Road adhesion coefficient calculation method and device and storage medium

Abstract

The invention discloses a road adhesion coefficient calculation method and device and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps of obtaining a pavement image of a road where a vehicle is located, driving data of the vehicle and running parameters of the vehicle; determining a road type of a road where the vehicle is located based on the road image; according to the road surface type, calculating a first road surface adhesion coefficient of each tire and a road where the vehicle is located based on the driving data of the vehicle and the running parameters of the vehicle; calculating a second road adhesion coefficient between each tire and the road where the vehicle is located based on the operation parameters of the vehicle; and calculating the road adhesion coefficient of the vehicle on the road where the vehicle is located based on the first road adhesion coefficient and the second road adhesion coefficient. According to the method, the accuracy of calculating the road adhesion coefficient is improved, the adhesion characteristics of tires can be better utilized, control over the slip rate and stability of the vehicle is optimized, and therefore the vehicle performance and the driving safety are improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle control technology, and in particular to a method, device and storage medium for calculating a road adhesion coefficient. Background Art

[0002] In the control of vehicle dynamics and stability, it is necessary to estimate the road adhesion coefficient. Estimating the road adhesion coefficient not only helps to utilize the adhesion characteristics of the tire, but also provides key data for controlling the slip rate and vehicle stability. Therefore, how to quickly and accurately identify the road adhesion coefficient is important to improve vehicle performance and driving safety. Summary of the invention

[0003] The present application provides a method, device and storage medium for calculating the road adhesion coefficient, which can be used to improve driving safety and vehicle performance. The technical solution is as follows:

[0004] On the one hand, an embodiment of the present application provides a method for calculating a road adhesion coefficient, the method comprising:

[0005] Obtaining a road surface image of the road where the vehicle is located, the vehicle's driving data, and the vehicle's operating parameters;

[0006] Determining the road surface type of the road where the vehicle is located based on the road surface image;

[0007] Calculating a first road adhesion coefficient between each tire and the road on which the vehicle is located according to the road type, based on the driving data of the vehicle and the operating parameters of the vehicle;

[0008] Calculating a second road adhesion coefficient between each tire and the road on which the vehicle is located based on the operating parameters of the vehicle;

[0009] A road adhesion coefficient of the vehicle on the road where the vehicle is located is calculated based on the first road adhesion coefficient and the second road adhesion coefficient.

[0010] On the other hand, a device for calculating a road adhesion coefficient is provided, the device comprising:

[0011] An acquisition module, used to acquire a road surface image of the road where the vehicle is located, the vehicle's driving data, and the vehicle's operating parameters;

[0012] A determination module, configured to determine a road surface type of the road on which the vehicle is located based on the road surface image;

[0013] A first calculation module, configured to calculate a first road adhesion coefficient between each tire and the road on which the vehicle is located according to the road type, based on the driving data of the vehicle and the operating parameters of the vehicle;

[0014] A second calculation module, used for calculating a second road adhesion coefficient between each tire and the road where the vehicle is located based on the operating parameters of the vehicle;

[0015] A third calculation module is used to calculate the road adhesion coefficient of the vehicle on the road where the vehicle is located based on the first road adhesion coefficient and the second road adhesion coefficient.

[0016] On the other hand, a non-temporary computer-readable storage medium is also provided, characterized in that a computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement any of the above-mentioned methods for calculating the road adhesion coefficient.

[0017] On the other hand, a computer program product is also provided, the computer program product comprising computer instructions, which, when executed by a processor, implement the steps of any of the above-mentioned methods for calculating the road adhesion coefficient.

[0018] The technical solution provided by this application brings at least the following beneficial effects:

[0019] The present application determines the road surface type of the road where the vehicle is located by acquiring a road surface image of the road where the vehicle is located; then, by acquiring the vehicle's driving data, a first road surface adhesion coefficient between each tire and the road where the vehicle is located is calculated according to the road surface type, based on the vehicle's driving data and the vehicle's operating parameters; and by acquiring the vehicle's operating parameters, a second road surface adhesion coefficient between each tire and the road where the vehicle is located is calculated based on the vehicle's operating parameters; the road surface adhesion coefficient of the vehicle on the road where the vehicle is located is calculated based on the first road surface adhesion coefficient and the second road surface adhesion coefficient, thereby improving the accuracy of calculating the road surface adhesion coefficient, facilitating better utilization of the adhesion characteristics of the tires, and optimizing control of the vehicle's slip rate and stability, thereby improving vehicle performance and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 It is a schematic diagram of an implementation environment provided by an embodiment of the present application;

[0022] Figure 2 is a flow chart of a method for calculating a road adhesion coefficient provided in an embodiment of the present application;

[0023] Figure 3is a schematic diagram of a uniform road surface provided in an embodiment of the present application;

[0024] Figure 4 It is a schematic diagram of a split road surface provided in an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of a docking road surface provided in an embodiment of the present application;

[0026] Figure 6 It is a structural schematic diagram of a device for calculating a road adhesion coefficient provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0028] This application embodiment provides a method for calculating the road adhesion coefficient. Please refer to Figure 1 , which shows a schematic diagram of the implementation environment of the method provided in the embodiment of the present application. The implementation environment may include: ECU (Electronic Control Unit, electronic control unit) 11, EPS (Electronic Power Steering, electronic power steering system) 12, image recognition device 13 and vehicle-mounted camera 14.

[0029] Optionally, EPS12 is used to obtain the steering angle of the vehicle and send it to ECU11, wherein EPS12 contains a steering angle sensor, through which the steering angle of the vehicle can be monitored in real time. The vehicle-mounted camera 14 is used to obtain the road surface image of the road where the vehicle is located and send it to ECU11. The image recognition device 13 is used to recognize the road surface image of the road captured by the vehicle-mounted camera 14, and determine the road surface type according to the recognized image features. In the embodiment, ECU11, EPS12, image recognition device 13 and vehicle-mounted camera 14 establish a communication connection through a wired or wireless network.

[0030] Based on the above Figure 1 In the implementation environment shown in FIG. 1 , the present application embodiment provides a method for calculating the road adhesion coefficient. Figure 2 As shown, taking the method applied to ECU as an example, the method includes steps 201 to 205.

[0031] In step 201, the ECU obtains a road surface image of the road where the vehicle is located, the vehicle's driving data, and the vehicle's operating parameters.

[0032] In a possible implementation, the vehicle's driving data includes the vehicle's driving speed and steering angle, and the vehicle's operating parameters include the vehicle's lever arm, weight, vertical load of the tire, base distance, and cornering stiffness. Next, examples are given to illustrate the method of obtaining each data.

[0033] (1) Obtaining the road surface image of the road where the vehicle is located

[0034] Exemplarily, the ECU may obtain a road surface image of the road where the vehicle is located through a vehicle-mounted camera. The vehicle-mounted camera may be installed at the bottom of the vehicle to capture the road surface image of the road at the bottom of the vehicle.

[0035] (2) Obtain the vehicle's speed

[0036] Optionally, the ECU may obtain the driving speed of the vehicle through an onboard navigation device, wherein the onboard navigation device is installed on the vehicle and may monitor the driving speed of the vehicle in real time.

[0037] (3) Obtain the vehicle's steering angle

[0038] In a possible implementation, the ECU may obtain the steering angle of the vehicle through an EPS (Electronic Power Steering). Optionally, the EPS may monitor the steering angle of the vehicle in real time through a steering angle sensor included therein.

[0039] (4) Obtain the vehicle's lever arm, weight, vertical load on the tire, base distance, and cornering stiffness

[0040] For example, the vehicle's moment arm, weight, tire vertical load, base distance, and cornering stiffness can be determined in advance through experiments. The vehicle's moment arm is the horizontal distance between the center of mass of the vehicle and the contact point where the tire contacts the ground, and the center of mass of the vehicle is the average distribution point of the vehicle's mass; the tire's vertical load refers to the magnitude of the force acting vertically on the tire, and the tire's base distance refers to the distance between the two front wheels or the two rear wheels.

[0041] In step 202 , the ECU determines the road type of the road on which the vehicle is located based on the road image.

[0042] In one possible implementation, after completing the road surface image of the road where the vehicle is located, the ECU determines the road surface type of the road where the vehicle is located based on the road surface image, including: identifying image features of the road surface image; determining the material distribution, dryness and wetness distribution, and impurity distribution of the road surface based on the image features; and determining the road surface type based on the material distribution, dryness and wetness distribution, and impurity distribution.

[0043] Exemplarily, the ECU recognizes the road surface image of the road through the image recognition device, extracts the image features of the road surface image; divides the road surface of the vehicle into four areas: upper left, lower left, upper right and lower right; and then determines the material, dryness and wetness, and impurities of each area of ​​the road surface based on the image features. After determining the material, dryness and wetness, and impurities of each area, the road surface type is determined based on the material distribution, dryness and wetness distribution, and impurity distribution. The road surface types include but are not limited to: uniform road surface, butt road surface, and split road surface.

[0044] Optionally, the road surface type is determined based on the material distribution, wetness distribution and impurity distribution, including: in response to the road surface material distribution, wetness distribution and impurity distribution being consistent, the road surface type is determined to be a uniform road surface; in response to the road surface material distribution, wetness distribution and impurity distribution being symmetrical in the horizontal direction, the road surface type is determined to be a split road surface; in response to the road surface material distribution, wetness distribution and impurity distribution being symmetrical in the vertical direction, the road surface type is determined to be a butted road surface.

[0045] For example, if the material distribution, dryness and wetness distribution, and impurity distribution of the four regions of the upper left, lower left, upper right, and lower right are consistent, such as Figure 3 As shown, the ECU determines that the road surface type is a uniform road surface. In a possible implementation, if the material distribution, wetness distribution, and impurity distribution of the upper left and lower left are consistent, and the material distribution, wetness distribution, and impurity distribution of the upper right and lower right are consistent, it indicates that the material distribution, wetness distribution, and impurity distribution of the road surface are symmetrical in the horizontal direction, such as Figure 4 As shown, the ECU determines that the road type is a split road.

[0046] Optionally, if the material distribution, wetness distribution, and impurity distribution of the upper left and upper right are consistent, and the material distribution, wetness distribution, and impurity distribution of the lower left and lower right are consistent, it indicates that the material distribution, wetness distribution, and impurity distribution of the road surface are symmetrical in the vertical direction, such as Figure 5 As shown, the ECU determines that the road surface type is a butt-type road surface.

[0047] In step 203, the ECU calculates a first road adhesion coefficient between each tire and the road on which the vehicle is located according to the road type, based on the vehicle's driving data and the vehicle's operating parameters.

[0048] Exemplarily, after determining the road surface type of the road on which the vehicle is located, the ECU calculates the first road surface adhesion coefficient between each tire and the road on which the vehicle is located according to the road surface type, based on the vehicle's driving data and the vehicle's operating parameters, including: in response to the road surface type being a uniform road surface, calculating the first adhesion coefficient between any tire and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters as the first adhesion coefficient between all tires and the road on which the vehicle is located; in response to the road surface type being a split road surface, calculating the first adhesion coefficient between any tire on the left side and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters as the first adhesion coefficient between all tires on the left side and the road on which the vehicle is located, and calculating the first adhesion coefficient between any tire on the right side and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters as the first adhesion coefficient between all tires on the right side and the road on which the vehicle is located; in response to the road surface type being a butted road surface, calculating the first adhesion coefficient between any tire on the front side and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters as the first adhesion coefficient between all tires on the front side and the road on which the vehicle is located, and calculating the first adhesion coefficient between any tire on the rear side and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters as the first adhesion coefficient between all tires on the rear side and the road on which the vehicle is located.

[0049] In one possible implementation, if the road surface type is a uniform road surface, the ECU calculates the first adhesion coefficient between any tire and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters, and uses the first adhesion coefficient between the tire and the road on which the vehicle is located as the first adhesion coefficient between all the vehicle's tires and the road on which the vehicle is located.

[0050] Optionally, the ECU calculates the first adhesion coefficient between any tire and the road where the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters, including but not limited to: calculating the first adhesion coefficient between any tire and the road where the vehicle is located according to a formula for calculating the adhesion coefficient, wherein the formula for calculating the adhesion coefficient is as follows:

[0051]

[0052] u1 is the first adhesion coefficient of the tire, m is the weight of the vehicle, F x is the vertical load of the tire, a is the braking acceleration of the vehicle, wherein the braking acceleration of the vehicle can be calculated according to the driving speed of the vehicle.

[0053] Exemplarily, if the road surface type is a split road, the ECU calculates the first adhesion coefficient between any left tire and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters according to the first formula for calculating the adhesion coefficient, and uses the first adhesion coefficient between the left tire and the road on which the vehicle is located as the first adhesion coefficient between all the left tires of the vehicle and the road on which the vehicle is located.

[0054] In one possible implementation, the ECU calculates a first adhesion coefficient between any tire on the right side and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters according to a first formula for calculating the adhesion coefficient, and uses the first adhesion coefficient between the right side tire and the road on which the vehicle is located as the first adhesion coefficient between all tires on the right side of the vehicle and the road on which the vehicle is located.

[0055] Optionally, if the road surface type is a butt-jointed road surface, the ECU calculates the first adhesion coefficient between any front tire and the road on which the vehicle is located according to the first formula for calculating the adhesion coefficient based on the vehicle's driving data and the vehicle's operating parameters, and uses the first adhesion coefficient between the front tire and the road on which the vehicle is located as the first adhesion coefficient between all the front tires of the vehicle and the road on which the vehicle is located.

[0056] Exemplarily, the ECU calculates a first adhesion coefficient between any rear tire and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters, and uses the first adhesion coefficient between the rear tire and the road on which the vehicle is located as the first adhesion coefficient between all rear tires of the vehicle and the road on which the vehicle is located.

[0057] In step 204, the ECU calculates a second road adhesion coefficient between each tire and the road on which the vehicle is located based on the operating parameters of the vehicle.

[0058] Optionally, after determining the operating parameters of the vehicle, a second road adhesion coefficient between each tire and the road on which the vehicle is located is calculated based on the operating parameters of the vehicle, including: calculating the vehicle's righting torque and the vehicle's center of mass sideslip angle based on the vehicle's operating parameters; calculating the second road adhesion coefficient between each tire and the road on which the vehicle is located based on the vehicle's righting torque and the vehicle's center of mass sideslip angle.

[0059] Exemplarily, the method of calculating the center of mass sideslip angle of the vehicle based on the operating parameters of the vehicle includes, but is not limited to: calculating the center of mass sideslip angle of the vehicle according to a formula for calculating the center of mass sideslip angle, wherein the formula for calculating the center of mass sideslip angle is as follows:

[0060]

[0061] β is the sideslip angle of the center of mass, L is the base distance of the tire, R is the turning radius of the vehicle, and δ is the steering angle of the vehicle, where the turning radius of the vehicle can be calculated by the vehicle's driving speed and the vehicle's lateral acceleration.

[0062] In a possible implementation, the method of calculating the vehicle's aligning torque based on the vehicle's operating parameters includes, but is not limited to: calculating the vehicle's aligning torque by a formula for calculating the aligning torque, wherein the formula for calculating the aligning torque is as follows:

[0063]

[0064] M is the vehicle's self-aligning torque, is the cornering stiffness of the tire, and γ is the lever arm.

[0065] Optionally, after the righting moment and the sideslip angle of the center of mass are determined, based on the righting moment of the vehicle and the sideslip angle of the center of mass of the vehicle, according to the corresponding relationship between the righting moment and the sideslip angle of the center of mass of the vehicle and the road adhesion coefficient, a second road adhesion coefficient u2 of each tire and the road where the vehicle is located is calculated. The corresponding relationship between the righting moment and the sideslip angle of the center of mass of the vehicle and the road adhesion coefficient can be determined based on experiments.

[0066] In step 205 , the ECU calculates a road adhesion coefficient of the vehicle on the road where the vehicle is located based on the first road adhesion coefficient and the second road adhesion coefficient.

[0067] Exemplarily, after completing the calculation of the first road adhesion coefficient and the second road adhesion coefficient, the road adhesion coefficient of the vehicle on the road where the vehicle is located is calculated based on the first road adhesion coefficient and the second road adhesion coefficient, including: calculating the weighted sum of the first road adhesion coefficient and the second road adhesion coefficient based on a preset weighting coefficient, and using the calculation result as the road adhesion coefficient of the wheel on the road where the vehicle is located.

[0068] Optionally, the preset weighting coefficient can be set based on experience. For example, the weight of the first road adhesion coefficient can be set to A, and the weight of the second road adhesion coefficient can be set to B. It is necessary to satisfy that the sum of A and B is 100%. In a possible implementation, the formula for calculating the road adhesion coefficient of the wheel on the road where the vehicle is located is as follows:

[0069] u=A×u1+B×u2

[0070] The road adhesion coefficient of the wheel on the road where the vehicle is located is calculated based on a combination of the first road adhesion coefficient and the second road adhesion coefficient, and the comprehensively calculated road adhesion coefficient is then applied to vehicle control and improvement, thereby improving the accuracy of the calculated road adhesion coefficient, facilitating better use of the adhesion characteristics of the tire to improve vehicle performance, and optimizing control of the vehicle's slip rate and stability.

[0071] The embodiment of the present application determines the road surface type of the road where the vehicle is located by acquiring a road surface image of the road where the vehicle is located; then, by acquiring the vehicle's driving data, a first road surface adhesion coefficient between each tire and the road where the vehicle is located is calculated according to the road surface type, based on the vehicle's driving data and the vehicle's operating parameters; and by acquiring the vehicle's operating parameters, a second road surface adhesion coefficient between each tire and the road where the vehicle is located is calculated based on the vehicle's operating parameters; the road surface adhesion coefficient of the vehicle on the road where the vehicle is located is calculated based on the first road surface adhesion coefficient and the second road surface adhesion coefficient, thereby improving the accuracy of calculating the road surface adhesion coefficient, facilitating better utilization of the adhesion characteristics of the tires, and optimizing control of the vehicle's slip rate and stability, thereby improving vehicle performance and driving safety.

[0072] See also Figure 6 , an embodiment of the present application provides a device for calculating a road adhesion coefficient, the device comprising:

[0073] The acquisition module 601 is used to acquire the road surface image of the road where the vehicle is located, the vehicle's driving data and the vehicle's operating parameters;

[0074] A determination module 602, configured to determine the road type of the road on which the vehicle is located based on the road image;

[0075] A first calculation module 603, used for calculating a first road adhesion coefficient between each tire and the road where the vehicle is located according to the road type, based on the vehicle's driving data and the vehicle's operating parameters;

[0076] A second calculation module 604, configured to calculate a second road adhesion coefficient between each tire and the road on which the vehicle is located based on the operating parameters of the vehicle;

[0077] The third calculation module 605 is used to calculate the road adhesion coefficient of the vehicle on the road where the vehicle is located based on the first road adhesion coefficient and the second road adhesion coefficient.

[0078] In one possible implementation, the determination module 602 is used to identify image features of a road surface image; determine the material distribution, dryness and wetness distribution, and impurity distribution of the road surface based on the image features; and determine the road surface type based on the material distribution, dryness and wetness distribution, and impurity distribution.

[0079] In one possible implementation, the pavement types include uniform pavement, butt-jointed pavement and split pavement, and the determination module 602 is used to determine that the pavement type is a uniform pavement in response to the consistency of the material distribution, wetness distribution and impurity distribution of the pavement; to determine that the pavement type is a split pavement in response to the symmetry of the material distribution, wetness distribution and impurity distribution of the pavement in the horizontal direction; and to determine that the pavement type is a butt-jointed pavement in response to the symmetry of the material distribution, wetness distribution and impurity distribution of the pavement in the vertical direction.

[0080] In one possible implementation, the first calculation module 603 is used to calculate the first adhesion coefficient between any tire and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters in response to the road surface type being a uniform road surface as the first adhesion coefficient between all tires and the road on which the vehicle is located; in response to the road surface type being a split road surface, calculate the first adhesion coefficient between any tire on the left side and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters as the first adhesion coefficient between all tires on the left side and the road on which the vehicle is located, and calculate the first adhesion coefficient between any tire on the right side and the road on which the vehicle is located as the first adhesion coefficient between all tires on the right side and the road on which the vehicle is located; in response to the road surface type being a butt-jointed road surface, calculate the first adhesion coefficient between any tire on the front side and the road on which the vehicle is located based on the vehicle's driving data and the vehicle's operating parameters as the first adhesion coefficient between all tires on the front side and the road on which the vehicle is located, and calculate the first adhesion coefficient between any tire on the rear side and the road on which the vehicle is located as the first adhesion coefficient between all tires on the rear side and the road on which the vehicle is located.

[0081] In one possible implementation, the second calculation module 604 is used to calculate the vehicle's righting torque and the vehicle's center of mass sideslip angle based on the vehicle's operating parameters; and calculate the second road adhesion coefficient between each tire and the road on which the vehicle is located based on the vehicle's righting torque and the vehicle's center of mass sideslip angle.

[0082] In a possible implementation, the third calculation module 605 is used to calculate the weighted sum of the first road adhesion coefficient and the second road adhesion coefficient based on a preset weighting coefficient, and use the calculation result as the road adhesion coefficient of the vehicle on the road where the vehicle is located.

[0083] The device determines the road surface type of the road where the vehicle is located by acquiring a road surface image of the road where the vehicle is located; then, by acquiring the vehicle's driving data, calculates a first road surface adhesion coefficient between each tire and the road where the vehicle is located according to the road surface type, based on the vehicle's driving data and the vehicle's operating parameters; and by acquiring the vehicle's operating parameters, calculates a second road surface adhesion coefficient between each tire and the road where the vehicle is located based on the vehicle's operating parameters; calculates the road surface adhesion coefficient of the vehicle on the road where the vehicle is located based on the first road surface adhesion coefficient and the second road surface adhesion coefficient, thereby improving the accuracy of calculating the road surface adhesion coefficient, facilitating better use of the tire's adhesion characteristics, and optimizing control of the vehicle's slip rate and stability, thereby improving vehicle performance and driving safety.

[0084] It should be noted that the device provided in the above embodiment only uses the division of the above functional modules as an example to implement its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0085] In an exemplary embodiment, a computer-readable storage medium is also provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor of a computer device to enable the computer to implement any of the above-mentioned methods for calculating the road adhesion coefficient.

[0086] In one possible implementation, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0087] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs any of the above-mentioned methods for calculating the road adhesion coefficient.

[0088] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions. For example, the road surface image of the road where the vehicle is located, the vehicle's driving data and the vehicle's operating parameters involved in this application are all obtained with full authorization.

[0089] It should be understood that the "plurality" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0090] It should be noted that the terms "first", "second", etc. (if any) in the specification and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be 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. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0091] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for calculating a road adhesion coefficient, characterized in that: The method comprises: Obtaining a road surface image of the road where the vehicle is located, the vehicle's driving data, and the vehicle's operating parameters; Determining the road surface type of the road where the vehicle is located based on the road surface image; Calculating a first road adhesion coefficient between each tire and the road on which the vehicle is located according to the road type, based on the driving data of the vehicle and the operating parameters of the vehicle; Calculating a second road adhesion coefficient between each tire and the road on which the vehicle is located based on the operating parameters of the vehicle; A road adhesion coefficient of the vehicle on the road where the vehicle is located is calculated based on the first road adhesion coefficient and the second road adhesion coefficient.

2. The method according to claim 1, characterized in that The determining the road surface type of the road where the vehicle is located based on the road surface image includes: Identifying image features of the road surface image; Determine the material distribution, dryness and wetness distribution, and impurity distribution of the road surface based on the image features; The road surface type is determined based on the material distribution, the dryness and wetness distribution, and the impurity distribution.

3. The method according to claim 2, characterized in that The road surface types include uniform road surface, butted road surface and split road surface. The road surface type is determined based on the material distribution, the dryness and wetness distribution and the impurity distribution, including: In response to the material distribution, the dryness and wetness distribution, and the impurity distribution of the road surface being consistent, determining that the road surface type is the uniform road surface; In response to the material distribution, the dryness and wetness distribution, and the impurity distribution of the road surface being symmetrical in the horizontal direction, determining that the road surface type is the split road surface; In response to the material distribution, the dryness and wetness distribution, and the impurity distribution of the road surface being symmetrical in the vertical direction, the road surface type is determined to be the butt-jointed road surface.

4. The method according to claim 3, characterized in that The calculating, according to the road type, based on the driving data of the vehicle and the operating parameters of the vehicle, a first road adhesion coefficient between each tire and the road on which the vehicle is located comprises: In response to the road surface type being the uniform road surface, calculating a first adhesion coefficient between any tire and the road on which the vehicle is located based on the driving data of the vehicle and the operating parameters of the vehicle as the first adhesion coefficients between all tires and the road on which the vehicle is located; In response to the road surface type being the split road surface, based on the driving data of the vehicle and the operating parameters of the vehicle, a first adhesion coefficient between any one tire on the left side and the road where the vehicle is located is calculated as the first adhesion coefficient between all tires on the left side and the road where the vehicle is located, and a first adhesion coefficient between any one tire on the right side and the road where the vehicle is located is calculated as the first adhesion coefficient between all tires on the right side and the road where the vehicle is located; In response to the road surface type being the butt-jointed road surface, a first adhesion coefficient between any one of the front tires and the road on which the vehicle is located is calculated based on the driving data of the vehicle and the operating parameters of the vehicle as the first adhesion coefficient between all the front tires and the road on which the vehicle is located, and a first adhesion coefficient between any one of the rear tires and the road on which the vehicle is located is calculated as the first adhesion coefficient between all the rear tires and the road on which the vehicle is located.

5. The method according to claim 1, characterized in that The calculating, based on the operating parameters of the vehicle, a second road adhesion coefficient between each tire and the road on which the vehicle is located, comprises: Calculating the vehicle's center-of-mass sideslip angle and the vehicle's center-of-mass torque based on the vehicle's operating parameters; A second road adhesion coefficient between each tire and the road on which the vehicle is located is calculated based on the vehicle's self-aligning torque and the vehicle's center of mass sideslip angle.

6. The method according to claim 1, characterized in that The calculating the road adhesion coefficient of the vehicle on the road where the vehicle is located based on the first road adhesion coefficient and the second road adhesion coefficient includes: A weighted sum of the first road adhesion coefficient and the second road adhesion coefficient is calculated based on a preset weighting coefficient, and the calculation result is used as the road adhesion coefficient of the vehicle on the road where the vehicle is located.

7. A device for calculating a road adhesion coefficient, characterized in that: The device comprises: An acquisition module, used to acquire a road surface image of the road where the vehicle is located, the vehicle's driving data, and the vehicle's operating parameters; A determination module, configured to determine a road surface type of the road on which the vehicle is located based on the road surface image; A first calculation module, configured to calculate a first road adhesion coefficient between each tire and the road on which the vehicle is located according to the road type, based on the driving data of the vehicle and the operating parameters of the vehicle; A second calculation module, used for calculating a second road adhesion coefficient between each tire and the road where the vehicle is located based on the operating parameters of the vehicle; A third calculation module is used to calculate the road adhesion coefficient of the vehicle on the road where the vehicle is located based on the first road adhesion coefficient and the second road adhesion coefficient.

8. The device according to claim 7, characterized in that The determination module is used to identify the image features of the road surface image; determine the material distribution, dryness and wetness distribution, and impurity distribution of the road surface based on the image features; and determine the road surface type based on the material distribution, the dryness and wetness distribution, and the impurity distribution.

9. A computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the method for calculating the road adhesion coefficient as claimed in any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the method for calculating the road adhesion coefficient as described in any one of claims 1 to 6.

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