Simulation test system and method for ice suppression coating pavement vehicle driving characteristics

Abstract

The present application relates to the simulation test system and method for the driving characteristics of the ice-inhibiting coating pavement vehicle, and belongs to the simulation technical field of the ice-inhibiting coating affecting the pavement vehicle, which comprises the following steps: placing the vehicle on the pavement; setting the pressure sensor on the pavement to obtain the adhesion between the tire and the pavement surface; setting the wheel hub force sensor on the wheel of the vehicle to measure the instantaneous normal force and the tangential friction force; setting the pavement on the variable gradient base to simulate the pavement gradient adjustment; and setting the fan on the side of the pavement to simulate the influence of the wind on the vehicle and the pavement. The present application quantitatively evaluates the influence of the ice-inhibiting coating on the braking, climbing and turning performance of the vehicle on the snow or icy asphalt pavement by constructing a variable gradient base, an embedded rut plate and a dynamic simulation system of the intelligent vehicle in the coupling environment of multiple influence factors.

Description

Technical Field

[0001] This invention relates to a simulation test system and method for vehicle driving characteristics, belonging to the field of simulation technology of the influence of anti-icing coatings on road vehicles. Background Technology

[0002] With the development of intelligent transportation and the continuous enrichment of road materials, active snow melting technology has gradually become a hot research topic in cold-region road engineering. Active snow melting technology integrates electrothermal elements, carbon-based conductive materials, solar heat-absorbing layers, or phase change energy storage units within the road structure, enabling the road surface to autonomously sense, preheat, and melt snow. This allows for proactive snow and ice melting operations at the initial stage of snowfall or even before ice formation, effectively improving road safety and reducing road maintenance costs. However, these active snow melting technologies suffer from high energy consumption, thermal / electrical conductivity degradation due to freeze-thaw cycles, and reduced structural strength after being integrated into the road structure. Therefore, compared to active snow melting technology that relies on internal road functional units for thermal response, anti-icing coatings primarily function by regulating the wettability of the road surface interface, weakening ice-road adhesion, and delaying ice formation. They offer advantages such as low energy consumption, flexible construction, minimal impact on the road surface's load-bearing structure, and convenient post-construction maintenance.

[0003] Currently, asphalt pavement anti-icing coatings have made some progress in reducing ice and snow adhesion, delaying icing, and improving de-icing efficiency. However, there is a lack of intuitive evaluation of the correlation between the material properties of the coating and the vehicle's dynamic response under the influence of environmental factors. Most indoor tests cannot simulate the braking distance of vehicles at different inclines or the critical state of sideslip during extreme cornering.

[0004] Therefore, there is an urgent need to develop a simulation test system and method for the vehicle driving characteristics of anti-icing coated road surfaces in order to solve the above-mentioned technical problems. Summary of the Invention

[0005] To address the aforementioned problems, a simulation testing system and method for the vehicle driving characteristics of anti-icing coated road surfaces are provided. A brief overview of the invention is given below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit the scope of the invention.

[0006] The technical solution of the present invention: A simulation test system for vehicle driving characteristics of anti-icing coated road surfaces includes: Vehicles are placed on the road; Pressure sensors are placed on the road surface to measure the adhesion between the wheels / tires and the road surface. The hub force sensor is installed on the vehicle's wheel to measure instantaneous normal force and tangential friction force; The variable slope base is equipped with a road surface to simulate road slope adjustment; The fan is positioned on the side of the road surface to simulate the effect of wind on vehicles and the road surface.

[0007] Preferred method: The road surface uses rutting slabs with an anti-icing coating on the surface. A heating module is installed inside or on the bottom of the rutting slab, and the heating module and the coating work together to achieve the anti-icing effect.

[0008] Preferred road surface shapes include square simulated road surfaces for short slopes, circular simulated road surfaces for extreme turns, and rectangular simulated road surfaces for long slopes.

[0009] Preferably, the variable slope base includes a support base, first hydraulic rods, second hydraulic rods, and a vertical frame. A vertical frame is fixed to the right side of the support base. The support base is square. Three short rods are arranged between two parallel long rods of the support base. A sliding groove is provided on the right side of the long rod. The left and middle short rods are fixedly connected to the long rods. The two ends of the right short rods are set in the corresponding long rod sliding grooves. The right short rods are connected to the middle short rods through two second hydraulic rods, realizing the sliding connection of the right short rods along the long rods. The upper ends of the four first hydraulic rods are evenly hinged to the lower side of the road surface. The lower ends of the four first hydraulic rods are respectively connected to the two long rods, the left short rod, and the right short rod. A fan is installed on the vertical frame.

[0010] Preferably, the hub force sensor and pressure sensor in the data acquisition module are connected to the control module to transmit the acquired data to the control module. The fan speed control knob, the propulsion control button of the second hydraulic rod, the slope adjustment button of the first hydraulic rod, and the fan control knob in the switch are connected to the control module to realize manual adjustment. The wheel drive motor, the first hydraulic rod, the second hydraulic rod, and the fan in the execution module are connected to the control module to receive commands from the control module and execute corresponding actions. The data transmission module is connected to the control module to realize data recording and remote monitoring.

[0011] A simulation test method for vehicle driving characteristics on anti-icing coated road surfaces, employing a simulation test system for vehicle driving characteristics on anti-icing coated road surfaces, includes the following steps: The morphology of the road surface before and after coating was scanned using a white light interferometer or a 3D scanner; the average texture depth indicating the morphology was extracted. MDP Root mean square roughness Rq ; Obtain the instantaneous normal force of the vehicle. N With tangential friction F f Instantaneous acceleration, deceleration, and velocity; Based on the above parameters, formulas are established to quantify the impact of the macro- and micro-structures of coated pavement on vehicle driving dynamics.

[0012] Preferred approach: Treat the road surface as a collection of countless micro-element protrusions, and sum the total supporting force and frictional dissipation generated by these micro-elements on the tires by integrating them.

[0013] The preferred model formula (1) is shown below: (1) In the formula, —The real-time adhesion coefficient is calculated from the acceleration during vehicle braking / climbing; h min and h max —h represents the contact cutoff height, and the height is greater than h. min The road surface bumps come into physical contact with the tires of the test vehicle and generate friction. z—a micro-element representing the height of the road surface microstructure; MPD—Mean Texture Depth, representing the drainage and dirt-holding space of the rough surface skeleton; Rq—Root mean square roughness, representing the degree of undulation in road surface texture; —The road surface is obtained by acquiring a three-dimensional point cloud through a high-precision laser scanner, the average value of the surface height is taken to obtain the reference surface, the z value of each point is calculated, and the slope dz / dx is obtained by taking the first derivative with respect to z. P(z) — the probability density function of road surface height; A and B – Construct contribution systems; The formula for calculating the adhesion coefficient (2) is shown below: (2) In the formula: —Real-time adhesion coefficient; a — instantaneous acceleration; --slope.

[0014] The present invention has the following beneficial effects: This invention constructs a dynamic simulation system consisting of a variable slope base, an embedded rut plate, and an intelligent vehicle to quantitatively evaluate the impact of anti-icing coatings on the braking, climbing, and turning performance of vehicles on asphalt pavements in winter (snow or ice) under a multi-factor coupled environment.

[0015] This invention not only covers basic dynamic response, but also realizes variable slope adjustment of 0%-6% through hydraulic device, which can simulate the uphill and downhill working conditions of actual road sections such as bridge decks.

[0016] Compared to most studies that only focus on longitudinal loads, this invention specifically addresses the problem of simulating the critical state of extreme cornering sideslip in indoor tests through a circular rut plate design.

[0017] This invention introduces a wind control module to simulate lateral and frontal wind resistance, and can observe the accumulation and dispersion patterns of snow on ice-suppressing roads. This is not limited to simple mechanical models in terms of environmental simulation.

[0018] This invention supports embedding a heating module inside the rut plate, which can evaluate the effect of "coating & active heating" synergistic ice suppression, and is more in line with the development trend of intelligent transportation.

[0019] This invention proposes the idea of ​​viewing the road surface as a "set of infinitesimal protrusions", and accumulating the supporting force and frictional dissipation of the infinitesimal elements through integration. Attached Figure Description

[0020] Figure 1 This is a three-dimensional diagram of a simulation test system for vehicle driving characteristics on anti-icing coated road surfaces.

[0021] Figure 2 This is a top view of a simulation test system for vehicle driving characteristics on anti-icing coated road surfaces.

[0022] Figure 3 This is a side view of a simulation test system for the driving characteristics of vehicles on anti-icing coated road surfaces. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0024] Specific implementation method one: Combining Figure 1-3 This embodiment describes a simulation test system for vehicle driving characteristics on anti-icing coated road surfaces, comprising: The road surface is used to place vehicle 12; vehicle 12 can be equipped with an inertial measurement unit to realize real-time measurement of speed and acceleration; Pressure sensor 14 is set (embedded) on the road surface and is used to obtain the adhesion between the wheel tires of vehicle 12 and the road surface. The hub force sensor 13 is coaxially fastened to the wheel of the vehicle 12. The hub force sensor 13 is used to measure the instantaneous normal force and tangential friction force. The variable slope base is equipped with a road surface, and the variable slope base is used to simulate the adjustment of the road surface slope; The wind control module's fan 8 is located on the side of the road surface. The fan 8 is used to simulate the impact of wind on the vehicle 12 and the road surface. That is, the vehicle 12 provides frontal and lateral resistance to simulate the lateral and frontal wind resistance in a real environment. It can also observe the accumulation pattern of snow on the ice-suppressing road surface under a certain wind speed, and observe whether the snow is easily blown away or whether an ice shell forms on the surface. This invention introduces a wind control module to simulate lateral and frontal wind resistance and can observe the accumulation and blowing patterns of snow on the ice-suppressing road surface. This is not limited to a simple mechanical model in terms of environmental simulation.

[0025] This invention constructs a dynamic simulation system consisting of a variable slope base, an embedded rut plate, and an intelligent vehicle to quantitatively evaluate the impact of anti-icing coatings on the braking, climbing, and turning performance of vehicles on asphalt pavements in winter under a multi-factor coupled environment.

[0026] Specific Implementation Method Two: Combining Figure 1-3 This embodiment describes a simulation test system for vehicle driving characteristics on anti-icing coated road surfaces. The road surface is a simulated asphalt pavement section, and the road surface uses rutting slabs prepared by a rutting forming instrument. An anti-icing coating is attached to the surface of the rutting slabs, and a heating module 15 is provided inside or on the bottom of the rutting slabs. The heating module 15 and the coating work together to achieve the anti-icing effect. This invention supports embedding heating modules inside the rutting slabs, which can evaluate the synergistic anti-icing effect of "coating & active heating", and is more in line with the development trend of intelligent transportation.

[0027] Specific implementation method three: Combining Figure 1-3 This embodiment describes a simulation test system for vehicle driving characteristics on anti-icing coated pavement. It uses three shapes of simulated asphalt pavement sections obtained by splicing or cutting: a square simulated pavement 9 for short slopes, a circular simulated pavement 10 for extreme cornering, or a rectangular simulated pavement 11 for long slopes. When using the rectangular spliced ​​simulated pavement 11, the fan is mounted on the side of the short side. Compared to most studies that only focus on longitudinal loads, this invention, through the design of a circular rut plate, specifically solves the problem that indoor tests are difficult to simulate the critical state of sideslip during extreme cornering.

[0028] Specific implementation method four: Combination Figure 1-3This embodiment describes a simulation test system for vehicle driving characteristics on anti-icing coated road surfaces. The variable slope base includes a support base 1, a first hydraulic rod 2 for slope adjustment, a second hydraulic rod 3 for propulsion, and a support frame 16. The support base 1 is square, with three short rods positioned between two parallel long rods. A groove is provided on the right side of each long rod. The left and middle short rods are fixedly connected to the long rods. The two ends of the right short rods are positioned within the corresponding long rod grooves. The right short rod is connected to the middle short rod via two second hydraulic rods 3. This invention achieves a sliding connection between the right short rod and the long rod. The upper ends of the four first hydraulic rods 2 are evenly hinged to the lower side of the road surface, and the lower ends of the four first hydraulic rods 2 are respectively connected to two long rods, the left short rod, and the right short rod. The slope can be adjusted by extending and retracting the hydraulic rods, and the horizontal distance between the road surface / vehicle and the fan can also be adjusted. The fan 8 is installed on the frame 16, and the road surface is located on the left side of the frame 16. The fan 8 acts on the road surface and the vehicles on the road surface. This invention not only covers the basic dynamic response, but also achieves a variable slope adjustment of 0%-6% through the hydraulic device, which can simulate the uphill and downhill conditions of actual road sections such as bridges. Specific implementation method five: combined with Figure 1-3 This embodiment describes a simulation test system for vehicle driving characteristics on anti-icing coated road surfaces. The data acquisition module, including the wheel hub force sensor 13, pressure sensor 14, and inertial measurement unit, is connected to the control module to transmit the acquired data. The fan speed control knob 4, the second hydraulic rod propulsion control button 5, the first hydraulic rod slope adjustment button, and the fan control knob 7 in the switch module are connected to the control module for manual adjustment. The execution module, including the wheel drive motor, first hydraulic rod, second hydraulic rod, and fan, is connected to the control module to receive commands and execute corresponding actions. The data transmission module is connected to the control module to achieve data recording and remote monitoring.

[0029] Specific Implementation Method Six: Combination Figure 1-3 This embodiment describes a simulation test method for vehicle driving characteristics on anti-icing coated road surfaces. The method utilizes a simulation test system for vehicle driving characteristics on anti-icing coated road surfaces and includes the following steps: In the stage of establishing the dynamic characteristics of the test vehicle and the structural parameters of the road coating, the following schemes were mainly adopted: The morphology of asphalt pavement before and after spraying coating was scanned using a white light interferometer or a 3D scanner; the average texture depth indicating the morphology was extracted. MDP Root mean square roughness Rq ; Obtain the instantaneous normal force of the vehicle. N With tangential friction F fInstantaneous acceleration, deceleration, and velocity; Based on the above parameters, empirical formulas are established to quantify the impact of the macro- and micro-structures of coated pavement on vehicle driving dynamics.

[0030] Specific implementation method seven: Combining Figure 1-3 This embodiment describes a simulation test method for vehicle driving characteristics on anti-icing coated road surfaces. It treats the road surface as a collection of countless micro-element protrusions and integrates the sum of the supporting force and frictional dissipation generated by these micro-elements on the tire. This invention couples microscopic road surface texture with macroscopic vehicle dynamics. Compared to traditional calculations using average road surface adhesion coefficient and empirical wind resistance, the tire's real-time changes in road surface morphology are more accurate. The system and method of this invention work together, coupling normal pressure, wind resistance, and road surface based on slope, resulting in more precise calculations compared to commonly used simple superposition methods.

[0031] Specific implementation method eight: Combination Figure 1-3 This embodiment describes a simulation test method for vehicle driving characteristics on anti-icing coated road surfaces. The specific model formula (1) is shown below: (1) In the formula, —The real-time adhesion coefficient is calculated from the acceleration during vehicle braking / climbing; h min and h max —h represents the contact cutoff height, which can also be understood as the effective contact interface. Only when the height is greater than h... min Only when the road surface bumps and peaks actually come into physical contact with the tires of the test car (vehicle) and generate friction; z—a micro-element representing the height of the road surface microstructure; MPD—Mean Texture Depth—is a macroscopic indicator that represents the drainage and fouling capacity of the rough surface skeleton. Rq—Root mean square roughness micro-index, representing the degree of undulation of road surface texture; —The road surface is obtained by acquiring a three-dimensional point cloud through a high-precision laser scanner, the average value of the surface height is taken to obtain the reference surface, the z value of each point is calculated, and the slope dz / dx is obtained by taking the first derivative with respect to z. P(z) — the probability density function of road surface height; A and B – Contribution coefficients were calculated using two sets of comparative experiments: one set of road surfaces with small MPD and large Rq, and the other set of road surfaces with large MPD and large Rq. The least squares method was used to perform regression analysis to calculate A and B. The formula for calculating the adhesion coefficient (2) is shown below: (2) In the formula: —Real-time adhesion coefficient; a — instantaneous acceleration; --slope; This invention proposes the idea of ​​viewing the road surface as a "set of infinitesimal protrusions", and accumulating the supporting force and frictional dissipation of the infinitesimal elements through integration.

[0032] Example 1: This invention comprises six parts: a variable slope base, an asphalt pavement simulation, a simulation trolley capable of real-time speed and acceleration transmission, a wind control module, a control module, and a data acquisition module. According to the "Technical Specifications for Highway Bridges," the design value for bridge deck slope is between 1% and 3%, with a maximum slope not exceeding 6%. The variable slope base can automatically adjust the slope of the simulated pavement within the range of 0% to 6% using a hydraulic device to simulate the uphill and downhill sections of an actual bridge deck. The asphalt pavement simulation section is obtained by splicing or cutting rutted slabs prepared using a rut forming instrument, resulting in three shapes of simulated asphalt pavement sections (rectangular for long slopes, square for short slopes, and circular for extreme turns). Furthermore, different components can be added to the surface of the simulated road section: pressure sensors can be embedded to obtain the adhesion between the wheels and the anti-icing coating surface; heating modules can also be placed inside or at the bottom of the rutted slab to work synergistically with the coating to achieve an anti-icing effect. The simulated vehicle is equipped with an independent drive motor, variable axle load type (simulating single wheel set, dual wheel set), a counterweight platform (simulating small car, medium car, heavy car), and wheel hub force sensors (measuring instantaneous normal force). N With tangential friction F f The system can transmit speed, acceleration, and angular velocity in real time. The wind control module has two main functions: first, to provide the test vehicle with frontal and lateral resistance (simulating lateral and frontal wind resistance in a real environment); second, to observe the accumulation pattern of snow on the ice-suppressing road surface at a certain wind speed, and to observe whether the snow is easily blown away or whether an ice crust forms on the surface. The control module mainly controls the slope via hydraulic rods and adjusts the wind angle and speed via wind control. The data transmission module records the dynamic characteristics of the test vehicle throughout the process and plots them as curves over time, which can then be correlated with the surface structure parameters of the road coating.

[0033] In the stage of establishing the dynamic characteristics of the test vehicle and the structural parameters of the road coating, the following schemes were mainly adopted: The morphology of asphalt pavement before and after spraying coating was scanned using a white light interferometer or a 3D scanner. The average texture depth of the surface morphology was extracted. MDP ), root mean square roughness ( Rq The second step is to obtain the instantaneous normal force of the test vehicle. NWith tangential friction F f Instantaneous acceleration and instantaneous velocity. Based on the above parameters, an empirical formula is established to quantify the influence of the macro- and micro-structures of the coated road surface on the vehicle's driving dynamics. The principle is: the road surface is regarded as a collection of countless micro-element protrusions, and the sum of the supporting force and frictional dissipation generated by these micro-elements on the tire is accumulated by integration. The specific model formula (1) is shown below: (1) In the formula: —Real-time adhesion coefficient (calculated from the acceleration during the vehicle's braking / climbing process); h min and h max —h represents the contact cutoff height, which can also be understood as the effective contact interface. Only when the height is greater than h... min Only when the road surface bumps (peaks) actually make physical contact with the tires of the test vehicle and generate friction; z—a micro-element representing the height of the road surface microstructure; MPD—Mean Texture Depth (a macroscopic indicator) represents the drainage and fouling capacity of the rough surface skeleton. Rq—Root Mean Square Roughness (a microscopic index) represents the degree of undulation in road surface texture; —A 3D point cloud of the road surface is acquired using a high-precision laser scanner. A reference surface is obtained by averaging the surface height, and the z-value of each point is calculated. The slope dz / dx is obtained by taking the first derivative of z. P(z) — the probability density function of road surface height; A and B – Contribution coefficients (calculated using the least squares method for regression analysis on two sets of comparative experiments: one set of road surfaces with small MPD and large Rq, and the other set of road surfaces with large MPD and large Rq).

[0034] The formula for calculating the real-time adhesion coefficient is as follows: (2) In the formula: —Real-time adhesion coefficient; a — instantaneous acceleration; --slope.

[0035] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, the present invention will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by the present invention.

[0036] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A simulation test system for vehicle driving characteristics of anti-icing coated road surfaces, characterized in that: include: Vehicles are placed on the road (12); A pressure sensor (14) is installed on the road surface to obtain the adhesion force between the wheel tire and the road surface; A hub force sensor (13) is installed on the wheel of the vehicle (12) to measure instantaneous normal force and tangential friction force; The variable slope base is equipped with a road surface to simulate road slope adjustment; The fan (8) is set on the side of the road surface to simulate the effect of wind on the vehicle (12) and the road surface; The road surface is made of rutting plates with an anti-icing coating on the surface. A heating module (15) is installed inside or on the bottom of the rutting plate. The heating module (15) works in conjunction with the coating to achieve the anti-icing effect. The road surface shape is a square simulated road surface for short slopes (9), a circular simulated road surface for extreme turns (10), or a rectangular simulated road surface for long slopes (11). The variable slope base includes a support base (1), a first hydraulic rod (2), a second hydraulic rod (3), and a frame (16). The support base (1) has a vertical frame (16) fixed on the right side. The support base (1) is square. Three short rods are set between two parallel long rods of the support base (1). A groove is set on the right side of the long rod. The left short rod and the middle short rod are fixedly connected to the long rod. The two ends of the right short rod are set in the corresponding long rod groove. The right short rod and the middle short rod are connected by two second hydraulic rods (3) to realize the sliding connection of the right short rod along the long rod. The upper ends of the four first hydraulic rods (2) are evenly hinged to the lower side of the road surface. The lower ends of the four first hydraulic rods (2) are respectively connected to the two long rods, the left short rod and the right short rod. A fan (8) is installed on the frame (16).

2. The simulation test system for vehicle driving characteristics of anti-icing coated road surfaces according to claim 1, characterized in that: The hub force sensor (13) and pressure sensor (14) in the data acquisition module are connected to the control module to transmit the acquired data to the control module. The fan speed control knob (4), the propulsion control button (5) of the second hydraulic rod, the slope adjustment button of the first hydraulic rod, and the fan control knob (7) in the switch are connected to the control module to realize manual adjustment. The wheel drive motor, the first hydraulic rod, the second hydraulic rod, and the fan in the execution module are connected to the control module to receive the control module's instructions and execute the corresponding actions. The data transmission module is connected to the control module to realize data recording and remote monitoring.

3. A simulation test method for vehicle driving characteristics of anti-icing coated road surfaces, characterized in that: The simulation test system for vehicle driving characteristics of anti-icing coated road surfaces as described in claim 2 includes the following steps: The morphology of the road surface before and after spraying the coating is scanned using a white light interferometer or a 3D scanner; the average texture depth and root mean square roughness of the morphology are extracted. Obtain the instantaneous normal force of the vehicle. N With tangential friction F f Instantaneous acceleration, deceleration, and velocity; Based on the above parameters, formulas are established to quantify the impact of the macro- and micro-structures of coated pavement on vehicle driving dynamics.

4. The simulation test method for vehicle driving characteristics of anti-icing coated road surfaces according to claim 3, characterized in that: The road surface is considered as a collection of countless infinitesimal protrusions. The sum of the supporting force and frictional dissipation generated by these infinitesimal elements on the tire is accumulated by integration.

5. The simulation test method for vehicle driving characteristics of anti-icing coated road surfaces according to claim 4, characterized in that: The model formula (1) is shown below: （1） In the formula, —Real-time adhesion coefficient; h min and h max —h represents the contact cutoff height, and the height is greater than h. min The road surface bumps come into physical contact with the tires of the test vehicle and generate friction. z—a micro-element representing the height of the road surface microstructure; MPD—Mean Texture Depth, representing the drainage and dirt-holding space of the rough surface skeleton; Rq—Root mean square roughness, representing the degree of undulation in road surface texture; —The road surface is obtained by acquiring a three-dimensional point cloud through a high-precision laser scanner, the average value of the surface height is taken to obtain the reference surface, the z value of each point is calculated, and the slope dz / dx is obtained by taking the first derivative with respect to z. P(z) — the probability density function of road surface height; A and B – Construct contribution systems; The formula for calculating the real-time adhesion coefficient (2) is shown below: （2） In the formula: —Real-time adhesion coefficient; a — instantaneous acceleration; --slope.

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