] The device for determining the adhesion coefficient provided in the embodiment of the present application can implement the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0186] In one implementation, the processing module 52 is specifically configured to:

[0187] Determine if the vehicle's stability control system is activated;

[0188] If yes, then calculating a first adhesion coefficient based on the adhesion coefficient of each tire, the tire longitudinal force and the tire lateral force corresponding to each tire;

[0189] If not, the turning state of the vehicle is determined, and a first adhesion coefficient is determined according to the turning state and the adhesion coefficient of each tire.

[0190] The device for determining the adhesion coefficient provided in the embodiment of the present application can implement the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0191] In one implementation, the processing module 52 is specifically configured to:

[0192] The sum of the adhesion coefficients of each tire is determined as the total adhesion coefficient;

[0193] Determine the target force on the vehicle in the horizontal plane based on the tire longitudinal force and tire lateral force corresponding to each tire;

[0194] The ratio of the total adhesion coefficient to the target force is determined as the first adhesion coefficient.

[0195] The device for determining the adhesion coefficient provided in the embodiment of the present application can implement the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0196] In one implementation, the processing module 52 is specifically configured to:

[0197] If the turning state is a left turning state, the maximum value of the adhesion coefficient of the right front tire and the adhesion coefficient of the right rear tire is determined as the first adhesion coefficient;

[0198] If the turning state is a right turning state or a straight driving state, the maximum value of the adhesion coefficient of the left front tire and the adhesion coefficient of the left rear tire is determined as the first adhesion coefficient.

[0199] The device for determining the adhesion coefficient provided in the embodiment of the present application can implement the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0200] In one implementation, the processing module 52 is specifically configured to:

[0201] Determine the vehicle's overall tire adhesion coefficient based on the tire information of each tire;

[0202] determining a third adhesion coefficient by multiplying the first adhesion coefficient by a preset number, the preset number being the number of tires included in the vehicle;

[0203] The ratio of the third adhesion coefficient to the total tire adhesion coefficient is determined as the gain coefficient.

[0204] The device for determining the adhesion coefficient provided in the embodiment of the present application can implement the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0205] In one implementation, the acceleration includes longitudinal acceleration, lateral acceleration, and gravitational acceleration; the processing module 52 is specifically configured to:

[0206] determining a fourth adhesion coefficient based on the longitudinal acceleration, the lateral acceleration, and the acceleration due to gravity;

[0207] The product of the gain coefficient and the fourth adhesion coefficient is determined as the second adhesion coefficient.

[0208] The device for determining the adhesion coefficient provided in the embodiment of the present application can implement the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0209] In one implementation, the processing module 52 is specifically configured to:

[0210] determining a first weighted value of the first adhesion coefficient and a second weighted value of the second adhesion coefficient based on vehicle information and / or a second adhesion coefficient of the vehicle, wherein the vehicle information includes at least one of the following: an actual yaw angle, a tire slip ratio, and a longitudinal vehicle speed;

[0211] A target adhesion coefficient is determined according to the first adhesion coefficient, the second adhesion coefficient, the first weight value, and the second weight value.

[0212] The device for determining the adhesion coefficient provided in the embodiment of the present application can implement the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0213] Figure 6 is a structural diagram of a vehicle provided in an embodiment of the present application. As shown in Figure 6 , vehicle 60 includes a processor 61 and a memory 62. Processor 61 is communicatively coupled to memory 62, which is configured to store computer-executable instructions. Processor 61 is configured to execute the computer-executable instructions stored in memory 62 to implement the technical solutions of any of the aforementioned method embodiments.

[0214] Optionally, the memory 62 may be independent or integrated with the processor 61. Optionally, when the memory 62 is a device independent of the processor 61, the vehicle 60 may further include a bus configured to connect the above devices.

[0215] The vehicle is configured to execute the technical solution in any of the aforementioned method embodiments, and its implementation principles and technical effects are similar and will not be described in detail here.

[0216] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are configured to implement the technical solution provided by any of the aforementioned method embodiments.

[0217] An embodiment of the present application also provides a computer program product, including a computer program, which is configured to implement the technical solution provided by the aforementioned method embodiment when executed by a processor.

[0218] Those skilled in the art will appreciate that all or part of the steps in the above method can be completed by instructing relevant hardware (such as a processor) through a program, and the program can be stored in a computer-readable storage medium, such as a read-only memory, a disk or an optical disk. Optionally, all or part of the steps in the above embodiment can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiment can be implemented in the form of hardware, for example, by implementing its corresponding function through an integrated circuit, or in the form of a software functional module, for example, by executing a program / instruction stored in a memory by a processor to implement its corresponding function. This application is not limited to any particular form of combination of hardware and software.

[0219] Finally, it should be noted that each of the above embodiments is only used to illustrate the technical solution of the present application, rather than to limit it. Although the embodiments of the present application have been described in detail with reference to each of the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solution recorded in each of the above embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the scope of the technical solution of each embodiment of the present application.

Claims

1. A method for determining an adhesion coefficient, applied to a vehicle, comprising: Acquiring tire information of each tire of the vehicle, the tire information including tire longitudinal force, tire lateral force, and tire vertical load of the tire; determining a first adhesion coefficient of the vehicle according to the tire information of each tire; determining a gain coefficient according to the first adhesion coefficient and the tire information of each tire; determining a second adhesion coefficient according to the gain coefficient and the acceleration of the vehicle; A target adhesion coefficient of the vehicle is determined according to the first adhesion coefficient and the second adhesion coefficient.

2. The determination method according to claim 1, wherein: For any tire, determining the adhesion coefficient of the tire according to tire information of the tire; The first adhesion coefficient is determined according to the adhesion coefficient of each tire.

3. The determination method according to claim 2, wherein: determining whether a stability control system is activated for the vehicle; If yes, calculating the first adhesion coefficient according to the adhesion coefficient of each tire, the tire longitudinal force and the tire lateral force corresponding to each tire; If not, the turning state of the vehicle is determined, and the first adhesion coefficient is determined according to the turning state and the adhesion coefficient of each tire.

4. The determination method according to claim 3, wherein: The sum of the adhesion coefficients of each tire is determined as the total adhesion coefficient; Determining a target force on the vehicle in a horizontal plane based on the tire longitudinal force and the tire lateral force corresponding to each tire; The ratio of the total adhesion coefficient to the target force is determined as the first adhesion coefficient.

5. The determination method according to claim 3, wherein: If the turning state is a left turning state, determining the maximum value of the adhesion coefficient of the right front tire and the adhesion coefficient of the right rear tire as the first adhesion coefficient; If the turning state is a right turning state or a straight driving state, the maximum value of the adhesion coefficient of the left front tire and the adhesion coefficient of the left rear tire is determined as the first adhesion coefficient.

6. The determination method according to any one of claims 1 to 5, wherein: determining an overall tire adhesion coefficient of the vehicle based on tire information of each tire; determining a third adhesion coefficient by multiplying the first adhesion coefficient by a preset number, the preset number being the number of tires included in the vehicle; The ratio of the third adhesion coefficient to the total tire adhesion coefficient is determined as the gain coefficient.

7. The determination method according to any one of claims 1 to 6, wherein the acceleration comprises longitudinal acceleration, lateral acceleration, and gravitational acceleration; wherein: determining a fourth adhesion coefficient according to the longitudinal acceleration, the lateral acceleration, and the acceleration of gravity; The product of the gain coefficient and the fourth adhesion coefficient is determined as the second adhesion coefficient.

8. The determination method according to any one of claims 1 to 7, wherein: determining a first weight value of the first adhesion coefficient and a second weight value of the second adhesion coefficient based on vehicle information of the vehicle and / or the second adhesion coefficient, wherein the vehicle information includes at least one of the following: an actual yaw angle, a tire slip ratio, and a longitudinal vehicle speed; The target adhesion coefficient is determined according to the first adhesion coefficient, the second adhesion coefficient, the first weight value, and the second weight value.

9. A device for determining an adhesion coefficient, comprising: an acquisition module, configured to acquire tire information of each tire of the vehicle, the tire information including tire longitudinal force, tire lateral force, and tire vertical load of the tire; a processing module, configured to determine a first adhesion coefficient of the vehicle based on the tire information of each tire; The processing module is further configured to determine a gain coefficient based on the first adhesion coefficient and the tire information of each tire; The processing module is further configured to determine a second adhesion coefficient based on the gain coefficient and the acceleration of the vehicle; The processing module is further configured to determine a target adhesion coefficient of the vehicle according to the first adhesion coefficient and the second adhesion coefficient.

10. A vehicle comprising: a processor, and a memory communicatively connected to the processor; The memory is configured to store computer-executable instructions; The processor is configured to execute the computer-executable instructions stored in the memory to implement the method for determining the adhesion coefficient according to any one of claims 1 to 8. 11 . A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, the method for determining the adhesion coefficient according to claim 1 is implemented. 12 . A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for determining the adhesion coefficient according to claim 1 is implemented.