Method, device and equipment for determining lateral attachment coefficient of vehicle motion control system

Abstract

The invention discloses a method, a device and equipment for determining a lateral attachment coefficient of a vehicle motion control system, and relates to the technical field of vehicles. The method comprises the steps that a plurality of motion state parameter values and a plurality of corresponding identifications of a vehicle are obtained, the identifications of the motion state parameter values are valid identifications or invalid identifications, the valid identifications are used for representing that the motion state parameter values are valid, and the invalid identifications are used for representing that the motion state parameter values are invalid; adaptively updating the plurality of motion state parameter values of the vehicle according to the plurality of identifiers; performing analysis and calculation according to the multiple motion state parameter values of the vehicle after adaptive updating to obtain a lateral attachment coefficient estimation value; and performing analysis according to the plurality of identifiers and the lateral adhesion coefficient estimation value to determine a final value of the lateral adhesion coefficient. According to the method, the estimation precision of the lateral adhesion coefficient can be improved under the condition that analysis is carried out without depending on a tire model.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle, in particular to a lateral adhesion coefficient determination method, device and equipment of vehicle motion control system. BACKGROUND

[0002] The lateral control functions of the anti-lock braking system, traction control system and electronic stability control system of the vehicle all depend on the lateral adhesion coefficient, and the size of the lateral adhesion coefficient determines the maximum steering force that can be transmitted between the vehicle tire and the road surface. More accurate estimation of the lateral adhesion coefficient is one of the prerequisites for ensuring that these systems work efficiently and safely within the physical limit. In the prior art, a mechanism model is usually used to estimate the lateral adhesion coefficient, but it is sensitive to tire parameters during implementation. If the accuracy of the tire parameters is not high, the estimation accuracy of the lateral adhesion coefficient will also decrease. SUMMARY

[0003] The main purpose of the embodiments of the present application is to provide a lateral adhesion coefficient determination method, device and equipment of vehicle motion control system, which can improve the estimation accuracy of the lateral adhesion coefficient without relying on tire model analysis.

[0004] To achieve the above-mentioned purpose, one aspect of the embodiments of the present application provides a lateral adhesion coefficient determination method of vehicle motion control system, which comprises: obtaining a plurality of motion state parameter values and corresponding plurality of identifiers of a vehicle, the identifier of the motion state parameter value is an effective identifier or an invalid identifier, the effective identifier is used to represent that the motion state parameter value is effective, and the invalid identifier is used to represent that the motion state parameter value is invalid; adaptively updating the plurality of motion state parameter values according to the plurality of identifiers; analyzing and calculating according to the adaptively updated plurality of motion state parameter values to obtain a lateral adhesion coefficient estimation value; analyzing according to the plurality of identifiers and the lateral adhesion coefficient estimation value to determine a final value of the lateral adhesion coefficient.

[0005] In some embodiments, the plurality of motion state parameter values includes a lateral acceleration target value, a lateral acceleration measured value, a yaw rate measured value and a longitudinal vehicle speed of the vehicle.

[0006] In some embodiments, the adaptively updating the plurality of motion state parameter values according to the plurality of identifiers comprises: when the identifier of the lateral acceleration target value is the effective identifier, keeping the lateral acceleration target value unchanged; and when the identifier of the lateral acceleration target value is the invalid identifier, updating the lateral acceleration target value to zero; When the identifiers of the lateral acceleration measurement value and the yaw rate measurement value are valid, the lateral acceleration measurement value and the yaw rate measurement value remain unchanged; when the identifier of the lateral acceleration measurement value is invalid, and / or the identifier of the yaw rate measurement value is invalid, the lateral acceleration measurement value and the yaw rate measurement value are updated to zero. When the longitudinal speed indicator is valid, the longitudinal speed remains unchanged; when the longitudinal speed indicator is invalid, the longitudinal speed is updated to zero.

[0007] In some embodiments, the step of analyzing and calculating the estimated lateral adhesion coefficient based on the adaptively updated values ​​of multiple motion state parameters includes: Step 1: Calculate the current lateral adhesion coefficient correlation value based on the adaptively updated values ​​of multiple motion state parameters; obtain the current estimated value of the lateral adhesion coefficient, the current target value of the lateral adhesion coefficient, the current adjustment variable value, the current judgment variable value, the current counter value, and the historical lateral adhesion coefficient correlation value, and record the obtained current adjustment variable value as the first adjustment variable value; Step 2: Combine the current value of the judgment variable with the historical lateral adhesion coefficient correlation value to determine whether the current lateral adhesion coefficient correlation value meets the first preset condition; if yes, proceed to step 3; if no, proceed to step 6. Step 3: Determine if the current counter value is zero; if yes, use the current lateral adhesion coefficient correlation value as the current judgment variable value and proceed to step 4; if no, proceed to step 4. Step 4: Determine if the current counter value is less than the first preset value; if yes, update the current adjustment variable value according to the current lateral adhesion coefficient correlation value to obtain the second adjustment variable value, and then use the second adjustment variable value as the current adjustment variable value, and execute step 5; if no, execute step 5. Step 5: Increment the current counter value to obtain the first counter value, and then use the first counter value as the current counter value; Step 6: Determine whether the current counter value is equal to the first preset value; if yes, calculate the first lateral adhesion coefficient target value based on the current adjustment variable value and the first preset value, then use the first lateral adhesion coefficient target value as the current lateral adhesion coefficient target value, and use the first adjustment variable value as the current adjustment variable value, and execute step 7; if no, execute step 7. Step 7: Determine whether the current estimated value of the lateral adhesion coefficient is equal to the current target value of the lateral adhesion coefficient; if yes, use the current associated value of the lateral adhesion coefficient as the historical associated value of the lateral adhesion coefficient and return to step 2; if no, perform analysis and calculation based on the current target value of the lateral adhesion coefficient and the current estimated value of the lateral adhesion coefficient to obtain the final estimated value of the lateral adhesion coefficient.

[0008] In some embodiments, the current lateral adhesion coefficient correlation value includes a first lateral adhesion coefficient correlation value, a second lateral adhesion coefficient correlation value, and a third lateral adhesion coefficient correlation value; calculating the current lateral adhesion coefficient correlation value based on the adaptively updated multiple motion state parameter values ​​includes: The first lateral adhesion coefficient correlation value is calculated based on the adaptively updated lateral acceleration measurement. The second lateral adhesion coefficient correlation value is calculated based on the adaptively updated yaw rate measurement and longitudinal vehicle speed. The third lateral adhesion coefficient correlation value is calculated based on the adaptively updated lateral acceleration target value.

[0009] In some embodiments, the step of analyzing and calculating the final estimated value of the lateral adhesion coefficient based on the current target value and the current estimated value of the lateral adhesion coefficient includes: Determine whether the current target value of the lateral adhesion coefficient and the current estimated value of the lateral adhesion coefficient meet the second preset condition; If so, the current estimated value of the lateral adhesion coefficient is updated based on the second preset value and the current target value of the lateral adhesion coefficient to obtain the final estimated value of the lateral adhesion coefficient. If not, the current estimated value of the lateral adhesion coefficient is updated based on the third preset value and the current target value of the lateral adhesion coefficient to obtain the final estimated value of the lateral adhesion coefficient. The second preset value is greater than the third preset value.

[0010] In some embodiments, the step of analyzing the plurality of identifiers and the estimated lateral adhesion coefficient to determine the final value of the lateral adhesion coefficient includes: When the plurality of identifiers are valid identifiers and the estimated value of the lateral adhesion coefficient falls within a preset range, the estimated value of the lateral adhesion coefficient is used as the final value of the lateral adhesion coefficient. When the plurality of identifiers are valid identifiers, but the estimated value of the lateral adhesion coefficient does not fall within the preset range, or when at least one of the plurality of identifiers is an invalid identifier, the fourth preset value is used as the final value of the lateral adhesion coefficient.

[0011] To achieve the above objectives, another aspect of this application provides a device for determining the lateral adhesion coefficient of a vehicle motion control system, the device comprising: The acquisition module is used to acquire multiple motion state parameter values ​​of the vehicle and multiple corresponding identifiers. The identifiers of the motion state parameter values ​​are valid identifiers or invalid identifiers. The valid identifiers are used to indicate that the motion state parameter values ​​are valid, and the invalid identifiers are used to indicate that the motion state parameter values ​​are invalid. An update module is used to adaptively update the multiple motion state parameter values ​​based on the multiple identifiers; The calculation module is used to analyze and calculate based on the adaptively updated values ​​of multiple motion state parameters to obtain an estimated value of the lateral adhesion coefficient. The determination module is used to analyze the multiple identifiers and the estimated lateral adhesion coefficient to determine the final value of the lateral adhesion coefficient.

[0012] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method for determining the lateral adhesion coefficient of a vehicle motion control system.

[0013] To achieve the above objectives, another aspect of this application provides a vehicle that includes the vehicle motion control system lateral adhesion coefficient determination device or the electronic device described above.

[0014] The embodiments of this application include at least the following beneficial effects: by first adaptively updating the multiple motion state parameter values ​​of the vehicle according to multiple identifiers corresponding to the multiple motion state parameter values ​​of the vehicle, then analyzing and calculating the estimated value of the lateral adhesion coefficient based on the adaptively updated multiple motion state parameter values ​​of the vehicle, and finally analyzing and determining the final value of the lateral adhesion coefficient based on the multiple identifiers corresponding to the multiple motion state parameter values ​​of the vehicle and the calculated estimated value of the lateral adhesion coefficient, the estimation accuracy of the lateral adhesion coefficient can be improved without increasing hardware costs, without relying on tire models for analysis, and without requiring high computing power. It is robust in overall implementation and easy to apply in engineering.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1This is a flowchart illustrating a method for determining the lateral adhesion coefficient of a vehicle motion control system according to an embodiment of this application. Figure 2 This is a flowchart illustrating the calculation method for the estimated lateral adhesion coefficient provided in the embodiments of this application; Figure 3 This is a schematic diagram of the composition of a lateral adhesion coefficient determination device for a vehicle motion control system provided in an embodiment of this application; Figure 4 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the reference to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the embodiments of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0018] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various concepts, but unless otherwise stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to a determination” as used herein may be interpreted as “when…” or “when…” or “in response to a determination.”

[0019] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0021] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0022] Vehicle Motion Control (VMC) is one of the core technologies of autonomous driving. Based on instructions from the decision-making and planning layer, VMC controls the vehicle to travel along a reference trajectory by combining vehicle state and environmental information. The coefficient of adhesion includes lateral and longitudinal coefficients of adhesion. The magnitude of the lateral coefficient of adhesion determines the maximum lateral (steering) force that can be transmitted between the vehicle's tires and the road surface, while the magnitude of the longitudinal coefficient of adhesion determines the maximum longitudinal (driving / braking) force that can be transmitted between the vehicle's tires and the road surface. The lateral / longitudinal control functions of vehicle systems such as Anti-lock Braking System (ABS), Traction Control System (TCS), and Electronic Stability Control (ESC) all rely on the coefficient of adhesion. A more accurate estimation of the coefficient of adhesion is a prerequisite for ensuring that these systems operate efficiently and safely within physical limits.

[0023] Underestimating the coefficient of adhesion leads to conservative vehicle control and performance degradation, while overestimating it can cause loss of control, such as wheel lock-up or severe skidding. Different road conditions (e.g., dry asphalt, wet surfaces, ice, snow, gravel) and tire conditions alter the coefficient of adhesion, and even different wheels of the same vehicle may be on different surfaces. Real-time robust estimation of the coefficient of adhesion enables the VMC system to proactively perceive environmental changes and dynamically adjust control strategies and parameters, maintaining vehicle stability, tracking, and handling under various complex conditions, significantly extending the vehicle's safe operating boundaries.

[0024] In existing technologies, mechanistic models are typically used to estimate the lateral adhesion coefficient. However, these models are highly sensitive to tire parameters during implementation. If the accuracy of the tire parameters is not high, the estimation accuracy of the lateral adhesion coefficient will also decrease.

[0025] In view of this, this application proposes a method, apparatus, and equipment for determining the lateral adhesion coefficient of a vehicle motion control system. This scheme first adaptively updates the multiple motion state parameter values ​​of the vehicle based on multiple identifiers corresponding to the multiple motion state parameter values ​​of the vehicle. Then, it analyzes and calculates the updated multiple motion state parameter values ​​of the vehicle to obtain an estimated value of the lateral adhesion coefficient. Finally, it analyzes and determines the final value of the lateral adhesion coefficient based on the multiple identifiers corresponding to the multiple motion state parameter values ​​of the vehicle and the calculated estimated value of the lateral adhesion coefficient. This method can improve the estimation accuracy of the lateral adhesion coefficient without increasing hardware costs, relying on tire models for analysis, or requiring high computing power. It is robust in overall implementation and easy to apply in engineering.

[0026] This application provides a method for determining the lateral adhesion coefficient of a vehicle motion control system, which can be applied to the electronic devices provided in this application. The electronic devices can be terminals or servers. Terminals can be tablets, laptops, desktop computers, etc., but are not limited to these. Servers can be independent physical servers, server clusters or distributed systems composed of multiple physical servers, or cloud servers providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks, and big data and artificial intelligence platforms.

[0027] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a method for determining the lateral adhesion coefficient of a vehicle motion control system according to an embodiment of this application. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0028] The method for determining the lateral adhesion coefficient of a vehicle motion control system provided in this application embodiment may include, but is not limited to, the four steps S101 to S104, as detailed below: S101. Obtain multiple motion state parameter values ​​of the vehicle and multiple corresponding identifiers; wherein, for each motion state parameter value, the identifier of the motion state parameter value is a valid identifier or an invalid identifier, the valid identifier is used to indicate that the motion state parameter value is valid, and the invalid identifier is used to indicate that the motion state parameter value is invalid; S102. Based on multiple identifiers, adaptively update the values ​​of multiple motion state parameters of the vehicle; S103. Analyze and calculate the estimated value of the lateral adhesion coefficient based on the multiple motion state parameter values ​​of the adaptively updated vehicle. S104. Analyze multiple labels and estimated lateral adhesion coefficients to determine the final value of the lateral adhesion coefficient.

[0029] The four steps S101 to S104 shown in the embodiments of this application improve the estimation accuracy of the lateral adhesion coefficient by introducing multiple motion state parameter values ​​of the vehicle and performing a series of analysis and calculations without relying on the tire model for analysis.

[0030] In some embodiments of S101, the multiple motion state parameter values ​​of the vehicle include the target value of lateral acceleration, the measured value of lateral acceleration, the measured value of yaw rate, and the longitudinal speed. The corresponding multiple identifiers include the identifier of the target value of lateral acceleration, the identifier of the measured value of lateral acceleration, the identifier of the measured value of yaw rate, and the identifier of the longitudinal speed.

[0031] In some embodiments, S102, regarding the adaptive updating of multiple motion state parameter values ​​of the vehicle, the corresponding implementation may include, but is not limited to, the following: (1) When the lateral acceleration target value is marked as valid, the lateral acceleration target value is kept unchanged, that is, the obtained lateral acceleration target value is directly used as the adaptively updated lateral acceleration target value; conversely, when the lateral acceleration target value is marked as invalid, the lateral acceleration target value is updated to zero, that is, the adaptively updated lateral acceleration target value is directly assigned a zero value. (2) When both the identifiers of the lateral acceleration measurement value and the yaw rate measurement value are valid, the lateral acceleration measurement value and the yaw rate measurement value remain unchanged. That is, the acquired lateral acceleration measurement value is directly used as the adaptively updated lateral acceleration measurement value, and the acquired yaw rate measurement value is directly used as the adaptively updated yaw rate measurement value. Conversely, when the identifier of the lateral acceleration measurement value is invalid, and / or the identifier of the yaw rate measurement value is invalid, both the lateral acceleration measurement value and the yaw rate measurement value are updated to zero. That is, both the adaptively updated lateral acceleration measurement value and the adaptively updated yaw rate measurement value are directly assigned a zero value. (3) When the longitudinal speed is a valid identifier, the longitudinal speed is kept unchanged, that is, the obtained longitudinal speed is directly used as the longitudinal speed after adaptive update; conversely, when the longitudinal speed is an invalid identifier, the longitudinal speed is updated to zero, that is, the longitudinal speed after adaptive update is directly assigned a zero value.

[0032] In this application, by judging the validity of the obtained multiple motion state parameter values ​​of the vehicle and correcting them in a timely manner, it is possible to effectively avoid introducing erroneous data to make unreliable estimates of the lateral adhesion coefficient.

[0033] In some embodiments, S103, see Figure 2 As shown, the calculation method for the estimated value of the lateral adhesion coefficient may include, but is not limited to, the following twelve steps S201 to S212.

[0034] S201. Calculate the current lateral adhesion coefficient correlation value based on the multiple motion state parameter values ​​of the vehicle after adaptive update; and obtain the current estimated value of the lateral adhesion coefficient, the current target value of the lateral adhesion coefficient, the current adjustment variable value, the current judgment variable value, the current counter value, and the historical lateral adhesion coefficient correlation value, and record the obtained current adjustment variable value as the first adjustment variable value; then execute S202.

[0035] In S201 above, the current lateral adhesion coefficient association value includes a first lateral adhesion coefficient association value, a second lateral adhesion coefficient association value, and a third lateral adhesion coefficient association value. Regarding the calculation of the current lateral adhesion coefficient association value based on multiple motion state parameter values ​​of the adaptively updated vehicle, the corresponding implementation methods may include, but are not limited to, the following: (1) Calculate the first lateral adhesion coefficient correlation value based on the adaptively updated lateral acceleration measurement value; specifically, multiply the adaptively updated lateral acceleration measurement value and the fifth preset value to obtain the first lateral adhesion coefficient correlation value; (2) Calculate the second lateral adhesion coefficient correlation value based on the adaptively updated yaw rate measurement value and the adaptively updated longitudinal vehicle speed; specifically, multiply the adaptively updated yaw rate measurement value, the adaptively updated longitudinal vehicle speed and the sixth preset value to obtain the second lateral adhesion coefficient correlation value. (3) Calculate the third lateral adhesion coefficient correlation value based on the adaptively updated lateral acceleration target value; specifically, multiply the adaptively updated lateral acceleration target value and the seventh preset value to obtain the third lateral adhesion coefficient correlation value.

[0036] It should be noted that the fifth, sixth, and seventh preset values ​​were all set by technicians based on experience, or obtained by technicians after conducting relevant calibration tests.

[0037] In S201 above, the current lateral adhesion coefficient estimate is obtained by initializing the lateral adhesion coefficient estimate, preferably setting the current lateral adhesion coefficient estimate = 1; the current lateral adhesion coefficient target value is obtained by initializing the lateral adhesion coefficient target value, preferably setting the current lateral adhesion coefficient target value = 1; the current adjustment variable value is obtained by initializing the adjustment variable value, preferably setting the current adjustment variable value = 0; the current counter value is obtained by initializing the counter value, preferably setting the current counter value = 0; the current judgment variable value is mainly used to constrain the current lateral adhesion coefficient correlation value, and the current judgment variable value is obtained by initializing the judgment variable value. The resulting current judgment variable values ​​include the current first judgment sub-variable value, the current second judgment sub-variable value, and the current third judgment sub-variable value. Preferably, the current first judgment sub-variable value = 0, the current second judgment sub-variable value = 0, and the current third judgment sub-variable value = 0. The historical lateral adhesion coefficient correlation values ​​include the historical first lateral adhesion coefficient correlation values, the historical second lateral adhesion coefficient correlation values, and the historical third lateral adhesion coefficient correlation values. When the lateral adhesion coefficient is estimated for the first time, the historical lateral adhesion coefficient correlation values ​​can use the preset values. When the lateral adhesion coefficient is not estimated for the first time, the historical lateral adhesion coefficient correlation values ​​mainly use the current lateral adhesion coefficient correlation values ​​obtained from the previous lateral adhesion coefficient estimation.

[0038] S202. Based on the current value of the judgment variable and the historical lateral adhesion coefficient correlation value, determine whether the current lateral adhesion coefficient correlation value meets the first preset condition; if yes, execute S203; if no, execute S208.

[0039] In S202 above, the first preset condition includes a first preset sub-condition, a second preset sub-condition, a third preset sub-condition, and a fourth preset sub-condition, wherein: The first preset sub-condition is used to constrain the third lateral adhesion coefficient correlation value to be greater than or equal to the first lateral adhesion coefficient constraint value and less than or equal to the second lateral adhesion coefficient constraint value; the minimum value is selected from the first lateral adhesion coefficient correlation value and the second lateral adhesion coefficient correlation value. The first lateral adhesion coefficient constraint value is obtained by multiplying the minimum value by the eighth preset value, and the second lateral adhesion coefficient constraint value is obtained by multiplying the minimum value by the ninth preset value. Under normal circumstances, the eighth preset value is less than the ninth preset value. The second preset sub-condition is used to constrain the third lateral adhesion coefficient correlation value to be greater than or equal to the historical third lateral adhesion coefficient correlation value, while constraining the first lateral adhesion coefficient correlation value to be less than or equal to the historical first lateral adhesion coefficient correlation value, and / or the second lateral adhesion coefficient correlation value to be less than or equal to the historical second lateral adhesion coefficient correlation value. The third preset sub-condition is used to constrain the third lateral adhesion coefficient correlation value to be greater than or equal to the current third judgment sub-variable value, and at the same time constrain the first lateral adhesion coefficient correlation value to be greater than or equal to the current first judgment sub-variable value, and / or the second lateral adhesion coefficient correlation value to be greater than or equal to the current second judgment sub-variable value; The fourth preset sub-condition is used to constrain the third lateral adhesion coefficient correlation value to be greater than or equal to the tenth preset value and less than or equal to the eleventh preset value, wherein the tenth preset value is less than the eleventh preset value.

[0040] It should be noted that the first preset sub-condition can be understood as a comparison between the three lateral adhesion coefficient correlation values, mainly used to identify whether vehicle lateral slippage occurs, while the fourth preset sub-condition is mainly used to limit the third lateral adhesion coefficient correlation value within a reasonable range. In addition, the eighth, ninth, tenth, and eleventh preset values ​​are all set by technicians based on experience, or obtained by technicians after conducting relevant calibration tests.

[0041] S203. Determine if the current counter value is zero; if yes, execute S204; if no, execute S205.

[0042] S204. Use the current lateral adhesion coefficient correlation value as the current judgment variable value. Specifically, use the first lateral adhesion coefficient correlation value as the current first judgment sub-variable value, the second lateral adhesion coefficient correlation value as the current second judgment sub-variable value, and the third lateral adhesion coefficient correlation value as the current third judgment sub-variable value, and then execute S205.

[0043] S205. Determine whether the current counter value is less than a first preset value; if yes, proceed to S206; if no, proceed to S207. The first preset value is set by the technician based on experience, or obtained by the technician after conducting relevant calibration tests.

[0044] S206. Update the current adjustment variable value based on the current lateral adhesion coefficient correlation value to obtain the second adjustment variable value, and then use the second adjustment variable value as the current adjustment variable value. Then execute S207.

[0045] In the above S206, the content of updating the current adjustment variable value based on the current lateral adhesion coefficient correlation value to obtain the second adjustment variable value may include, but is not limited to, the following: selecting the minimum value from the first lateral adhesion coefficient correlation value and the second lateral adhesion coefficient correlation value, adding the minimum value to the current adjustment variable value to obtain the second adjustment variable value.

[0046] S207. Increment the current counter value to obtain the first counter value, and then use the first counter value as the current counter value. Then execute S208.

[0047] In the above S207, the content of incrementing the current counter value to obtain the first counter value can be implemented in ways that include, but are not limited to: adding 1 to the current counter value to obtain the first counter value.

[0048] S208. Determine whether the current counter value is equal to the first preset value; if yes, execute S209; if no, execute S210.

[0049] S209. Calculate the first lateral adhesion coefficient target value based on the current adjustment variable value and the first preset value, then use the first lateral adhesion coefficient target value as the current lateral adhesion coefficient target value, and use the first adjustment variable value determined in S201 as the current adjustment variable value, and then execute S210.

[0050] In the above S209, the corresponding implementation of calculating the first lateral adhesion coefficient target value based on the current adjustment variable value and the first preset value may include, but is not limited to, dividing the current adjustment variable value by the first preset value to obtain the first lateral adhesion coefficient target value.

[0051] S210. Determine whether the current estimated value of the lateral adhesion coefficient is equal to the current target value of the lateral adhesion coefficient; if yes, execute S211; if no, execute S212.

[0052] S211. Use the current lateral adhesion coefficient association value as the historical lateral adhesion coefficient association value. Specifically, use the first lateral adhesion coefficient association value as the historical first lateral adhesion coefficient association value, use the second lateral adhesion coefficient association value as the historical second lateral adhesion coefficient association value, and use the third lateral adhesion coefficient association value as the historical third lateral adhesion coefficient association value. Then return to execute S202.

[0053] S212. Based on the current target value of the lateral adhesion coefficient and the current estimated value of the lateral adhesion coefficient, an analysis and calculation are performed to obtain the final estimated value of the lateral adhesion coefficient. The corresponding implementation methods may include, but are not limited to, the following: Determine whether the current target value of the lateral adhesion coefficient and the current estimated value of the lateral adhesion coefficient meet the second preset condition. The second preset condition is used to constrain the absolute difference between the current estimated value of the lateral adhesion coefficient and the current target value of the lateral adhesion coefficient to be greater than or equal to the twelfth preset value. If satisfied, the current lateral adhesion coefficient estimate is updated based on the second preset value and the current lateral adhesion coefficient target value to obtain the final lateral adhesion coefficient estimate. Specifically, the current lateral adhesion coefficient target value and the current lateral adhesion coefficient estimate are subtracted to obtain a first subtraction result, the first subtraction result is multiplied by the second preset value to obtain a first multiplication result, and the first multiplication result is added to the current lateral adhesion coefficient estimate to obtain the final lateral adhesion coefficient estimate. If the condition is not met, the current lateral adhesion coefficient estimate is updated based on the third preset value and the current lateral adhesion coefficient target value to obtain the final lateral adhesion coefficient estimate. Specifically, the current lateral adhesion coefficient target value and the current lateral adhesion coefficient estimate are subtracted to obtain a second subtraction result, which is the same as the first subtraction result. The second subtraction result is multiplied by the third preset value to obtain a second multiplication result. The second multiplication result is then added to the current lateral adhesion coefficient estimate to obtain the final lateral adhesion coefficient estimate.

[0054] The second preset value is greater than the third preset value, and the second preset value, the third preset value and the twelfth preset value are set by technicians based on experience, or obtained by technicians after conducting relevant calibration tests.

[0055] It should be noted that after executing S212 above, the current lateral adhesion coefficient correlation value can be stored as a historical lateral adhesion coefficient correlation value so that it can be used directly in the next lateral adhesion coefficient estimation.

[0056] In this application, by making full use of sensor signals such as lateral acceleration, yaw rate and longitudinal vehicle speed for analysis and calculation, the estimation accuracy of the lateral adhesion coefficient can be improved without increasing hardware costs or requiring high computing power.

[0057] In some embodiments, S104, the method for determining the final value of the lateral adhesion coefficient may include, but is not limited to, the following three cases: In the first case, when multiple identifiers corresponding to multiple motion state parameter values ​​of the vehicle are all valid identifiers, and the estimated value of the lateral adhesion coefficient falls within the preset range, the estimated value of the lateral adhesion coefficient is directly used as the final value of the lateral adhesion coefficient. In the second case, when multiple indicators corresponding to multiple motion state parameter values ​​of the vehicle are all valid indicators, but the estimated value of the lateral adhesion coefficient does not fall within the preset range, the fourth preset value is used as the final value of the lateral adhesion coefficient. In the third case, when at least one of the multiple identifiers corresponding to the multiple motion state parameter values ​​of the vehicle is an invalid identifier, the fourth preset value is also used as the final value of the lateral adhesion coefficient; wherein, the fourth preset value is preferably set to 1.

[0058] The lateral adhesion coefficient estimate falling within the preset range means that the lateral adhesion coefficient estimate is greater than or equal to the thirteenth preset value and less than or equal to the fourteenth preset value. The thirteenth preset value is the minimum value of the preset range, and the fourteenth preset value is the maximum value of the preset range. The thirteenth preset value is less than the fourteenth preset value. The thirteenth preset value and the fourteenth preset value are set by technicians based on experience or obtained by technicians after conducting relevant calibration tests.

[0059] Furthermore, the method for determining the final value of the lateral adhesion coefficient may include, but is not limited to, the three steps S301 to S303, as detailed below: S301. Based on multiple identifiers corresponding to multiple motion state parameter values ​​of the vehicle, determine the lateral adhesion coefficient estimation enabling identifier; specifically, when all multiple identifiers corresponding to multiple motion state parameter values ​​of the vehicle are valid identifiers, that is, when all multiple motion state parameter values ​​of the vehicle are valid, determine the lateral adhesion coefficient estimation enabling identifier as a valid identifier; conversely, when at least one identifier among the multiple identifiers corresponding to multiple motion state parameter values ​​of the vehicle is an invalid identifier, that is, when at least one motion state parameter value among the multiple motion state parameter values ​​of the vehicle is invalid, determine the lateral adhesion coefficient estimation enabling identifier as an invalid identifier. S302. Determine whether the lateral adhesion coefficient estimation enable flag is a valid flag; if yes, then execute S303; if no, then use the fourth preset value as the final value of the lateral adhesion coefficient. S303. Determine whether the estimated value of the lateral adhesion coefficient falls within the preset range; if yes, use the estimated value of the lateral adhesion coefficient as the final value of the lateral adhesion coefficient; if no, use the fourth preset value as the final value of the lateral adhesion coefficient.

[0060] In this application, by using multiple identifiers corresponding to multiple motion state parameter values ​​of the vehicle and a preset range for constraining the value of the lateral adhesion coefficient, the reasonableness of the calculated estimated value of the lateral adhesion coefficient can be judged, which can improve the reliability of the final value of the output lateral adhesion coefficient and help prevent subsequent dangerous control actions on the vehicle.

[0061] Please refer to Figure 3 , Figure 3 This is a schematic diagram of a vehicle motion control system lateral adhesion coefficient determination device provided in an embodiment of this application. It can implement the aforementioned method for determining the lateral adhesion coefficient of a vehicle motion control system. The device may include, but is not limited to, the following: The acquisition module 401 is used to acquire multiple motion state parameter values ​​of the vehicle and multiple corresponding identifiers; wherein, for each motion state parameter value, the identifier of the motion state parameter value is a valid identifier or an invalid identifier, the valid identifier is used to indicate that the motion state parameter value is valid, and the invalid identifier is used to indicate that the motion state parameter value is invalid. The update module 402 is used to adaptively update multiple motion state parameter values ​​of the vehicle based on multiple identifiers. The calculation module 403 is used to analyze and calculate the estimated value of the lateral adhesion coefficient based on the adaptively updated values ​​of multiple motion state parameters of the vehicle. The determination module 404 is used to analyze multiple identifiers and lateral adhesion coefficient estimates to determine the final value of the lateral adhesion coefficient.

[0062] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those specifically implemented by the above method embodiments, and the beneficial effects achieved by the present device embodiments are also the same as those achieved by the above method embodiments.

[0063] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method for determining the lateral adhesion coefficient of a vehicle motion control system. This electronic device can include any smart terminal such as a tablet computer or an in-vehicle computer.

[0064] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those implemented by the above method embodiments, and the beneficial effects achieved by the present device embodiments are also the same as those achieved by the above method embodiments.

[0065] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating the hardware structure of an electronic device according to another embodiment. The electronic device includes: The processor 501 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 502 can be implemented in the form of read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 502 can store the operating system and other applications. When the technical solution provided in the embodiments of this application is implemented by software or firmware, the relevant program code is stored in the memory 502 and is called and executed by the processor 501. The input / output interface 503 is used to implement information input and output; The communication interface 504 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 505 transmits information between various components of the device (e.g., processor 501, memory 502, input / output interface 503, and communication interface 504); The processor 501, memory 502, input / output interface 503 and communication interface 504 are connected to each other within the device via bus 505.

[0066] This application also provides a vehicle, which includes the aforementioned vehicle motion control system lateral adhesion coefficient determining device or the aforementioned electronic equipment. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle can be a gasoline-powered vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0067] It is understood that the content of the above method embodiments is applicable to this vehicle embodiment, the specific functions implemented by this vehicle embodiment are the same as those implemented by the above method embodiments, and the beneficial effects achieved by this vehicle embodiment are the same as those achieved by the above method embodiments.

[0068] This application also provides a computer program product, which includes a computer program that, when executed by one or more processors, implements the above-described method for determining the lateral adhesion coefficient of a vehicle motion control system.

[0069] It is understood that the content of the above method embodiments is applicable to this computer program product. The specific functions implemented by the embodiments of this computer program product are the same as those implemented by the above method embodiments, and the beneficial effects achieved by the embodiments of this computer program product are also the same as those achieved by the above method embodiments.

[0070] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0071] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0072] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0073] Those skilled in the art will understand that all or some of the steps, apparatuses, or functional modules / units in the methods disclosed above can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0074] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0075] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed between the devices or units may be through some interfaces, and the indirect coupling or communication connection may be electrical, mechanical, or other forms.

[0077] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0078] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0079] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0080] The preferred embodiments of this application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of this application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of this application shall be within the scope of the claims of this application.

Claims

1. A method for determining the lateral adhesion coefficient of a vehicle motion control system, characterized in that, The method includes: The vehicle acquires multiple motion state parameter values ​​and corresponding multiple identifiers. The identifiers of the motion state parameter values ​​are either valid or invalid. The valid identifiers are used to indicate that the motion state parameter values ​​are valid, and the invalid identifiers are used to indicate that the motion state parameter values ​​are invalid. Based on the multiple identifiers, the values ​​of the multiple motion state parameters are adaptively updated; Based on the analysis and calculation of multiple motion state parameter values ​​after adaptive updates, the estimated value of the lateral adhesion coefficient is obtained; The final value of the lateral adhesion coefficient is determined by analyzing the multiple identifiers and the estimated lateral adhesion coefficient.

2. The method for determining the lateral adhesion coefficient of a vehicle motion control system according to claim 1, characterized in that, The multiple motion state parameter values ​​include the vehicle's target lateral acceleration value, measured lateral acceleration value, measured yaw rate value, and longitudinal vehicle speed.

3. The method for determining the lateral adhesion coefficient of a vehicle motion control system according to claim 2, characterized in that, The adaptive update of the multiple motion state parameter values ​​based on the multiple identifiers includes: When the identifier of the lateral acceleration target value is valid, the lateral acceleration target value remains unchanged; when the identifier of the lateral acceleration target value is invalid, the lateral acceleration target value is updated to zero. When the identifiers of the lateral acceleration measurement value and the yaw rate measurement value are valid, the lateral acceleration measurement value and the yaw rate measurement value remain unchanged; when the identifier of the lateral acceleration measurement value is invalid, and / or the identifier of the yaw rate measurement value is invalid, the lateral acceleration measurement value and the yaw rate measurement value are updated to zero. When the longitudinal speed indicator is valid, the longitudinal speed remains unchanged; when the longitudinal speed indicator is invalid, the longitudinal speed is updated to zero.

4. The method for determining the lateral adhesion coefficient of a vehicle motion control system according to claim 2, characterized in that, The step of analyzing and calculating the estimated lateral adhesion coefficient based on the adaptively updated values ​​of multiple motion state parameters includes: Step 1: Calculate the current lateral adhesion coefficient correlation value based on the adaptively updated values ​​of multiple motion state parameters; obtain the current estimated value of the lateral adhesion coefficient, the current target value of the lateral adhesion coefficient, the current adjustment variable value, the current judgment variable value, the current counter value, and the historical lateral adhesion coefficient correlation value, and record the obtained current adjustment variable value as the first adjustment variable value; Step 2: Combine the current value of the judgment variable with the historical lateral adhesion coefficient correlation value to determine whether the current lateral adhesion coefficient correlation value meets the first preset condition; if yes, proceed to step 3; if no, proceed to step 6. Step 3: Determine if the current counter value is zero; if yes, use the current lateral adhesion coefficient correlation value as the current judgment variable value and proceed to step 4; if no, proceed to step 4. Step 4: Determine if the current counter value is less than the first preset value; if yes, update the current adjustment variable value according to the current lateral adhesion coefficient correlation value to obtain the second adjustment variable value, and then use the second adjustment variable value as the current adjustment variable value, and execute step 5; if no, execute step 5. Step 5: Increment the current counter value to obtain the first counter value, and then use the first counter value as the current counter value; Step 6: Determine whether the current counter value is equal to the first preset value; if yes, calculate the first lateral adhesion coefficient target value based on the current adjustment variable value and the first preset value, then use the first lateral adhesion coefficient target value as the current lateral adhesion coefficient target value, and use the first adjustment variable value as the current adjustment variable value, and execute step 7; if no, execute step 7. Step 7: Determine whether the current estimated value of the lateral adhesion coefficient is equal to the current target value of the lateral adhesion coefficient; if yes, use the current associated value of the lateral adhesion coefficient as the historical associated value of the lateral adhesion coefficient and return to step 2; if no, perform analysis and calculation based on the current target value of the lateral adhesion coefficient and the current estimated value of the lateral adhesion coefficient to obtain the final estimated value of the lateral adhesion coefficient.

5. The method for determining the lateral adhesion coefficient of a vehicle motion control system according to claim 4, characterized in that, The current lateral adhesion coefficient correlation value includes a first lateral adhesion coefficient correlation value, a second lateral adhesion coefficient correlation value, and a third lateral adhesion coefficient correlation value; the calculation of the current lateral adhesion coefficient correlation value based on multiple adaptively updated motion state parameter values ​​includes: The first lateral adhesion coefficient correlation value is calculated based on the adaptively updated lateral acceleration measurement. The second lateral adhesion coefficient correlation value is calculated based on the adaptively updated yaw rate measurement and longitudinal vehicle speed. The third lateral adhesion coefficient correlation value is calculated based on the adaptively updated lateral acceleration target value.

6. The method for determining the lateral adhesion coefficient of a vehicle motion control system according to claim 4, characterized in that, The step of analyzing and calculating the current target value and the current estimated value of the lateral adhesion coefficient to obtain the final estimated value of the lateral adhesion coefficient includes: Determine whether the current target value of the lateral adhesion coefficient and the current estimated value of the lateral adhesion coefficient meet the second preset condition; If so, the current estimated value of the lateral adhesion coefficient is updated based on the second preset value and the current target value of the lateral adhesion coefficient to obtain the final estimated value of the lateral adhesion coefficient. If not, the current estimated value of the lateral adhesion coefficient is updated based on the third preset value and the current target value of the lateral adhesion coefficient to obtain the final estimated value of the lateral adhesion coefficient. The second preset value is greater than the third preset value.

7. The method for determining the lateral adhesion coefficient of a vehicle motion control system according to claim 1, characterized in that, The step of analyzing the multiple identifiers and the estimated lateral adhesion coefficient to determine the final value of the lateral adhesion coefficient includes: When the plurality of identifiers are valid identifiers and the estimated value of the lateral adhesion coefficient falls within a preset range, the estimated value of the lateral adhesion coefficient is used as the final value of the lateral adhesion coefficient. When the plurality of identifiers are valid identifiers, but the estimated value of the lateral adhesion coefficient does not fall within the preset range, or when at least one of the plurality of identifiers is an invalid identifier, the fourth preset value is used as the final value of the lateral adhesion coefficient.

8. A device for determining the lateral adhesion coefficient of a vehicle motion control system, characterized in that, The device includes: The acquisition module is used to acquire multiple motion state parameter values ​​of the vehicle and multiple corresponding identifiers. The identifiers of the motion state parameter values ​​are valid identifiers or invalid identifiers. The valid identifiers are used to indicate that the motion state parameter values ​​are valid, and the invalid identifiers are used to indicate that the motion state parameter values ​​are invalid. An update module is used to adaptively update the multiple motion state parameter values ​​based on the multiple identifiers; The calculation module is used to analyze and calculate based on the adaptively updated values ​​of multiple motion state parameters to obtain an estimated value of the lateral adhesion coefficient. The determination module is used to analyze the multiple identifiers and the estimated lateral adhesion coefficient to determine the final value of the lateral adhesion coefficient.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the method for determining the lateral adhesion coefficient of the vehicle motion control system as described in any one of claims 1 to 7.

10. A vehicle, characterized in that, The vehicle includes the lateral adhesion coefficient determination device of the vehicle motion control system as described in claim 8 or the electronic device as described in claim 9.

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