CN114394101A - Method for determining adhesion coefficient between tire and road surface, control device, and vehicle - Google Patents
Method for determining adhesion coefficient between tire and road surface, control device, and vehicle Download PDFInfo
- Publication number
- CN114394101A CN114394101A CN202210147017.4A CN202210147017A CN114394101A CN 114394101 A CN114394101 A CN 114394101A CN 202210147017 A CN202210147017 A CN 202210147017A CN 114394101 A CN114394101 A CN 114394101A
- Authority
- CN
- China
- Prior art keywords
- road surface
- adhesion coefficient
- information
- vehicle
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000015654 memory Effects 0.000 claims description 8
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 abstract description 10
- 238000012545 processing Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/40—High definition maps
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a method for determining an adhesion coefficient between a tire and a road surface, a control device and a vehicle, and belongs to the technical field of vehicle stability control. The method comprises the following steps: obtaining current road surface state information according to the high-precision map, information of the vehicle-mounted camera and the rainfall sensor and current weather information; estimating a first maximum adhesion coefficient based on the road surface condition information and the tire configuration information; judging whether at least one of an anti-lock system, a vehicle body electronic stability system and a traction control system is activated or not, if so, calculating a second maximum adhesion coefficient according to a dynamic model, and updating the current adhesion coefficient of the vehicle; and if not, judging whether the road surface state information of the current period is consistent with the road surface state information of the previous period, if so, updating the current adhesion coefficient to the adhesion coefficient of the previous period, and otherwise, updating the current adhesion coefficient to the first maximum adhesion coefficient. The method for determining the adhesion coefficient, the control device and the vehicle can realize the real-time performance and the full-time performance of the adhesion coefficient calculation.
Description
Technical Field
The invention belongs to the technical field of vehicle stability control, and particularly relates to a method for determining an adhesion coefficient between a tire and a road surface, a control device and a vehicle.
Background
When the vehicle is running, the controller can calculate the maximum adhesion coefficient of the tire and the road surface according to the torque, the estimated vehicle weight and the wheel slip ratio at the moment when an anti-lock braking system (ABS), an electronic stability system (ESP) and a Traction Control System (TCS) are activated. However, when none of the above systems is activated, the maximum adhesion coefficient calculated last time is used in the controller of the vehicle, so that the maximum adhesion coefficient cannot be accurately estimated in real time and all time, and the maximum available grip calculated according to the maximum adhesion coefficient is not accurate enough in time, thereby affecting the driving safety of the vehicle.
Disclosure of Invention
An object of the first aspect of the present invention is to provide a method for determining an adhesion coefficient of a tire to a road surface, which is capable of achieving real-time and full-time performance of adhesion coefficient calculation.
It is a further object of the present invention to improve the accuracy of the adhesion coefficient.
An object of the second aspect of the present invention is to provide a control apparatus for implementing a method of determining an adhesion coefficient of a tire to a road surface.
It is an object of a third aspect of the invention to provide a vehicle including the control apparatus described above.
In particular, the invention provides a method for determining the coefficient of adhesion of a tire to a road surface, comprising:
the following steps are executed at preset time intervals:
obtaining current road surface state information according to the high-precision map, information of the vehicle-mounted camera and the rainfall sensor and the currently acquired weather information;
estimating a first maximum adhesion coefficient based on current road surface condition information and current tire configuration information;
judging whether at least one of an anti-lock system, a vehicle body electronic stability system and a traction control system of the vehicle is activated or not, if so, calculating a second maximum adhesion coefficient according to a dynamic model, and updating the current adhesion coefficient of the vehicle to the second maximum adhesion coefficient;
and when the anti-lock system, the electronic vehicle body stabilizing system and the traction control system of the vehicle are not activated, judging whether the current road surface state information is consistent with the road surface state information of the previous period, if so, updating the adhesion coefficient of the current vehicle to the adhesion coefficient of the previous period, and otherwise, updating the adhesion coefficient of the current vehicle to the first maximum adhesion coefficient.
Optionally, the step of calculating the second maximum adhesion coefficient according to the kinetic model further comprises:
and when the difference value between the second maximum adhesion coefficient and the first maximum adhesion coefficient is larger than a threshold value, sending out warning information.
Optionally, the step of obtaining the current road surface state information according to the information of the high-precision map, the vehicle-mounted camera and the rain sensor and the currently obtained weather information includes:
obtaining corresponding road surface values according to the information of the high-precision map, the vehicle-mounted camera and the rainfall sensor and the currently acquired weather information, and giving each road surface value a preset priority, wherein the road surface values are used for representing different road surface states;
and judging whether the number of the same and effective pavement values is greater than the preset number, if so, taking the same and effective pavement values as the current pavement state information, and otherwise, taking the pavement values with high priority as the current pavement state information.
Alternatively, the step of estimating the first maximum adhesion coefficient based on the current road surface condition information and the current tire arrangement information includes:
and inquiring a preset adhesion coefficient calibration table according to the current road surface state information and the current tire configuration information to obtain the first maximum adhesion coefficient.
Optionally, the tire configuration information is a tire serial number.
Optionally, the step of obtaining current road state information according to the high-precision map, the information of the vehicle-mounted camera and the rain sensor, and the currently obtained weather information further includes:
and reading the current tire configuration information, judging whether the current tire configuration information is prestored tire information, if so, reading the information of the high-precision map, the vehicle-mounted camera and the rain sensor and the current weather information, and obtaining the current road surface state information.
In particular, the invention also provides a control device comprising a memory and a processor, the memory storing a control program, the control program being executed by the processor for implementing the method for determining the adhesion coefficient of a tire to a road surface according to any one of the above.
Particularly, the invention also provides a vehicle comprising the control device.
According to one embodiment of the invention, the first maximum adhesion coefficient is estimated according to the current road surface state information and the tire configuration information in each running period, and the first maximum adhesion coefficient can be calculated in real time as the adhesion coefficient for the system when an anti-lock system, a body electronic stability system and a traction control system of the vehicle are not activated, so that the system of the vehicle can reliably acquire the adhesion coefficients of the tires and the road surface in real time and all time, and the adhesion coefficient of the vehicle is updated correspondingly when the road surface condition changes (namely the current road surface state information is inconsistent with the road surface state information in the previous period) in the running process, so that the stable driving of the vehicle can be ensured at any time, and the safety of the vehicle is improved.
Further, the calculation of the first maximum adhesion coefficient can be carried out in full time after the vehicle is powered on, so that the adhesion coefficient is obtained before the vehicle starts, and serious slippage caused by too large starting torque can be avoided.
Further, the calculation of the first maximum adhesion coefficient introduces tire configuration information, improving the accuracy of coefficient calculation.
Furthermore, the current road surface state information is obtained by fusing a plurality of pieces of information of the high-precision map, the vehicle-mounted camera, the rain sensor and the currently acquired weather information, so that the reliability and the accuracy of the adhesion coefficient can be improved, and the stability and the safety of the vehicle are further improved.
According to one embodiment of the invention, when the difference value between the second maximum adhesion coefficient and the first maximum adhesion coefficient is larger than the threshold value, warning information is sent out, and at the moment, the driver can be prompted to pay attention to the problem through prompting, and the tire can be replaced in time, so that the driving safety is improved.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a flow chart of a method of determining the coefficient of adhesion of a tire to a road surface according to one embodiment of the present invention;
fig. 2 is a flowchart of a method of determining an adhesion coefficient of a tire to a road surface according to another embodiment of the present invention.
Detailed Description
Fig. 1 is a flowchart of a method of determining an adhesion coefficient of a tire to a road surface according to one embodiment of the present invention. The invention provides a method for determining an adhesion coefficient of a tire and a road surface, as shown in fig. 1, and in one embodiment, the method comprises the following steps:
the following steps are executed at preset time intervals:
and S100, obtaining current road surface state information according to the high-precision map, the information of the vehicle-mounted camera and the rainfall sensor and the currently acquired weather information. Namely, the road surface of the current vehicle is judged to be in a certain state, such as a dry road surface, a wet road surface, an ice road surface or a snow road surface.
Step S200, a first maximum adhesion coefficient is estimated based on the current road surface condition information and the current tire arrangement information. For example, through an experimental calibration mode, the relationship between the road surface state information, the tire configuration and the first maximum adhesion coefficient is expressed in a curve or table mode, so that the corresponding first maximum adhesion coefficient can be inquired according to the road surface state information and the tire configuration information. The tire configuration information may be a tire serial number or specific parameters corresponding to each kind of tire.
Step S300, judging whether at least one of an anti-lock braking system (ABS), a vehicle body electronic stability system (ESP) and a Traction Control System (TCS) of the vehicle is activated; if yes, go to step S400, otherwise go to step S500.
And step S400, calculating a second maximum adhesion coefficient according to the dynamic model, and updating the adhesion coefficient of the current vehicle to the second maximum adhesion coefficient. I.e. at the moment of activation of the ABS, ESP or TCS of the vehicle, can be based on μmax＝|Fx|/FzCalculating the maximum adhesion coefficient mumaxWherein F isxIs the force acting on the wheel at the moment of activation of the ABS, ESP or TCS, when FxWhen acting on the wheel from the ABS or ESP FxTake a negative value when FxWhen acted upon by TCS on the wheel FxTake a positive value, FzThe maximum adhesion coefficient calculated in this way is recorded as the second maximum adhesion coefficient for the gravity of the vehicle perpendicular to the ground through the wheels.
Step S500, determining whether the current road surface state information is consistent with the road surface state information of the previous period, if yes, entering step S600, otherwise, entering step S700.
And step S600, updating the adhesion coefficient of the current vehicle to the adhesion coefficient of the previous period.
Step S700, the adhesion coefficient of the current vehicle is updated to the first maximum adhesion coefficient.
In this embodiment, each operation cycle estimates the first maximum adhesion coefficient according to the current road surface state information and the tire configuration information, and the first maximum adhesion coefficient can be calculated in real time as the adhesion coefficient for the system even when the anti-lock system, the body electronic stability system, and the traction control system of the vehicle are not activated, so that the system of the vehicle can reliably obtain the adhesion coefficients of the tires and the road surface in real time and all time.
Further, the calculation of the first maximum adhesion coefficient can be carried out in full time after the vehicle is powered on, so that the adhesion coefficient is obtained before the vehicle starts, and serious slippage caused by too large starting torque can be avoided.
Further, the calculation of the first maximum adhesion coefficient introduces tire configuration information, improving the accuracy of coefficient calculation.
Furthermore, the current road surface state information is obtained by fusing a plurality of pieces of information of the high-precision map, the vehicle-mounted camera, the rain sensor and the currently acquired weather information, so that the reliability and the accuracy of the adhesion coefficient can be improved, and the stability and the safety of the vehicle are further improved.
Fig. 2 is a flowchart of a method of determining an adhesion coefficient of a tire to a road surface according to another embodiment of the present invention. As shown in fig. 2, in another embodiment, after step S400, the method further includes:
step S450, when the difference value between the second maximum adhesion coefficient and the first maximum adhesion coefficient is larger than the threshold value, warning information is sent out. The threshold value can be determined through calibration, and the warning information can be in a mode of sending voice prompt through a man-machine interaction system or in a mode of flashing special light and the like to remind a driver to check the tire.
When the difference value between the second maximum adhesion coefficient and the first maximum adhesion coefficient exceeds a certain value, the tire is possibly seriously worn or aged or the tire pressure is in a problem, and at the moment, a driver can be prompted to pay attention to the problem through prompting, and the tire is replaced in time, so that the driving safety is improved.
As shown in fig. 2, in one embodiment, step S100 includes:
and S102, obtaining corresponding road surface values according to the high-precision map, the information of the vehicle-mounted camera and the rainfall sensor and the currently acquired weather information, and giving each road surface value a preset priority. The road surface values are used to indicate different road surface states, for example, the road surface value 1 indicates a dry road surface, the road surface value 2 indicates a wet road surface, the road surface value 3 indicates an ice surface, and the road surface value 4 indicates a snow road surface. Here, the giving of the preset priority to each road surface value means that priority setting is performed on road surface values from different sources, for example, the road surface value of a vehicle-mounted camera is given a higher priority when the definition of the vehicle-mounted camera is higher, and here, comparison is performed through some algorithms, the reliability or reliability of each road surface value is analyzed by a controller, and then the priority of a corresponding level is given.
Step S104, determining whether the number of the same and valid road surface values is greater than a preset number, if so, entering step S106, otherwise, entering step S108. Optionally, the preset number is 2 or 3. Whether the road surface value is valid or not can be determined according to whether corresponding equipment is installed on the vehicle or not, for example, whether the vehicle is provided with a high-precision map module or not, whether a camera is installed or not, or whether the high-precision map does not cover the current area, the road surface value of the high-precision map is missing or invalid due to weak GPS signals or network problems, and the road surface value of the camera is invalid due to camera faults, shading, insufficient light, fog, snow and other weather reasons.
And step S106, taking the same and effective road surface value as the current road surface state information. For example, the road surface value obtained from the information of the high-precision map, the road surface value obtained from the information of the vehicle-mounted camera, and the road surface value obtained from the information of the rainfall sensor are all valid and are all 2, and at this time, the road surface value 2 is taken as the current road surface state information. Here, a voting algorithm is used.
And step S108, adopting the road surface value with high priority as the current road surface state information. That is, when a plurality of pieces of information do not achieve a relatively consistent result, for example, the road surface values obtained by the respective pieces of information are all different, the final road surface value is determined by using the priority.
The step S200 includes:
step S202, a preset adhesion coefficient calibration table is inquired according to the current road surface state information and the current tire configuration information to obtain a first maximum adhesion coefficient. That is, the corresponding relationship among the road surface state information, the tire configuration information and the first maximum adhesion coefficient, that is, the adhesion coefficient calibration table mentioned above is obtained by a calibration mode of experiment in advance.
The embodiment performs information fusion by combining voting and priority, can calculate the first maximum attachment coefficient in real time, and realizes the real-time property and full-time property of attachment coefficient calculation.
The tire configuration information may include tire material, tire pressure, tire aspect ratio, tire pattern, etc., which all affect the coefficient of friction of the tire itself, and thus the maximum adhesion coefficient. In some embodiments, it also relates to configuration information of the season for which the tire is suitable, for example to distinguish between summer tires, snow tires and all-weather tires.
In a further embodiment, step S102 further includes, before:
step S50, reading the current tire configuration information, and determining whether the current tire configuration information is pre-stored tire information, if yes, reading the information of the high-precision map, the vehicle-mounted camera and the rain sensor, and the current weather information, and obtaining the current road surface state information (i.e., entering step S102). Otherwise, it is stated that the tyre being fitted is of a type not pre-stored in the system, at which point the first maximum adhesion coefficient is not calculated any more, and the cycle is ended.
Further, before entering the loop, it is first ensured that the vehicle is powered on, i.e. step S50 is preceded by step S20, where the vehicle is powered on. The calculation of the second maximum adhesion coefficient and the first maximum adhesion coefficient may be performed whenever the vehicle is powered up.
The invention also provides a control device, which comprises a memory and a processor, wherein the memory stores a control program, and the control program is used for realizing the method for determining the adhesion coefficient between the tire and the road surface in any embodiment or the combination of the embodiments. The processor may be a Central Processing Unit (CPU), a digital processing unit, or the like. The processor receives and transmits data through the communication interface. The memory is used for storing programs executed by the processor. The memory is any medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, or a combination of memories. The above-described computing program may be downloaded from a computer-readable storage medium to a corresponding computing/processing device or to a computer or external storage device via a network (e.g., the internet, a local area network, a wide area network, and/or a wireless network).
The invention also provides a vehicle comprising the control device.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (8)
1. A method for determining the coefficient of adhesion of a tire to a road surface, comprising:
the following steps are executed at preset time intervals:
obtaining current road surface state information according to the high-precision map, information of the vehicle-mounted camera and the rainfall sensor and the currently acquired weather information;
estimating a first maximum adhesion coefficient based on current road surface condition information and current tire configuration information;
judging whether at least one of an anti-lock system, a vehicle body electronic stability system and a traction control system of the vehicle is activated or not, if so, calculating a second maximum adhesion coefficient according to a dynamic model, and updating the current adhesion coefficient of the vehicle to the second maximum adhesion coefficient;
and when the anti-lock system, the electronic vehicle body stabilizing system and the traction control system of the vehicle are not activated, judging whether the current road surface state information is consistent with the road surface state information of the previous period, if so, updating the adhesion coefficient of the current vehicle to the adhesion coefficient of the previous period, and otherwise, updating the adhesion coefficient of the current vehicle to the first maximum adhesion coefficient.
2. The method of determining the adhesion coefficient of a tire to a road surface according to claim 1, wherein the step of calculating the second maximum adhesion coefficient from the dynamic model is followed by further comprising:
and when the difference value between the second maximum adhesion coefficient and the first maximum adhesion coefficient is larger than a threshold value, sending out warning information.
3. The method for determining the adhesion coefficient between a tire and a road surface according to claim 1, wherein the step of deriving the current road surface condition information from the information of the high-precision map, the vehicle-mounted camera and the rain sensor, and the currently acquired weather information comprises:
obtaining corresponding road surface values according to the information of the high-precision map, the vehicle-mounted camera and the rainfall sensor and the currently acquired weather information, and giving each road surface value a preset priority, wherein the road surface values are used for representing different road surface states;
and judging whether the number of the same and effective pavement values is greater than the preset number, if so, taking the same and effective pavement values as the current pavement state information, and otherwise, taking the pavement values with high priority as the current pavement state information.
4. A method of determining a tire-on-road adhesion coefficient as claimed in claim 3, wherein the step of estimating a first maximum adhesion coefficient based on current road surface condition information and current tire configuration information comprises:
and inquiring a preset adhesion coefficient calibration table according to the current road surface state information and the current tire configuration information to obtain the first maximum adhesion coefficient.
5. The method of determining the adhesion coefficient of a tire to a road surface according to claim 4, wherein the tire arrangement information is a tire serial number.
6. The method for determining the adhesion coefficient between a tire and a road surface according to claim 4, wherein the step of deriving the current road surface state information from the information of the high-precision map, the vehicle-mounted camera and the rain sensor and the currently acquired weather information is preceded by the step of:
and reading the current tire configuration information, judging whether the current tire configuration information is prestored tire information, if so, reading the information of the high-precision map, the vehicle-mounted camera and the rain sensor and the current weather information, and obtaining the current road surface state information.
7. A control device comprising a memory in which a control program is stored and a processor, said control program being adapted to implement the method of determining the coefficient of adhesion of a tyre to a road surface according to any one of claims 1 to 6 when executed by said processor.
8. A vehicle characterized by comprising the control apparatus of claim 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210147017.4A CN114394101B (en) | 2022-02-17 | 2022-02-17 | Method for determining adhesion coefficient between tire and road surface, control device and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210147017.4A CN114394101B (en) | 2022-02-17 | 2022-02-17 | Method for determining adhesion coefficient between tire and road surface, control device and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114394101A true CN114394101A (en) | 2022-04-26 |
| CN114394101B CN114394101B (en) | 2024-02-23 |
Family
ID=81234653
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210147017.4A Active CN114394101B (en) | 2022-02-17 | 2022-02-17 | Method for determining adhesion coefficient between tire and road surface, control device and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114394101B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140061A (en) * | 2022-08-16 | 2022-10-04 | 小米汽车科技有限公司 | Attachment coefficient determination method, device and storage medium |
| CN115303279A (en) * | 2022-09-05 | 2022-11-08 | 中国第一汽车股份有限公司 | Vehicle road surface adhesion early warning method, device, equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407451A (en) * | 2013-09-03 | 2013-11-27 | 东南大学 | Method for estimating longitudinal adhesion coefficient of road |
| KR101540902B1 (en) * | 2015-02-13 | 2015-07-31 | 성균관대학교산학협력단 | Apparatus and method for estimating the friction coefficient of a road surface |
| CN106828464A (en) * | 2017-01-06 | 2017-06-13 | 合肥工业大学 | A kind of vehicle body stable control method and system based on coefficient of road adhesion estimation |
| CN110001657A (en) * | 2019-04-19 | 2019-07-12 | 中睿宏智汽车技术（深圳）有限公司 | Vehicle safety control method and vehicle based on tire-state information |
| DE102018212630A1 (en) * | 2018-07-27 | 2020-01-30 | Continental Teves Ag & Co. Ohg | Method for determining a road condition |
| CN113022531A (en) * | 2021-03-23 | 2021-06-25 | 武汉路特斯汽车有限公司 | Chassis control method and chassis control system |
| CN113581186A (en) * | 2021-08-26 | 2021-11-02 | 重庆长安汽车股份有限公司 | Method for determining road adhesion coefficient required by vehicle brake control |
-
2022
- 2022-02-17 CN CN202210147017.4A patent/CN114394101B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407451A (en) * | 2013-09-03 | 2013-11-27 | 东南大学 | Method for estimating longitudinal adhesion coefficient of road |
| KR101540902B1 (en) * | 2015-02-13 | 2015-07-31 | 성균관대학교산학협력단 | Apparatus and method for estimating the friction coefficient of a road surface |
| CN106828464A (en) * | 2017-01-06 | 2017-06-13 | 合肥工业大学 | A kind of vehicle body stable control method and system based on coefficient of road adhesion estimation |
| DE102018212630A1 (en) * | 2018-07-27 | 2020-01-30 | Continental Teves Ag & Co. Ohg | Method for determining a road condition |
| CN110001657A (en) * | 2019-04-19 | 2019-07-12 | 中睿宏智汽车技术（深圳）有限公司 | Vehicle safety control method and vehicle based on tire-state information |
| CN113022531A (en) * | 2021-03-23 | 2021-06-25 | 武汉路特斯汽车有限公司 | Chassis control method and chassis control system |
| CN113581186A (en) * | 2021-08-26 | 2021-11-02 | 重庆长安汽车股份有限公司 | Method for determining road adhesion coefficient required by vehicle brake control |
Non-Patent Citations (1)
| Title |
|---|
| 姜文龙: "《道路交通事故处理工作实务指南》", vol. 1, 中国人民公安大学出版社, pages: 198 - 199 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140061A (en) * | 2022-08-16 | 2022-10-04 | 小米汽车科技有限公司 | Attachment coefficient determination method, device and storage medium |
| CN115303279A (en) * | 2022-09-05 | 2022-11-08 | 中国第一汽车股份有限公司 | Vehicle road surface adhesion early warning method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114394101B (en) | 2024-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114394101B (en) | Method for determining adhesion coefficient between tire and road surface, control device and vehicle | |
| EP1495904B1 (en) | Road-surface friction coefficient estimating device and road-surface friction coefficient estimating method | |
| KR102529522B1 (en) | System and method for correcting friction coefficient of brake pad for vehicle | |
| CN110660268B (en) | Server, vehicle and safe driving method and system of vehicle | |
| US11535259B2 (en) | Method for determining a friction coefficient for a contact between a tire of a vehicle and a roadway, and method for controlling a vehicle function of a vehicle | |
| US10377358B2 (en) | Methods of learning long term brake corner specific torque variation | |
| CN110758025B (en) | Tire pressure regulating method, automobile and computer readable medium | |
| CN113165614B (en) | Tire stiffness estimation and road friction estimation | |
| KR102042288B1 (en) | Apparatus and method for road friction coefficient estimating | |
| CN111605559B (en) | Vehicle mass estimation method, torque control method and device | |
| KR102125754B1 (en) | Tire stiffness estimation and road friction estimation | |
| CN113232643B (en) | Self-adaptive auxiliary driving system and method based on road surface environment | |
| CN110901641A (en) | Switching method and device of vehicle snow mode, vehicle and storage medium | |
| CN113581186A (en) | Method for determining road adhesion coefficient required by vehicle brake control | |
| SE544696C2 (en) | Method and control arrangement for determining momentary tire wear rate of a wheel of a vehicle | |
| CN112238855B (en) | Vehicle and control system and method thereof | |
| CN111132878B (en) | Friction estimation | |
| CN110626326B (en) | Method and system for determining tire-road friction in a vehicle | |
| KR20150142225A (en) | Vehicle active safety system | |
| KR102450319B1 (en) | Method and apparatus for assisting brake-control using a tire information | |
| CN115959136A (en) | Method, device, equipment and storage medium for identifying road surface information | |
| JP7534527B2 (en) | Apparatus and method for determining road friction | |
| JP5866828B2 (en) | Tire pressure control device and tire pressure control method | |
| US11084471B2 (en) | Braking control method according to friction of road surface | |
| EP4294691A1 (en) | Methods and systems for estimating a probability of a hazardous event occurring which is linked to the traction of a motor vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |