CN110395259A - A kind of estimation method of surface conditions, device, equipment and medium - Google Patents
A kind of estimation method of surface conditions, device, equipment and medium Download PDFInfo
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- CN110395259A CN110395259A CN201910638125.XA CN201910638125A CN110395259A CN 110395259 A CN110395259 A CN 110395259A CN 201910638125 A CN201910638125 A CN 201910638125A CN 110395259 A CN110395259 A CN 110395259A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
Abstract
Subject description discloses a kind of estimation methods of surface conditions to obtain the measured value of current vehicle operating parameter according to the operating condition of current vehicle in real time；The error amount of the current vehicle operating parameter obtained according to the measured value of current vehicle operating parameter and in advance obtains the true value of current vehicle operating parameter；The true value of current vehicle operating parameter is input in the first computation model pre-established, wherein the first computation model is the model for estimating current road situation；Current surface conditions are estimated according to the output result of the first computation model.The present invention obtains the measured value of related operating parameter according to the operating status of vehicle itself, and then the case where estimate current driving road surface, allows the security system of vehicle to make accurate judgement to current road surface, increase the safety of vehicle driving.
Description
Technical field
This specification be related to vehicle parameter calculating technical field, more particularly, to a kind of surface conditions estimation method,
Device, equipment and medium.
Background technique
In Vehicular turn or damped condition, road surface and tire provide interaction force, so that vehicle safety turns to and system
It is dynamic.The case where in order to realize the safe driving of vehicle, need real-time monitoring road surface during traveling, for example, in traveling
The attachment coefficient on real-time monitoring road surface in the process.In the advanced driving assistance system of vehicle (Advanced Driving
Assistant System), in the security systems such as Volvo lane departure warning system (Lane Departure Warning)
Real-time monitoring surface conditions are all needed, to ensure the safety travelled, so, obtaining accurate surface conditions is to carry out vehicle peace
The key of total system analysis and design.
In the prior art, it needs through a large amount of test data, and then obtains the corresponding surface conditions in different road surfaces, than
Such as, when surface conditions are the attachment coefficient on road surface, by a large amount of test data it can be concluded that ice-patch surface (attachment coefficient mu≤
0.3), ponding road surface (0.4≤mu≤0.55), dry pavement (mu >=0.65) etc., but vehicle can encounter in motion it is more complicated
Road conditions so that estimation coefficient of road adhesion may be inaccurate, can not be to current so as to cause the security system of vehicle
Accurate judgement is made on road surface, influences the safety of vehicle driving.
Summary of the invention
This specification provides estimation method, device, equipment and the medium of a kind of surface conditions, solves in the prior art
The problem of security system of vehicle can not make accurate judgement, influence vehicle driving safety to current road surface.
In order to solve the above technical problems, this specification embodiment is achieved in that
A kind of estimation method for surface conditions that this specification provides, this method comprises:
According to the operating condition of current vehicle, the measured value of current vehicle operating parameter is obtained in real time；
The error of the current vehicle operating parameter obtained according to the measured value of the current vehicle operating parameter and in advance
It is worth the true value of current vehicle operating parameter；
The true value of the current vehicle operating parameter is input in the first computation model pre-established, wherein institute
Stating the first computation model is the model for estimating current road situation；
Current surface conditions are estimated according to the output result of first computation model.
Optionally, the true value by the current vehicle operating parameter is input to the first computation model pre-established
In before, the method also includes:
The kinetic model of current vehicle is established under given conditions；
Calculate the slip rate, side drift angle and load transfer amount of current vehicle；
The slip rate, side drift angle and load transfer amount are input to the second computation model, wherein described second calculates
Model is the model for calculating the lateral force of tire and longitudinal force of tire of current vehicle；
The result that second computation model obtains is input to the vehicle dynamic model, show that described first calculates
Model.
Optionally, second computation model is tire six square phase model.
Optionally, the kinetic model include longitudinal equilibrium equation of current vehicle, lateral equilibrium equation and
Torque equilibrium equation about the z axis.
Optionally, the surface conditions include at least the attachment coefficient on road surface.
Optionally, the operating parameter includes longitudinal acceleration, transverse acceleration and yaw velocity.
Present description provides a kind of estimation device of surface conditions, described device includes:
Acquiring unit obtains the measured value of current vehicle operating parameter for the operating condition according to current vehicle in real time；
Computing unit, the current vehicle for obtaining according to the measured value of the current vehicle operating parameter and in advance are transported
The error amount of row parameter obtains the true value of current vehicle operating parameter；
Input unit calculates mould for the true value of the current vehicle operating parameter to be input to pre-establish first
In type, wherein first computation model is the model for estimating current road situation；
Estimation unit, for estimating current surface conditions according to the output result of first computation model.
Optionally, described device further include:
Unit is established, for establishing the kinetic model of current vehicle under given conditions；
Computing unit is also used to calculate the slip rate, side drift angle and load transfer amount of current vehicle；
The input unit is also used to the slip rate, side drift angle and load transfer amount being input to the second calculating mould
Type, wherein second computation model is the model for calculating the lateral force of tire and longitudinal force of tire of current vehicle；
As a result unit, the result for obtaining second computation model are input to the vehicle dynamic model, obtain
First computation model out.
Optionally, second computation model is tire six square phase model.
Optionally, the kinetic model include longitudinal equilibrium equation of current vehicle, lateral equilibrium equation and
Torque equilibrium equation about the z axis.
Optionally, the surface conditions include at least the attachment coefficient on road surface.
Optionally, the operating parameter includes longitudinal acceleration, transverse acceleration and yaw velocity.
A kind of computer-readable medium that this specification also provides is stored thereon with computer-readable instruction, the calculating
Machine readable instruction can be executed by processor following steps:
According to the operating condition of current vehicle, the measured value of current vehicle operating parameter is obtained in real time；
The error of the current vehicle operating parameter obtained according to the measured value of the current vehicle operating parameter and in advance
It is worth the true value of current vehicle operating parameter；
The true value of the current vehicle operating parameter is input in the first computation model pre-established, wherein institute
Stating the first computation model is the model for estimating current road situation；
Current surface conditions are estimated according to the output result of first computation model.
A kind of estimation equipment for surface conditions that this specification also provides, the equipment include referring to for storing computer program
The memory of order and processor for executing program instructions, wherein when the computer program instructions are executed by the processor,
It triggers the equipment and executes following device:
Acquiring unit obtains the measured value of current vehicle operating parameter for the operating condition according to current vehicle in real time；
Computing unit, the current vehicle for obtaining according to the measured value of the current vehicle operating parameter and in advance are transported
The error amount of row parameter obtains the true value of current vehicle operating parameter；
Input unit calculates mould for the true value of the current vehicle operating parameter to be input to pre-establish first
In type, wherein first computation model is the model for estimating current road situation；
Estimation unit, for estimating current surface conditions according to the output result of first computation model.
This specification embodiment use at least one above-mentioned technical solution can reach it is following the utility model has the advantages that
The present invention obtains the measured value of related operating parameter according to the operating status of vehicle itself, and then estimates current line
The case where sailing road surface allows the security system of vehicle to make accurate judgement to current road surface, increases vehicle driving
Safety.
Detailed description of the invention
In order to illustrate more clearly of this specification embodiment or technical solution in the prior art, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
The some embodiments recorded in this specification, for those of ordinary skill in the art, in not making the creative labor property
Under the premise of, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow diagram of the estimation method for the surface conditions that this specification embodiment one provides；
Fig. 2 is the flow diagram of the estimation method for the surface conditions that this specification embodiment two provides；
Fig. 3 is the example of vehicle dynamic model in this specification embodiment two；
Fig. 4 is to acquire A in this specification embodiment twox、AyWithSchematic diagram；
Fig. 5 is the schematic diagram of UKF customization tool module in this specification embodiment two；
Fig. 6 is the schematic diagram of CARSIM and SIMULINK associative simulation test platform in this specification embodiment two；
The attachment coefficient for the current road that Fig. 7 estimates when being vehicle braking and the error of current road attachment coefficient true value
Situation；
The attachment coefficient for the current road that Fig. 8 estimates when being Vehicular turn and the error of current road attachment coefficient true value
Situation；
Fig. 9 is the attachment coefficient and current road attachment coefficient true value for the current road estimated when vehicle braking and steering
Error condition；
Figure 10 is the structural schematic diagram of the estimation device for the surface conditions that this specification embodiment three provides.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution in this specification, below in conjunction with this explanation
Attached drawing in book embodiment is clearly and completely described the technical solution in this specification embodiment, it is clear that described
Embodiment be merely a part but not all of the embodiments of the present application.Based on this specification embodiment, this field
Those of ordinary skill's every other embodiment obtained without creative efforts, all should belong to the application
The range of protection.
Fig. 1 is a kind of flow diagram of the estimation method for surface conditions that this specification embodiment one provides, the process
Schematic diagram includes:
Step S101 obtains the measured value of current vehicle operating parameter according to the operating condition of current vehicle in real time.
Step S102, the current vehicle operating parameter obtained according to the measured value of current vehicle operating parameter and in advance
Error amount obtains the true value of current vehicle operating parameter.
The true value of current vehicle operating parameter is input in the first computation model pre-established by step S103,
In, the first computation model is the model for estimating current road situation.
Step S104 estimates current surface conditions according to the output result of first computation model.
Fig. 2 is a kind of flow diagram of the estimation method for surface conditions that this specification embodiment two provides, the process
Schematic diagram includes:
Step S201 obtains the measured value of current vehicle operating parameter according to the operating condition of current vehicle in real time.
In the step S201 of this specification embodiment, operating parameter may include in the present embodiment longitudinal acceleration,
Transverse acceleration and yaw velocity.
Step S202, the current vehicle operating parameter obtained according to the measured value of current vehicle operating parameter and in advance
Error amount obtains the true value of current vehicle operating parameter.
In the step S202 of this specification embodiment, the true value of current vehicle operating parameter is current vehicle operation ginseng
Several measured values is obtained according to the error amount of current vehicle operating parameter, wherein the error amount of current vehicle operating parameter is to mention
The numerical value of preceding acquisition, can be positive value, be also possible to negative value.
In the step S202 of this specification embodiment, the error amount of current vehicle operating parameter can inquire current vehicle
Relevant parameter obtain, or after current vehicle at the uniform velocity keep straight on a distance, the data of sensor acquisition are subjected to mean value, equal
Variance obtains after calculating, referring to table 1 and Fig. 4.Meanwhile calculating longitudinal acceleration, transverse acceleration and yaw velocity
It is wandering with noise mean square deviation.
Zero floats: the mean value of longitudinal acceleration, transverse acceleration and yaw velocity when vehicle drives at a constant speed；
Noise mean square deviation: longitudinal acceleration when vehicle drives at a constant speed, transverse acceleration and yaw velocity it is square
Difference.It is assumed that Ax、AyWithMutually indepedent and mean value be zero, when being not zero for mean value, need return-to-zero.
Table 1
Step S203 establishes the kinetic model of current vehicle under given conditions.
In the step S203 of this specification embodiment, referring to Fig. 3, the specified conditions for establishing vehicle dynamic model can be with
Are as follows:
(1) coordinate origin being fixed on current vehicle is overlapped with the mass center of current vehicle；
(2) ignore the effect and KC kinetic characteristic of current vehicle suspension, wherein KC kinetic characteristic is elastic movement characteristic；
(3) pitch angle of the current vehicle around Y-axis and the angle of heel around X-axis are 0；
(4) it is other to ignore the inside and outside wheel outer corner difference of current vehicle, it is believed that inside and outside wheel corner is consistent.
In addition, the specified conditions for establishing vehicle dynamic model are not limited to above-mentioned saying, the above-mentioned condition listed is only one
The specified conditions that kind may be implemented.
Wherein, vehicle dynamic model includes longitudinal equilibrium equation, lateral equilibrium equation and equalising torque about the z axis
Equation, be related to formula 1. -3.:
(1) longitudinal equilibrium equation:
mAx=(Fxfl+Fxfr)cosδ-(Fyfl+Fyfr)sinδ+Fxrl+Fxrr ①
(2) lateral equilibrium equation:
mAy=(Fxfl+Fxfr)sinδ+(Fyfl+Fyfr)cosδ+Fyrl+Fyrr ②
(3) torque equilibrium equation about the z axis:
In formula, m is the quality of current vehicle, and the quality of current vehicle, i.e. current vehicle can be set according to number of passengers
Quality adds the quality of number of passengers；AxFor the measured value of the longitudinal acceleration of current vehicle, can be obtained with sensor；AyTo work as
The measured value of vehicle in front transverse acceleration can be obtained by sensor；For the single order of the measured value r of current vehicle yaw velocity
Derivative, r can be obtained by sensor；δ is the front wheel angle of current vehicle, can be by the input of the driver's steering wheel parameter；
Fxfl,Fxfr,Fxrl,FxrrFor the longitudinal force of tire of current vehicle four direction；Fyfl,Fyfr,Fyrl,FyrrFor four sides of current vehicle
To lateral force of tire；Iz is the rotator inertia of current vehicle；A is distance of the current vehicle mass center to front axle；B is current vehicle
Distance of the mass center to rear axle；Tw1 is current vehicle front axle distance；Tw2 is current vehicle rear axle distance, and Iz, a, b, tw1, tw2 can
It is set in advance according to the parameter of current vehicle.
Step S204, calculates the slip rate, side drift angle and load transfer amount of current vehicle, and by the cunning of current vehicle
Shifting rate, side drift angle and load transfer amount are input to the second computation model, wherein the second computation model is to calculate current vehicle four
The lateral force of tire in a direction and the longitudinal force of tire of current vehicle four direction.
In the step S204 of this specification embodiment, current vehicle slip rate calculate when be related to formula 4. with formula
⑤.When tire issues tractive force or brake force, relative motion can all occur between tire and ground, slip rate is in wheel
Ratio shared by ingredient is slided in movement.
In formula, Vt_fl、Vt_fr、Vt_rl、Vt_rrIt is grounded longitudinal velocity for the tire under tyre axis system, it can be by sensor
Measurement obtains, VxFor longitudinal speed, VyFor lateral speed, can be obtained by sensor measurement.
In formula, Sfl、Sfr、Srl、SrrFor the slip rate of current vehicle four direction.
4. it brings formula into formula 5., obtains the slip rate of current vehicle four direction.
In the step S204 of this specification embodiment, 6. the calculating of current vehicle slip angle of tire is related to formula.Due to
The effect of centrifugal force when the lateral inclination on road surface, beam wind or curve driving etc., wheel center generate one along axial direction
Under the action of a cross force, the center line of automobile tire has been staggered certain distance with wheel plane, and has had an inclination angle,
This inclination angle is exactly the side drift angle of current vehicle tire.
Wherein, αfl、αfr、αfr、αrrFor the side drift angle of current vehicle four direction.
In the step S204 of this specification embodiment, 7. the calculating of load transfer amount is related to formula.Vehicle is in motion
With certain acceleration, the effect of vehicle body mass center is caused to have certain inertia force, generally, the mass center of vehicle body does not fall in side
Incline on axis, and fall in the top of roll axis, the inertia force for acting on vehicle body is formed around moment resulting from sidesway, and vehicle body generates angle of heel, vehicle
The phenomenon that body inclination causes antero posterior axis that side load increase in the vehicle of left and right occurs, and another side load is reduced is known as being caused by inclination
Load transfer.
Wherein, defining vehicle wheelbase is l=a+b；Fz_fl、Fz_fr、Fz_zl、Fz_rrFor the load of current vehicle four direction
Transfer amount；H is height of center of mass, can be set in advance according to the parameter of current vehicle；G is acceleration of gravity.
In the step S204 of this specification embodiment, computation model can be tire six square phase model, tire six square phase
8. model is related to formula.
In formula, Cxfl、Cxfr、Cxrl、CxrrIt, can be according to the ginseng of current vehicle for the linear longitudinal rigidity of the tire of four direction
Number is set in advance；Cyfl、Cyfr、Cyrl、CyrrIt, can be according to the parameter of current vehicle for the linear lateral stiffness of the tire of four direction
It is set in advance.
By formula 5.~7. bring formula into 8., obtain the four direction longitudinal force of tire F of current vehiclexfl,Fxfr,Fxrl,
FxrrWith the four direction lateral force of tire F of current vehicleyfl,Fyfr,Fyrl,Fyrr。
Step S205, the result that the second computation model obtains are input to vehicle dynamic model, obtain the first computation model.
In the step S205 of this specification embodiment, current road situation includes at least the attachment coefficient of current road.
In the step S205 of this specification embodiment, 8. formula is brought into formula 1. -3., can derive that calculating is current
The attachment coefficient μ of vehiclefl、μfr、μrl、μrrThe first computation model.
As coefficient of road adhesion [μfl；μfr；μrl；μrr] it is [1；1；1；When 1],
Coefficient of road adhesion [μfl；μfr；μrl；μrr] it is [u1；u2；u3；U4] when, equation of transfer h (t) are as follows:
The true value of longitudinal acceleration are as follows:
The true value of transverse acceleration are as follows:
The equation of yaw velocity true value are as follows:
In the step S205 of this specification embodiment, the first computation model of current vehicle can be by using no mark karr
The building of graceful filtering principle when calculating, needs the error amount by current vehicle operating parameter to be converted into error vector v (t), v's (t)
Its probability distribution density is all are as follows: P (v)~N (0, Rσ)。
RσFor the mean square deviation of error vector v (t), then the covariance matrix that error vector v (t) can be obtained is
In the step S205 of this specification embodiment, model specification is estimated by the first of current vehicle are as follows:
X (t)=f (t)+w (t)；
Y (t)=h (t)+v (t)；
Wherein, w (t) is process vector, and probability distribution is P (w)~N (0, Qσ).Q is the covariance matrix of w (t), and Q is needed
It to be modified according to the actual situation.
Wherein, μfl、μfr、μrl、μrrFor the attachment coefficient of current vehicle four direction.
Wherein, Ax,Ay,For the measured value of current vehicle.
H (t) be 8. formula is brought into formula 1. -3. when obtain with Ax,Ay,Equation.
X (t) is to calculate μfl、μfr、μrl、μrrEnd value.
The true value of current vehicle operating parameter is input in the first computation model by step S206, wherein first calculates
Model is the model for estimating current road situation.
Step S207 estimates current surface conditions according to the output result of first computation model.
Further, SIMULINK simulation model is generated according to above-mentioned steps, UKF customization tool case is formed, referring to figure
5, and combine with CARSIM and carry out virtual closed loop test, referring to Fig. 6.
When vehicle reduces to 0 braking by 100km/h, Ts=0.01s, since ABS is acted on, the attachment coefficient of current road is being estimated
Timing can generate fluctuation, referring to Fig. 7, the attachment coefficient and current road attachment coefficient of the current road estimated when being vehicle braking
The error condition of true value, at this point, the attachment coefficient for the current road finally estimated is respectively 0.3 and 0.5, when vehicle braking, is estimated
The attachment coefficient of the current road of meter and the error of current road attachment coefficient true value are 10%.
When vehicle does emergency turn by 120km/h, Ts=0.01s, referring to Fig. 8, the current road estimated when being Vehicular turn
The attachment coefficient in face and the error condition of current road attachment coefficient true value, at this point, the attachment for the current road finally estimated
Coefficient is respectively 0.5 and 0.85, and the attachment coefficient and current road attachment coefficient for the current road that when Vehicular turn is estimated are true
The error of value is 5%.
Vehicle is turned to by 85km/h in R=100m locus circle, and is started braking after 3s and be kept to 0, Ts=0.01s.Referring to
Fig. 9, for the error of the attachment coefficient and current road attachment coefficient true value of the current road estimated when vehicle braking and steering
Situation, at this point, the attachment coefficient of the current road finally estimated is 0.65, current road that vehicle braking and while turning to are estimated
The error of attachment coefficient and current road attachment coefficient true value is 5%.
Figure 10 is a kind of structural schematic diagram of the estimation device for surface conditions that this specification embodiment three provides, the structure
Schematic diagram includes: acquiring unit 1, computing unit 2, input unit 3, estimation unit 4, establishes unit 5, result unit 6.
Acquiring unit 1 is used for the operating condition according to current vehicle, obtains the measured value of current vehicle operating parameter in real time；
The current vehicle that computing unit 2 is used to obtain according to the measured value of the current vehicle operating parameter and in advance is transported
The error amount of row parameter obtains the true value of current vehicle operating parameter；
Input unit 3 is used to for the true value of the current vehicle operating parameter being input to first pre-established and calculates mould
In type, wherein first computation model is the model for estimating current road situation；
Estimation unit 4 is used to estimate current surface conditions according to the output result of first computation model.
Unit 5 is established for establishing the kinetic model of current vehicle under given conditions；
Computing unit is also used to calculate the slip rate, side drift angle and load transfer amount of current vehicle；
Input unit 3 is also used to the slip rate, side drift angle and load transfer amount being input to the second computation model,
In, second computation model is the model for calculating the lateral force of tire and longitudinal force of tire of current vehicle；
As a result unit 6 is used to the result that second computation model obtains being input to the vehicle dynamic model, obtains
First computation model out.
Second computation model is tire six square phase model.
Kinetic model includes longitudinal equilibrium equation of current vehicle, lateral equilibrium equation and torque is flat about the z axis
Weigh equation.
Surface conditions include at least the attachment coefficient on road surface.
Operating parameter includes longitudinal acceleration, transverse acceleration and yaw velocity.
A kind of computer-readable medium that this specification embodiment also provides, is stored thereon with computer-readable instruction, institute
Following steps can be executed by processor by stating computer-readable instruction:
According to the operating condition of current vehicle, the measured value of current vehicle operating parameter is obtained in real time；
The error of the current vehicle operating parameter obtained according to the measured value of the current vehicle operating parameter and in advance
It is worth the true value of current vehicle operating parameter；
The true value of the current vehicle operating parameter is input in the first computation model pre-established, wherein institute
Stating the first computation model is the model for estimating current road situation；
Current surface conditions are estimated according to the output result of first computation model.
A kind of estimation equipment for surface conditions that this specification embodiment also provides, the equipment include for storing computer
The memory of program instruction and processor for executing program instructions, wherein when the computer program instructions are by the processor
When execution, triggers the equipment and executes following device:
Acquiring unit obtains the measured value of current vehicle operating parameter for the operating condition according to current vehicle in real time；
Computing unit, the current vehicle for obtaining according to the measured value of the current vehicle operating parameter and in advance are transported
The error amount of row parameter obtains the true value of current vehicle operating parameter；
Input unit calculates mould for the true value of the current vehicle operating parameter to be input to pre-establish first
In type, wherein first computation model is the model for estimating current road situation；
Estimation unit, for estimating current surface conditions according to the output result of first computation model.
In the 1990s, the improvement of a technology can be distinguished clearly be on hardware improvement (for example,
Improvement to circuit structures such as diode, transistor, switches) or software on improvement (improvement for method flow).So
And with the development of technology, the improvement of current many method flows can be considered as directly improving for hardware circuit.
Designer nearly all obtains corresponding hardware circuit by the way that improved method flow to be programmed into hardware circuit.Cause
This, it cannot be said that the improvement of a method flow cannot be realized with hardware entities module.For example, programmable logic device
(Programmable Logic Device, PLD) (such as field programmable gate array (Field Programmable Gate
Array, FPGA)) it is exactly such a integrated circuit, logic function determines device programming by user.By designer
Voluntarily programming comes a digital display circuit " integrated " on a piece of PLD, designs and makes without asking chip maker
Dedicated IC chip.Moreover, nowadays, substitution manually makes IC chip, this programming is also used instead mostly " is patrolled
Volume compiler (logic compiler) " software realizes that software compiler used is similar when it writes with program development,
And the source code before compiling also write by handy specific programming language, this is referred to as hardware description language
(Hardware Description Language, HDL), and HDL is also not only a kind of, but there are many kind, such as ABEL
(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description
Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL
(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby
Hardware Description Language) etc., VHDL (Very-High-Speed is most generally used at present
Integrated Circuit Hardware Description Language) and Verilog.Those skilled in the art also answer
This understands, it is only necessary to method flow slightly programming in logic and is programmed into integrated circuit with above-mentioned several hardware description languages,
The hardware circuit for realizing the logical method process can be readily available.
Controller can be implemented in any suitable manner, for example, controller can take such as microprocessor or processing
The computer for the computer readable program code (such as software or firmware) that device and storage can be executed by (micro-) processor can
Read medium, logic gate, switch, specific integrated circuit (Application Specific Integrated Circuit,
ASIC), the form of programmable logic controller (PLC) and insertion microcontroller, the example of controller includes but is not limited to following microcontroller
Device: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320 are deposited
Memory controller is also implemented as a part of the control logic of memory.It is also known in the art that in addition to
Pure computer readable program code mode is realized other than controller, can be made completely by the way that method and step is carried out programming in logic
Controller is obtained to come in fact in the form of logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion microcontroller etc.
Existing identical function.Therefore this controller is considered a kind of hardware component, and to including for realizing various in it
The device of function can also be considered as the structure in hardware component.Or even, it can will be regarded for realizing the device of various functions
For either the software module of implementation method can be the structure in hardware component again.
System, device, module or the unit that above-described embodiment illustrates can specifically realize by computer chip or entity,
Or it is realized by the product with certain function.It is a kind of typically to realize that equipment is computer.Specifically, computer for example may be used
Think personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant, media play
It is any in device, navigation equipment, electronic mail equipment, game console, tablet computer, wearable device or these equipment
The combination of equipment.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit can be realized in the same or multiple software and or hardware when application.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or equipment.
The application can describe in the general context of computer-executable instructions executed by a computer, such as program
Module.Generally, program module includes routines performing specific tasks or implementing specific abstract data types, programs, objects, group
Part, data structure etc..The application can also be practiced in a distributed computing environment, in these distributed computing environments, by
Task is executed by the connected remote processing devices of communication network.In a distributed computing environment, program module can be with
In the local and remote computer storage media including storage equipment.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Claims (14)
1. a kind of estimation method of surface conditions, which is characterized in that the described method includes:
According to the operating condition of current vehicle, the measured value of current vehicle operating parameter is obtained in real time；
The error amount of the current vehicle operating parameter obtained according to the measured value of the current vehicle operating parameter and in advance obtains
The true value of current vehicle operating parameter out；
The true value of the current vehicle operating parameter is input in the first computation model pre-established, wherein described
One computation model is the model for estimating current road situation；
Current surface conditions are estimated according to the output result of first computation model.
2. the estimation method of surface conditions according to claim 1, which is characterized in that described to run the current vehicle
Before the true value of parameter is input in the first computation model pre-established, the method also includes:
The kinetic model of current vehicle is established under given conditions；
Calculate the slip rate, side drift angle and load transfer amount of current vehicle；
The slip rate, side drift angle and load transfer amount are input to the second computation model, wherein second computation model
To calculate the lateral force of tire of current vehicle and the model of longitudinal force of tire；
The result that second computation model obtains is input to the vehicle dynamic model, show that described first calculates mould
Type.
3. the estimation method of surface conditions according to claim 2, which is characterized in that second computation model is tire
Six square phase model.
4. the estimation method of surface conditions according to claim 2, which is characterized in that the kinetic model includes current
Longitudinal equilibrium equation of vehicle, lateral equilibrium equation and torque equilibrium equation about the z axis.
5. the estimation method of surface conditions according to claim 1, which is characterized in that the surface conditions include at least road
The attachment coefficient in face.
6. the estimation method of surface conditions according to claim 1, which is characterized in that the operating parameter includes longitudinal adds
Speed, transverse acceleration and yaw velocity.
7. a kind of estimation device of surface conditions, which is characterized in that described device includes:
Acquiring unit obtains the measured value of current vehicle operating parameter for the operating condition according to current vehicle in real time；
Computing unit, the current vehicle operation ginseng for obtaining according to the measured value of the current vehicle operating parameter and in advance
Several error amounts obtains the true value of current vehicle operating parameter；
Input unit, for the true value of the current vehicle operating parameter to be input to the first computation model pre-established
In, wherein first computation model is the model for estimating current road situation；
Estimation unit, for estimating current surface conditions according to the output result of first computation model.
8. the estimation device of surface conditions according to claim 7, which is characterized in that described device further include:
Unit is established, for establishing the kinetic model of current vehicle under given conditions；
Computing unit is also used to calculate the slip rate, side drift angle and load transfer amount of current vehicle；
The input unit is also used to the slip rate, side drift angle and load transfer amount being input to the second computation model,
In, second computation model is the model for calculating the lateral force of tire and longitudinal force of tire of current vehicle；
As a result unit, the result for obtaining second computation model are input to the vehicle dynamic model, obtain institute
State the first computation model.
9. the estimation device of surface conditions according to claim 8, which is characterized in that second computation model is tire
Six square phase model.
10. the estimation device of surface conditions according to claim 8, which is characterized in that the kinetic model includes working as
Longitudinal equilibrium equation of vehicle in front, lateral equilibrium equation and torque equilibrium equation about the z axis.
11. the estimation device of surface conditions according to claim 7, which is characterized in that the surface conditions include at least
The attachment coefficient on road surface.
12. the estimation device of surface conditions according to claim 7, which is characterized in that the operating parameter includes longitudinal
Acceleration, transverse acceleration and yaw velocity.
13. a kind of computer-readable medium, is stored thereon with computer-readable instruction, the computer-readable instruction can be processed
Device is executed to realize method described in any one of claims 1 to 6.
14. a kind of estimation equipment of surface conditions, which includes memory for storing computer program instructions and is used for
The processor executed program instructions, wherein when the computer program instructions are executed by the processor, trigger the equipment right of execution
Benefit require any one of 7 to 12 described in device.
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