CN114394101B - 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
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- CN114394101B CN114394101B CN202210147017.4A CN202210147017A CN114394101B CN 114394101 B CN114394101 B CN 114394101B CN 202210147017 A CN202210147017 A CN 202210147017A CN 114394101 B CN114394101 B CN 114394101B
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- 238000004364 calculation method Methods 0.000 abstract description 10
- 238000012545 processing Methods 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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Classifications
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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
- 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
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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
- 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
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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
- 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
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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
- 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
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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
- 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
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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
- 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
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/40—High definition maps
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- 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, the 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 state 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, if yes, calculating a second maximum adhesion coefficient according to a dynamics model, and updating the current adhesion coefficient of the vehicle; otherwise, judging whether the current road surface state information is consistent with the road surface state information of the previous period, if so, updating the current attachment coefficient to the attachment coefficient of the previous period, otherwise, updating the current attachment coefficient to the first maximum attachment coefficient. The method for determining the adhesion coefficient, the control device and the vehicle can realize real-time performance and full timeliness of 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 may calculate the maximum adhesion coefficient of the tire and road surface based on the torque, the estimated weight and the wheel slip rate at the time of activation of the anti-lock brake system (ABS), the body electronic stability system (ESP) and the Traction Control System (TCS). 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 in full time, and the maximum available grip calculated according to such maximum adhesion coefficient is not accurate enough in time, thus 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 between a tire and a road surface, which can achieve real-time performance and full timeliness of adhesion coefficient calculation.
It is a further object of the invention to improve the accuracy of the attachment coefficient.
An object of the second aspect of the present invention is to provide a control device for realizing a method of determining an adhesion coefficient of a tire to a road surface.
An object of a third aspect of the present invention is to provide a vehicle comprising the control device described above.
In particular, the present invention provides a method for determining the adhesion coefficient 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, the information of the vehicle-mounted camera and the rainfall sensor and the currently acquired weather information;
estimating a first maximum adhesion coefficient according to the current road surface state information and the 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, if so, calculating a second maximum adhesion coefficient according to a dynamics model, and updating the current adhesion coefficient of the vehicle to the second maximum adhesion coefficient;
and when the anti-lock system, the vehicle body electronic stability 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 current attachment coefficient of the vehicle to the attachment coefficient of the previous period, otherwise, updating the attachment coefficient of the current vehicle to the first maximum attachment coefficient.
Optionally, the step of calculating the second maximum adhesion coefficient from the kinetic model further comprises:
and sending out warning information when the difference value between the second maximum adhesion coefficient and the first maximum adhesion coefficient is larger than a threshold value.
Optionally, the step of obtaining the current road surface state information according to the high-precision map, the information of the vehicle-mounted camera and the rain sensor and the currently acquired 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 to a preset priority, wherein the road surface values are used for representing different road surface states;
judging whether the number of the same and effective road surface values is larger than the preset number, if so, using the same and effective road surface values as current road surface state information, otherwise, using the road surface values with high priority as the current road surface state information.
Optionally, the step of estimating the first maximum adhesion coefficient based on the current road surface state information and the current tire configuration information includes:
and inquiring a preset attachment coefficient calibration table according to the current road surface state information and the current tire configuration information to obtain the first maximum attachment coefficient.
Optionally, the tire configuration information is a tire serial number.
Optionally, before the step of obtaining the 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, the method further comprises:
and reading the current tire configuration information, judging whether the current tire configuration information is pre-stored tire information, if so, reading the information of the high-precision map, the vehicle-mounted camera and the rainfall sensor and the current weather information, and obtaining the current road surface state information.
In particular, the invention also provides a control device, which comprises a memory and a processor, wherein a control program is stored in the memory, and the control program is used for realizing the method for determining the adhesion coefficient of the tire and the road surface when being executed by the processor.
In particular, 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 even when the anti-lock system, the electronic vehicle body stabilization system and the traction control system of the vehicle are not activated, so that the system of the vehicle can acquire the adhesion coefficient of the tire and the road surface in real time, in full time and reliably, and the adhesion coefficient of the vehicle can be updated correspondingly when the road surface condition changes (namely, the current road surface state information is inconsistent with the road surface state information of the previous period) in the running process, thereby ensuring stable driving of the vehicle at all times and further improving the safety of the vehicle.
Further, the calculation of the first maximum adhesion coefficient can be performed in full time after the vehicle is electrified, so that the adhesion coefficient is obtained before the vehicle starts, and serious slipping 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.
Further, since the current road surface state information is obtained by fusion of the high-precision map, the information of the vehicle-mounted camera and the rainfall sensor and the plurality of information of the currently acquired weather information, the reliability and the accuracy of the attachment coefficient can be improved, and the stability and the safety of the vehicle can be further improved.
According to one embodiment of the invention, when the difference between the second maximum adhesion coefficient and the first maximum adhesion coefficient is larger than the threshold value, warning information is sent out, and the driver can be prompted to pay attention to the problem through prompting, and the tire is replaced timely, so that the driving safety is improved.
The above, as well as additional objectives, advantages, and features of the present invention will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present invention when read in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:
FIG. 1 is a flow chart of a method of determining the adhesion coefficient of a tire to a road surface according to one embodiment of the 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 an embodiment of the present invention. The invention provides a method for determining the adhesion coefficient of a tire and a road surface, as shown in fig. 1, in one embodiment, the method comprises the following steps:
the following steps are executed at preset time intervals:
and step 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. I.e. to determine what the current vehicle is on, e.g. dry, wet, icy or snowy.
Step S200, estimating a first maximum adhesion coefficient according to the current road surface state information and the current tire configuration information. For example, by means of experimental calibration, the relationship among the road surface state information, the tire configuration and the first maximum adhesion coefficient is expressed in a curve or table manner, so that the corresponding first maximum adhesion coefficient can be queried according to the road surface state information and the tire configuration information. The tire configuration information may be a tire serial number, or a specific parameter corresponding to each type of tire.
Step S300, determining whether at least one of an anti-lock braking system (ABS), an 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.
Step S400, calculating a second maximum adhesion coefficient according to the dynamics 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, this may be dependent on μ max ＝|F x |/F z Calculate the maximum adhesion coefficient mu max Wherein F is x Is the force acting on the wheel at the moment of activation of the ABS, ESP or TCS, when F x F when applied to wheels by ABS or ESP x Take a negative value when F x F when acted on the wheel by TCS x Take a positive value, F z With the vehicle passing through the wheels perpendicularly to the groundThe maximum adhesion coefficient calculated in this way is noted as the second maximum adhesion coefficient for the gravity of the surface.
Step S500, judging whether the current road surface state information is consistent with the road surface state information of the previous period, if so, proceeding to step S600, otherwise, proceeding to step S700.
Step S600, the adhesion coefficient of the current vehicle is updated to the adhesion coefficient of the previous cycle.
Step S700, the current adhesion coefficient of the vehicle is updated to the first maximum adhesion coefficient.
In this embodiment, each running period 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 vehicle body electronic stability system and the traction control system of the vehicle are not activated, so that the system of the vehicle can acquire the adhesion coefficient of the tire and the road surface in real time, in full time and reliably, and the adhesion coefficient of the vehicle can be updated correspondingly when the road surface condition changes (i.e. the current road surface state information is inconsistent with the road surface state information of the previous period) during running, so that stable driving of the vehicle can be ensured at any time, and the safety of the vehicle can be improved.
Further, the calculation of the first maximum adhesion coefficient can be performed in full time after the vehicle is electrified, so that the adhesion coefficient is obtained before the vehicle starts, and serious slipping 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.
Further, since the current road surface state information is obtained by fusion of the high-precision map, the information of the vehicle-mounted camera and the rainfall sensor and the plurality of information of the currently acquired weather information, the reliability and the accuracy of the attachment coefficient can be improved, and the stability and the safety of the vehicle can be 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. In another embodiment, as shown in fig. 2, step S400 further includes:
step S450, sending out warning information when the difference value between the second maximum adhesion coefficient and the first maximum adhesion coefficient is larger than a threshold value. The threshold value can be determined through calibration, and the warning information can be a voice prompt sent out through a man-machine interaction system or a special lamp flashing mode and the like to remind a driver to check the tire.
When the difference between the second maximum adhesion coefficient and the first maximum adhesion coefficient exceeds a certain value, the tire is possibly severely worn or aged, or the tire pressure is in a problem, and a driver can be prompted to pay attention to the problem through prompting, so that the tire is replaced in time, and the driving safety is improved.
As shown in fig. 2, in one embodiment, step S100 includes:
step 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 the preset priority to each road surface value. The road surface values are used to represent different road surface conditions, for example, the road surface value 1 represents a dry road surface, the road surface value 2 represents a wet road surface, the road surface value 3 represents an ice road surface, and the road surface value 4 represents a snow road surface, although the above road surface values are only some examples and are not limited to the above 4 road surface values. The preset priority is given to each road surface value, which means that the priority setting is performed on the road surface values of different sources, for example, the road surface values of the vehicle-mounted cameras are given higher priority when the definition of the vehicle-mounted cameras is higher, the reliability or the reliability of each road surface value is analyzed by the controller through some algorithms for comparison, and then the priority of the corresponding grade is given.
Step S104, judging whether the number of the same and effective road values is larger than the preset number, if yes, proceeding to step S106, otherwise proceeding to step S108. Alternatively, the preset number is 2 or 3. Whether the road value is valid or not can be determined according to whether the vehicle is provided with corresponding equipment or not, for example, whether the vehicle is provided with a high-precision map module, whether the vehicle is provided with a camera or not, or whether the high-precision map does not cover the current area, the road value of the high-precision map is lost or invalid due to the fact that GPS signals are weak or the network is wrong, and the road value of the camera is invalid due to weather reasons such as camera failure, blocked, insufficient light, heavy fog, heavy snow and the like.
Step S106, the same and valid road surface value is used 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 the road surface value 2 is used as the current road surface state information at this time. The voting algorithm is used here.
Step S108, the road surface value with the higher priority is adopted as the current road surface state information. That is, when the plurality of information does not reach a relatively consistent result, for example, the road surface values obtained by the respective information are different, and the final road surface value is determined by using the priority.
Step S200 includes:
step S202, inquiring a preset attachment coefficient calibration table according to the current road surface state information and the current tire configuration information to obtain a first maximum attachment coefficient. Namely, the corresponding relation between the road surface state information, the tire configuration information and the first maximum attachment coefficient is obtained through an early experiment calibration mode, namely the attachment coefficient calibration table.
In the embodiment, the information fusion is performed in a mode of combining voting and priority, so that the first maximum attachment coefficient can be calculated in real time, and the instantaneity and the full timeliness of the calculation of the attachment coefficient are realized.
The configuration information of the tire may include tire material, tire pressure, tire aspect ratio, tire pattern, etc., which all affect the coefficient of friction of the tire itself, effecting the maximum adhesion coefficient. In some embodiments, configuration information about the season in which the tire is used, such as distinguishing summer tires, snow tires, and all-weather tires, is also contemplated.
In a further embodiment, step S102 further includes, before:
step S50, reading current tire configuration information, judging whether the current tire configuration information is pre-stored tire information, if so, reading the information of a high-precision map, a vehicle-mounted camera and a rainfall sensor and current weather information, and obtaining current road surface state information (namely, entering step S102). Otherwise, it is stated that the installed tire is of course not of the type pre-stored by the system, at which point the first maximum adhesion coefficient is no longer calculated, ending the cycle.
Further, before entering the cycle, it is first ensured that the vehicle is powered up, i.e. step S20 is further included before step S50. The calculation of the second maximum adhesion coefficient and the first maximum adhesion coefficient may be performed whenever the vehicle is powered on.
The invention also provides a control device which comprises a memory and a processor, wherein a control program is stored in the memory, 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 when being executed by the processor. The processor may be a central processing unit (central processing unit, CPU for short), or a digital processing unit or the like. The processor transmits and receives 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, and can be a combination of multiple memories. The above-described computer program may be downloaded from a computer readable storage medium to a corresponding computing/processing device or downloaded to a computer or an external memory 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.
By now it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described herein in detail, many other variations or modifications of the invention consistent with the principles of the invention may be directly ascertained or inferred from the present disclosure without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.
Claims (6)
1. A method of determining an adhesion coefficient 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, the information of the vehicle-mounted camera and the rainfall sensor and the currently acquired weather information;
estimating a first maximum adhesion coefficient according to the current road surface state information and the 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, if so, calculating a second maximum adhesion coefficient according to a dynamics model, and updating the current adhesion coefficient of the vehicle to the second maximum adhesion coefficient;
judging whether the current road surface state information is consistent with the road surface state information of the previous period when an anti-lock system, a vehicle body electronic stability system and a traction control system of the vehicle are not activated, if so, updating the current vehicle attachment coefficient to the attachment coefficient of the previous period, otherwise, updating the current vehicle attachment coefficient to the first maximum attachment coefficient;
the step of calculating the second maximum adhesion coefficient from the kinetic model further comprises:
when the difference value between the second maximum adhesion coefficient and the first maximum adhesion coefficient is larger than a threshold value, warning information is sent out;
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 rainfall sensor and the currently acquired weather information comprises the following steps:
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 to a preset priority, wherein the road surface values are used for representing different road surface states;
judging whether the number of the same and effective road surface values is larger than the preset number, if so, using the same and effective road surface values as current road surface state information, otherwise, using the road surface values with high priority as the current road surface state information.
2. The method of determining a tire adhesion coefficient to a road surface according to claim 1, wherein the step of estimating the first maximum adhesion coefficient based on the current road surface state information and the current tire configuration information comprises:
and inquiring a preset attachment coefficient calibration table according to the current road surface state information and the current tire configuration information to obtain the first maximum attachment coefficient.
3. The method for determining the adhesion coefficient of a tire to a road surface according to claim 1, wherein,
the tire configuration information is a tire serial number.
4. A method of determining the adhesion coefficient of a tire to a road surface according to any one of claims 1 to 3, wherein the step of deriving current road surface state information from the information of the high-precision map, the on-vehicle camera, and the rain sensor, and the currently acquired weather information further comprises:
and reading the current tire configuration information, judging whether the current tire configuration information is pre-stored tire information, if so, reading the information of the high-precision map, the vehicle-mounted camera and the rainfall sensor and the current weather information, and obtaining the current road surface state information.
5. A control device comprising a memory and a processor, the memory having stored therein a control program which, when executed by the processor, is adapted to carry out the method of determining the adhesion coefficient of a tire to a road surface according to any one of claims 1 to 4.
6. A vehicle comprising the control device according to claim 5.
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| CN202210147017.4A CN114394101B (en) | 2022-02-17 | 2022-02-17 | Method for determining adhesion coefficient between tire and road surface, control device and vehicle |
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| CN202210147017.4A CN114394101B (en) | 2022-02-17 | 2022-02-17 | Method for determining adhesion coefficient between tire and road surface, control device and vehicle |
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| CN115140061B (en) * | 2022-08-16 | 2023-07-14 | 小米汽车科技有限公司 | Adhesion coefficient determination method, apparatus 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 |
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