CN118004188A - Method, device, vehicle, medium and program product for determining dynamic adhesion coefficient - Google Patents

Method, device, vehicle, medium and program product for determining dynamic adhesion coefficient Download PDF

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Publication number
CN118004188A
CN118004188A CN202410301346.9A CN202410301346A CN118004188A CN 118004188 A CN118004188 A CN 118004188A CN 202410301346 A CN202410301346 A CN 202410301346A CN 118004188 A CN118004188 A CN 118004188A
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China
Prior art keywords
coefficient
vehicle
determining
dynamic
confidence
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CN202410301346.9A
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Chinese (zh)
Inventor
孙宇航
孟祥科
李树华
孙永生
汪震隆
金昶明
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Zhejiang Geely Holding Group Co Ltd
Geely Automobile Research Institute Ningbo Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Geely Automobile Research Institute Ningbo Co Ltd
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Priority to CN202410301346.9A priority Critical patent/CN118004188A/en
Publication of CN118004188A publication Critical patent/CN118004188A/en
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Abstract

The embodiment of the application provides a method, a device, a vehicle, a medium and a program product for determining a dynamic adhesion coefficient. In the method, the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor of the vehicle are determined; determining a first dynamic attachment coefficient and a first confidence coefficient of the vehicle in a high attachment state and a second dynamic attachment coefficient and a second confidence coefficient of the vehicle in a low attachment state according to the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor; and determining the dynamic attachment coefficient of the vehicle according to the first dynamic attachment coefficient, the first confidence coefficient, the second dynamic attachment coefficient and the second confidence coefficient. The method of the embodiment of the application improves the accuracy of determining the dynamic attachment coefficient of the vehicle.

Description

Method, device, vehicle, medium and program product for determining dynamic adhesion coefficient
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method and apparatus for determining a dynamic adhesion coefficient, a vehicle, a medium, and a program product.
Background
The adhesion coefficient of the vehicle plays a key role in the longitudinal driving anti-skid control of the vehicle.
In the related art, it is common that a vehicle estimates an adhesion coefficient directly from a ratio of a longitudinal driving force and a vertical load to perform anti-skid control of the vehicle based on the adhesion coefficient.
However, in the method in the related art, the adhesion coefficient is estimated directly according to the ratio of the longitudinal driving force to the vertical load, and the estimated adhesion coefficient is inconsistent with the dynamic adhesion coefficient when the vehicle runs, so that the control of the vehicle is inaccurate, and the safety of passengers is affected.
Disclosure of Invention
The embodiment of the application provides a method, a device, a vehicle, a medium and a program product for determining a dynamic adhesion coefficient, which can improve the accuracy of determining the dynamic adhesion coefficient of the vehicle.
In a first aspect, an embodiment of the present application provides a method for determining a dynamic adhesion coefficient, including:
Determining an instantaneous adhesion coefficient, a longitudinal stability factor and a transverse stability factor of the vehicle;
Determining a first dynamic attachment coefficient and a first confidence coefficient of the vehicle in a high attachment state and a second dynamic attachment coefficient and a second confidence coefficient of the vehicle in a low attachment state according to the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor;
and determining the dynamic attachment coefficient of the vehicle according to the first dynamic attachment coefficient, the first confidence coefficient, the second dynamic attachment coefficient and the second confidence coefficient.
In one implementation, determining a first dynamic adhesion coefficient and a first confidence level of a vehicle in a high adhesion state based on an instantaneous adhesion coefficient, a longitudinal stability factor, and a lateral stability factor, includes:
Acquiring a sensor state and a vehicle speed of a vehicle, wherein the sensor state is an effective state or a failure state;
If the sensor state is an effective state and the vehicle speed is greater than or equal to a preset threshold, determining a first dynamic attachment coefficient and a first confidence coefficient according to the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor;
If the sensor state is the failure state and/or the vehicle speed is smaller than a preset threshold value, determining that the first dynamic adhesion coefficient is the dynamic adhesion coefficient of the vehicle at the last moment, and determining that the first confidence coefficient is 0.
In one implementation, determining the first dynamic attachment coefficient and the first confidence coefficient based on the instantaneous attachment coefficient, the longitudinal stability factor, and the lateral stability factor includes:
If the longitudinal stability factor and/or the transverse stability factor is greater than the first factor and the instantaneous attachment coefficient is greater than the first coefficient, determining the instantaneous attachment coefficient as a first dynamic attachment coefficient and determining a first confidence coefficient as 1;
If the longitudinal stability factor and the transverse stability factor are both smaller than the second factor, the instantaneous attachment coefficient is larger than the second coefficient, and the duration time of the instantaneous attachment coefficient larger than the second coefficient is longer than or equal to the preset duration time, determining that the first dynamic attachment coefficient is the preset dynamic attachment coefficient, and determining that the first confidence coefficient is the preset confidence coefficient;
wherein the first factor is greater than the second factor and the first coefficient is greater than the second coefficient.
In one implementation, determining a second dynamic adhesion coefficient and a second confidence level for the vehicle in a low adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor comprises:
determining the speed and the running direction of the vehicle;
and determining a second dynamic attachment coefficient and a second confidence coefficient according to the instantaneous attachment coefficient, the longitudinal stability factor, the transverse stability factor, the vehicle speed and the driving direction.
In one implementation, determining the second dynamic attachment coefficient and the second confidence level based on the instantaneous attachment coefficient, the longitudinal stability factor, the lateral stability factor, the vehicle speed, and the direction of travel comprises:
if the conditions are met, determining the dynamic adhesion coefficient of the vehicle at the last moment as a second dynamic adhesion coefficient, and determining the confidence coefficient of the vehicle at the last moment as a second confidence coefficient;
If at least one of the conditions is not satisfied, determining the dynamic adhesion coefficient of the vehicle at the previous moment as a second dynamic adhesion coefficient, and determining a second confidence coefficient as 0;
Wherein the plurality of conditions includes:
the instantaneous attachment coefficient is greater than the third coefficient;
the longitudinal stability factor and the transverse stability factor are both greater than 1;
The vehicle speed is greater than a preset speed;
The traveling direction is the forward direction.
In one implementation, determining a second dynamic adhesion coefficient and a second confidence level for the vehicle in a low adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor comprises:
determining whether the vehicle activates a stability control system;
if the vehicle activates the stability control system, determining a dynamic adhesion coefficient of the vehicle at the last moment as a second dynamic adhesion coefficient, and determining the confidence coefficient of the vehicle at the last moment as a second confidence coefficient;
if the vehicle does not activate the stability control system, the dynamic adhesion coefficient of the vehicle at the last moment is determined as a second dynamic adhesion coefficient, and a second confidence coefficient is determined to be 0.
In one implementation, determining the dynamic adhesion coefficient of the vehicle based on the first dynamic adhesion coefficient, the first confidence level, the second dynamic adhesion coefficient, and the second confidence level includes:
if the first confidence coefficient is greater than or equal to the second confidence coefficient, determining the dynamic attachment coefficient as the first dynamic attachment coefficient;
And if the first confidence coefficient is smaller than the second confidence coefficient, determining the dynamic attachment coefficient as a second dynamic attachment coefficient.
In one implementation, determining a longitudinal stability factor and a lateral stability factor of a vehicle includes:
Determining a slip ratio error for each wheel of the vehicle;
Determining a left slip rate variance and a left slip rate change rate variance of a left wheel of the vehicle, and a right slip rate variance and a right slip rate change rate variance of a right wheel according to the slip rate error of each wheel;
determining a longitudinal correction factor and a transverse correction factor of the vehicle;
Determining a longitudinal stability factor based on the longitudinal correction factor, the left slip rate variance, the right slip rate variance, and the right slip rate variance;
Determining a lateral stability factor according to the lateral correction factor and the offset of the vehicle; the offset amounts include a lateral force offset amount, a yaw rate offset amount, and a roll rate offset amount, among others.
In one implementation, determining a longitudinal correction factor and a lateral correction factor for a vehicle includes:
acquiring running information of a vehicle, wherein the running information comprises: wheel steering angle, longitudinal force, wheel acceleration, lateral acceleration, yaw rate, longitudinal vehicle speed, and acceleration detected by inertial measurement unit sensors;
Determining a correction coefficient according to the left side slip rate variance, the right side slip rate variance and the driving information;
Determining a longitudinal correction factor according to the correction coefficient, the yaw rate, the longitudinal vehicle speed and the acceleration detected by the inertial measurement unit sensor;
the lateral correction factor is determined based on the correction factor, the lateral acceleration, and the longitudinal force.
In a second aspect, an embodiment of the present application provides a device for determining a dynamic adhesion coefficient, including:
The processing module is used for determining the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor of the vehicle;
The processing module is also used for determining a first dynamic attachment coefficient and a first confidence coefficient of the vehicle in a high attachment state and a second dynamic attachment coefficient and a second confidence coefficient of the vehicle in a low attachment state according to the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor;
and the fusion module is used for determining the dynamic attachment coefficient of the vehicle according to the first dynamic attachment coefficient, the first confidence coefficient, the second dynamic attachment coefficient and the second confidence coefficient.
In one implementation, the processing module is specifically configured to:
Acquiring a sensor state and a vehicle speed of a vehicle, wherein the sensor state is an effective state or a failure state;
If the sensor state is an effective state and the vehicle speed is greater than or equal to a preset threshold, determining a first dynamic attachment coefficient and a first confidence coefficient according to the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor;
If the sensor state is the failure state and/or the vehicle speed is smaller than a preset threshold value, determining that the first dynamic adhesion coefficient is the dynamic adhesion coefficient of the vehicle at the last moment, and determining that the first confidence coefficient is 0.
In one implementation, the processing module is specifically configured to:
If the longitudinal stability factor and/or the transverse stability factor is greater than the first factor and the instantaneous attachment coefficient is greater than the first coefficient, determining the instantaneous attachment coefficient as a first dynamic attachment coefficient and determining a first confidence coefficient as 1;
If the longitudinal stability factor and the transverse stability factor are both smaller than the second factor, the instantaneous attachment coefficient is larger than the second coefficient, and the duration time of the instantaneous attachment coefficient larger than the second coefficient is longer than or equal to the preset duration time, determining that the first dynamic attachment coefficient is the preset dynamic attachment coefficient, and determining that the first confidence coefficient is the preset confidence coefficient;
wherein the first factor is greater than the second factor and the first coefficient is greater than the second coefficient.
In one implementation, the processing module is specifically configured to:
determining the speed and the running direction of the vehicle;
and determining a second dynamic attachment coefficient and a second confidence coefficient according to the instantaneous attachment coefficient, the longitudinal stability factor, the transverse stability factor, the vehicle speed and the driving direction.
In one implementation, the processing module is specifically configured to:
if the conditions are met, determining the dynamic adhesion coefficient of the vehicle at the last moment as a second dynamic adhesion coefficient, and determining the confidence coefficient of the vehicle at the last moment as a second confidence coefficient;
If at least one of the conditions is not satisfied, determining the dynamic adhesion coefficient of the vehicle at the previous moment as a second dynamic adhesion coefficient, and determining a second confidence coefficient as 0;
Wherein the plurality of conditions includes:
the instantaneous attachment coefficient is greater than the third coefficient;
the longitudinal stability factor and the transverse stability factor are both greater than 1;
The vehicle speed is greater than a preset speed;
The traveling direction is the forward direction.
In one implementation, the processing module is specifically configured to:
determining whether the vehicle activates a stability control system;
if the vehicle activates the stability control system, determining a dynamic adhesion coefficient of the vehicle at the last moment as a second dynamic adhesion coefficient, and determining the confidence coefficient of the vehicle at the last moment as a second confidence coefficient;
if the vehicle does not activate the stability control system, the dynamic adhesion coefficient of the vehicle at the last moment is determined as a second dynamic adhesion coefficient, and a second confidence coefficient is determined to be 0.
In one implementation, the fusion module is specifically configured to:
if the first confidence coefficient is greater than or equal to the second confidence coefficient, determining the dynamic attachment coefficient as the first dynamic attachment coefficient;
And if the first confidence coefficient is smaller than the second confidence coefficient, determining the dynamic attachment coefficient as a second dynamic attachment coefficient.
In one implementation, the processing module is specifically configured to:
Determining a slip ratio error for each wheel of the vehicle;
Determining a left slip rate variance and a left slip rate change rate variance of a left wheel of the vehicle, and a right slip rate variance and a right slip rate change rate variance of a right wheel according to the slip rate error of each wheel;
determining a longitudinal correction factor and a transverse correction factor of the vehicle;
Determining a longitudinal stability factor based on the longitudinal correction factor, the left slip rate variance, the right slip rate variance, and the right slip rate variance;
Determining a lateral stability factor according to the lateral correction factor and the offset of the vehicle; the offset amounts include a lateral force offset amount, a yaw rate offset amount, and a roll rate offset amount, among others.
In one implementation, the processing module is specifically configured to:
acquiring running information of a vehicle, wherein the running information comprises: wheel steering angle, longitudinal force, wheel acceleration, lateral acceleration, yaw rate, longitudinal vehicle speed, and acceleration detected by inertial measurement unit sensors;
Determining a correction coefficient according to the left side slip rate variance, the right side slip rate variance and the driving information;
Determining a longitudinal correction factor according to the correction coefficient, the yaw rate, the longitudinal vehicle speed and the acceleration detected by the inertial measurement unit sensor;
the lateral correction factor is determined based on the correction factor, the lateral acceleration, and the longitudinal force.
In a third aspect, an embodiment of the present application provides a vehicle including:
A processor, a memory communicatively coupled to the processor;
A memory for storing computer-executable instructions;
A processor for executing computer-executable instructions stored in a memory to implement the method of determining a dynamic attachment coefficient of the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer readable storage medium having stored therein computer-executable instructions for implementing the method for determining a dynamic attachment coefficient of the first aspect when executed by a processor.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program for implementing a method of determining a dynamic attachment coefficient as in the first aspect when the computer program is executed by a processor.
The embodiment of the application provides a method, a device, a vehicle, a medium and a program product for determining a dynamic adhesion coefficient. In the method, the vehicle may determine an instantaneous adhesion coefficient, a longitudinal stability factor, and a lateral stability factor of the vehicle. The vehicle may determine a first dynamic adhesion coefficient and a first confidence level of the vehicle in a high adhesion state and a second dynamic adhesion coefficient and a second confidence level of the vehicle in a low adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor. The vehicle may perform fusion processing of the attachment coefficients according to the first dynamic attachment coefficient, the first confidence coefficient, the second dynamic attachment coefficient, and the second confidence coefficient, so as to obtain the dynamic attachment coefficient of the vehicle. By the method, the dynamic attachment coefficient can be accurately determined, the accuracy of determining the dynamic attachment coefficient of the vehicle is improved, the control capability of the vehicle under the driving working condition is further improved, and the safety of passengers is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
Fig. 1 is a schematic diagram of an application scenario to which an embodiment of the present application is applicable;
fig. 2 is a schematic flow chart of a first embodiment of a method for determining a dynamic attachment coefficient according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a second embodiment of a method for determining a dynamic attachment coefficient according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a third embodiment of a method for determining a dynamic attachment coefficient according to an embodiment of the present application;
fig. 5 is a schematic flow chart of a fourth embodiment of a method for determining a dynamic attachment coefficient according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a device for determining a dynamic adhesion coefficient according to an embodiment of the present application;
Fig. 7 is a block diagram of a vehicle according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which are made by a person skilled in the art based on the embodiments of the application in light of the present disclosure, are intended to be within the scope of the application.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.
The adhesion coefficient of the vehicle plays a key role in the longitudinal driving anti-skid control of the vehicle. In the related art, it is common that a vehicle estimates an adhesion coefficient directly from a ratio of a longitudinal driving force and a vertical load to perform anti-skid control of the vehicle based on the adhesion coefficient. However, in the method in the related art, the adhesion coefficient is estimated directly according to the ratio of the longitudinal driving force to the vertical load, and the estimated adhesion coefficient is inconsistent with the dynamic adhesion coefficient when the vehicle runs, so that the control of the vehicle is inaccurate, and the safety of passengers is affected.
Based on the technical problems, the embodiment of the application provides a method for determining a dynamic adhesion coefficient, and a vehicle can determine an instantaneous adhesion coefficient, a longitudinal stability factor and a transverse stability factor of the vehicle. The vehicle may determine a first dynamic adhesion coefficient and a first confidence level of the vehicle in a high adhesion state and a second dynamic adhesion coefficient and a second confidence level of the vehicle in a low adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor. The vehicle may perform fusion processing of the attachment coefficients according to the first dynamic attachment coefficient, the first confidence coefficient, the second dynamic attachment coefficient, and the second confidence coefficient, so as to obtain the dynamic attachment coefficient of the vehicle. By the method, the dynamic attachment coefficient can be accurately determined, the accuracy of determining the dynamic attachment coefficient of the vehicle is improved, the control capability of the vehicle under the driving working condition is further improved, and the safety of passengers is improved.
The principles and features of embodiments of the present application are described below with reference to the drawings, the examples are provided for the purpose of illustrating the embodiments of the present application and are not intended to limit the scope of the embodiments of the present application.
Fig. 1 is a schematic diagram of an application scenario to which the embodiment of the present application is applicable. The application scenario includes a vehicle 10, the vehicle 10 including a plurality of wheels. Illustratively, fig. 1 shows four wheels, a left front wheel 101, a right front wheel 102, a left rear wheel 103 and a right rear wheel 104, respectively.
In one implementation, a plurality of sensors (not shown in FIG. 1) may also be mounted to the vehicle 10, and it should be noted that the plurality of sensors may include wheel speed sensors, may include inertial measurement unit (inertial measurement unit, IMU) sensors, and may include wheel angle sensors.
In one implementation, the vehicle 10 may also be deployed with a stability control system (not shown in FIG. 1).
It should be noted that stability control systems include, but are not limited to, anti-lock braking systems, anti-slip systems, traction control systems, autopilot systems, autoevasion control systems, and other systems that operate based on information related to the rotation of one or more wheels (tires) of a vehicle (e.g., information about the relative rotation of two or more wheels (tires)).
In this application scenario, the vehicle 10 may determine an instantaneous adhesion coefficient, a longitudinal stability factor, and a lateral stability factor of the vehicle 10. The vehicle 10 may determine a first dynamic adhesion coefficient and a first confidence level of the vehicle 10 in a high adhesion state and a second dynamic adhesion coefficient and a second confidence level of the vehicle 10 in a low adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor. The vehicle 10 may determine the dynamic attachment coefficient of the vehicle 10 based on the first dynamic attachment coefficient, the first confidence level, the second dynamic attachment coefficient, and the second confidence level.
The embodiment of the present application is not limited to the actual form of the vehicle shown in fig. 1, and in the application of the solution, the embodiment may be set according to the actual requirement.
The technical scheme of the application is described in detail through specific embodiments. It should be noted that the following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 2 is a flowchart of an embodiment of a method for determining a dynamic attachment coefficient according to an embodiment of the present application. Referring to fig. 2, the method specifically includes the steps of:
s201: the instantaneous adhesion coefficient, the longitudinal stability factor and the lateral stability factor of the vehicle are determined.
In this embodiment, the vehicle may determine the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor of the vehicle.
Specifically, in determining the instantaneous adhesion coefficient of the vehicle:
The vehicle may acquire tire information for each tire (wheel) of the vehicle, the tire information including tire longitudinal force, tire lateral force, and tire vertical load of the tire. The vehicle may determine a first adhesion coefficient of the vehicle based on the tire information for each tire. The vehicle may determine the gain factor based on the first attachment factor and the tire information for each tire. The vehicle may determine the second attachment coefficient based on the gain coefficient, and an acceleration of the vehicle. The vehicle may determine an instantaneous adhesion coefficient (target adhesion coefficient) of the vehicle based on the first adhesion coefficient and the second adhesion coefficient.
In the process of determining the longitudinal stability factor and the lateral stability factor by the vehicle:
the vehicle may determine slip rate errors for each wheel of the vehicle.
Specifically, the vehicle may determine the slip ratio error for each wheel using the following formula:
Wherein Slip (k) is Slip ratio error, slip (k) is Slip ratio calculated according to wheel rolling speed and linear speed; longStfns (k) is the wheel longitudinal stiffness; fxnorm (k) is the normalized wheel longitudinal force; k is 1,2,3 and 4, and represents a left front wheel, a right front wheel, a left rear wheel and a right rear wheel in sequence.
The vehicle may determine a left slip rate variance and a left slip rate change rate variance of a left wheel of the vehicle, and a right slip rate variance and a right slip rate change rate variance of a right wheel based on the slip rate error of each wheel.
Specifically, the vehicle may determine the left slip rate variance and the left slip rate change rate variance of the left wheel of the vehicle, and the right slip rate variance and the right slip rate change rate variance of the right wheel using the following formulas:
SlipVarianceLeft＝SlipError(1)2+SlipError(3)2
SlipVarianceRight＝SlipError(2)2+SlipError(4)2
wherein SlipError (1) is the slip ratio error of the left front wheel, slipError (2) is the slip ratio error of the right front wheel, slipError (3) is the slip ratio error of the left rear wheel, slipError (4) is the slip ratio error of the right rear wheel, SLIPVARIANCELEFT is the left slip ratio variance of the left wheel, slipDotVarianceLeft is the left slip ratio variance of the left wheel, SLIPVARIANCERIGHT is the right slip ratio variance of the right wheel, slipDotVarianceRight is the right slip ratio variance of the right wheel.
The vehicle may determine a longitudinal correction factor and a lateral correction factor for the vehicle.
Specifically, the vehicle may acquire travel information of the vehicle, the travel information including: wheel steering angle, longitudinal force, wheel acceleration, lateral acceleration, yaw rate, longitudinal vehicle speed, and acceleration detected by inertial measurement unit sensors. The vehicle may determine the correction factor based on the left-side slip rate change rate variance, the right-side slip rate change rate variance, and the travel information. The vehicle may determine the longitudinal correction factor based on the correction factor, the yaw rate, the longitudinal vehicle speed, and the acceleration detected by the inertial measurement unit sensor. The vehicle may determine the lateral correction factor based on the correction factor, the lateral acceleration, and the longitudinal force.
For example, the vehicle may determine the longitudinal correction factor and the lateral correction factor of the vehicle using the following formulas:
ScaleLongitudinal＝[Factor1*Factor2*Factor3]*ScaleCommon
ScaleLateral＝[Factor4*Factor5]*ScaleCommon
ScaleCommon＝Factor6*Factor7*Factor8
Wherein ScaleLongitudinal is a longitudinal correction factor; SCALELATERAL is a lateral correction factor; scaleCommon is a correction coefficient; factor6 is a sixth correction coefficient determined by looking up a table of the vehicle according to the steering angle of the wheels; factor7 is a seventh correction coefficient determined by the vehicle according to the longitudinal force and by looking up a table; factor8 is an eighth correction coefficient determined by the vehicle according to the wheel acceleration table; factor4 is a fourth correction coefficient determined by looking up a table of the vehicle according to the lateral acceleration; factor5 is a fifth correction coefficient determined by the vehicle according to the longitudinal force and by looking up a table; factor1 is a first correction coefficient determined by the vehicle according to the yaw rate by looking up a table; factor2 is a second correction coefficient determined by looking up a table of the vehicle according to the acceleration detected by the sensor of the inertial measurement unit; factor3 is a third correction coefficient determined by looking up a table of the vehicle according to the longitudinal speed.
The vehicle may determine the longitudinal stability factor based on the longitudinal correction factor, the left slip rate variance, the left slip rate change rate variance, the right slip rate variance, and the right slip rate change rate variance.
For example, the vehicle may determine the longitudinal stability factor using the following formula:
SlipVariance＝max(SlipVarianceLeft，SlipVarianceRight)
SlipDotVariance＝max(SlipDotVarianceLeft，SlipDotVarianceRight)
Wherein indInst (1) is a longitudinal stability factor, SLIPVARIANCELEFT is a left slip rate variance of a left wheel, slipDotVarianceLeft is a left slip rate variance of a left wheel, SLIPVARIANCERIGHT is a right slip rate variance of a right wheel, slipDotVarianceRight is a right slip rate variance of a right wheel, threshold1 is a first calibration parameter, threshold2 is a second calibration parameter, and ScaleLongitudinal is a longitudinal correction factor.
The vehicle can determine a lateral stability factor according to the lateral correction factor and the offset of the vehicle; the offset amounts include a lateral force offset amount, a yaw rate offset amount, and a roll rate offset amount.
For example, the vehicle may determine the lateral stability factor using the following formula:
Wherein indInst (2) is a lateral stability factor, SCALELATERAL is a lateral correction factor, d1 is a lateral force offset, d2 is a yaw rate offset, and d3 is a roll rate offset.
S202: and determining a first dynamic attachment coefficient and a first confidence coefficient of the vehicle in a high attachment state and a second dynamic attachment coefficient and a second confidence coefficient of the vehicle in a low attachment state according to the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor.
In this embodiment, the vehicle may determine the first dynamic adhesion coefficient and the first confidence coefficient of the vehicle in the high adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor.
In determining the first dynamic attachment coefficient and the first confidence level:
The vehicle may acquire a sensor state of the vehicle, which is either an active state or a disabled state, and a vehicle speed. If the sensor state is an active state and the vehicle speed is greater than or equal to a preset threshold, the vehicle may determine a first dynamic adhesion coefficient and a first confidence level based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor. If the sensor state is a failure state and/or the vehicle speed is less than a preset threshold, the vehicle may determine that the first dynamic adhesion coefficient is the dynamic adhesion coefficient of the vehicle at the previous time, and determine that the first confidence coefficient is 0.
In this embodiment, the vehicle may determine a second dynamic adhesion coefficient and a second confidence level of the vehicle in the low adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor.
In determining the second dynamic attachment coefficient and the second confidence level:
in one implementation, the vehicle may determine the second dynamic adhesion coefficient and the second confidence level based on the instantaneous adhesion coefficient, the longitudinal stability factor, the lateral stability factor, the vehicle speed, and the direction of travel.
In one implementation, a vehicle may determine whether the vehicle activates a stability control system. If the vehicle activates the stability control system, the vehicle determines a dynamic adhesion coefficient of the vehicle at a previous time as a second dynamic adhesion coefficient and a confidence level of the vehicle at the previous time as a second confidence level. If the vehicle does not activate the stability control system, the vehicle may determine the dynamic adhesion coefficient of the vehicle at the previous time as a second dynamic adhesion coefficient and determine a second confidence level of 0.
S203: and determining the dynamic attachment coefficient of the vehicle according to the first dynamic attachment coefficient, the first confidence coefficient, the second dynamic attachment coefficient and the second confidence coefficient.
In this embodiment, the vehicle may determine the dynamic attachment coefficient of the vehicle according to the first dynamic attachment coefficient, the first confidence coefficient, the second dynamic attachment coefficient, and the second confidence coefficient.
Specifically, the vehicle may compare the first confidence and the second confidence.
If the first confidence coefficient is greater than or equal to the second confidence coefficient, the vehicle determines the dynamic attachment coefficient as the first dynamic attachment coefficient. In addition, the vehicle may also determine a confidence level of the dynamic attachment coefficient as a first confidence level.
If the first confidence coefficient is smaller than the second confidence coefficient, the vehicle determines that the dynamic adhesion coefficient is the second dynamic adhesion coefficient. In addition, the vehicle may also determine the confidence level of the dynamic attachment coefficient as a second confidence level.
The beneficial effects of this embodiment are: the vehicle may determine an instantaneous adhesion coefficient of the vehicle, and a longitudinal stability factor and a lateral stability factor reflecting stability of driving of the vehicle. The vehicle may determine a first dynamic adhesion coefficient and a first confidence level of the vehicle in a high adhesion state and a second dynamic adhesion coefficient and a second confidence level of the vehicle in a low adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor. The vehicle may perform fusion processing of the attachment coefficients according to the first dynamic attachment coefficient, the first confidence coefficient, the second dynamic attachment coefficient, and the second confidence coefficient, so as to obtain the dynamic attachment coefficient of the vehicle. By the method, the dynamic attachment coefficient can be accurately determined, the accuracy of determining the dynamic attachment coefficient of the vehicle is improved, the control capability of the vehicle under the driving working condition is further improved, and the safety of passengers is improved.
The following describes in detail the implementation process of determining the first dynamic adhesion coefficient and the first confidence coefficient of the vehicle in the high adhesion state by the vehicle through the second method embodiment.
Fig. 3 is a schematic flow chart of a second embodiment of a method for determining a dynamic adhesion coefficient according to an embodiment of the present application. Referring to fig. 3, the method specifically includes the steps of:
s301: sensor state and vehicle speed of the vehicle are acquired.
In the present embodiment, the vehicle may acquire the sensor state and the vehicle speed of the vehicle.
Wherein the sensor state is an active state or a deactivated state.
In one implementation, the vehicle determines that the sensor state is a failure state upon determining that the sensor signal transmitted by the sensor includes a failure signal.
In one implementation, the vehicle determines that the sensor state is a failure state upon determining that the sensor signal sent by the sensor is not received.
The sensor may include any one or more of a wheel speed sensor, an inertial measurement unit (inertial measurement unit, abbreviated as IMU) sensor, and a wheel rotation angle sensor.
S302: if the sensor state is in an effective state and the vehicle speed is greater than or equal to a preset threshold, determining a first dynamic attachment coefficient and a first confidence coefficient according to the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor.
In the present embodiment, the vehicle determines that the high adhesion estimation condition is satisfied in the case where it is determined that the sensor state is the valid state and the vehicle speed is greater than or equal to the preset threshold value.
The vehicle may determine a first dynamic attachment coefficient and a first confidence level based on the instantaneous attachment coefficient, the longitudinal stability factor, and the lateral stability factor.
Specifically, the vehicle may determine the instantaneous attachment coefficient as a first dynamic attachment coefficient and determine a first confidence level of 1, in the event that it is determined that the longitudinal stability factor and/or the lateral stability factor is greater than the first factor and the instantaneous attachment coefficient is greater than the first coefficient. In addition, the vehicle may determine that the first dynamic attachment coefficient is a preset dynamic attachment coefficient and determine that the first confidence coefficient is a preset confidence coefficient when it is determined that both the longitudinal stability factor and the lateral stability factor are smaller than the second factor, the instantaneous attachment coefficient is greater than the second coefficient, and the duration of the instantaneous attachment coefficient greater than the second coefficient is greater than or equal to a preset duration.
The first factor is larger than the second factor, and the first coefficient is larger than the second coefficient. Illustratively, the first factor may be 1 and the first coefficient may be any value between 0.65 and 0.9. The second factor may be 0.6, the second coefficient may be any value between 0.5 and 0.65, the predetermined duration may be any value between 100ms and 300ms, the predetermined dynamic attachment coefficient may be any value between 0.75 and 1, and the predetermined confidence may be any value between 0.5 and 0.8.
S303: if the sensor state is the failure state and/or the vehicle speed is smaller than a preset threshold value, determining that the first dynamic adhesion coefficient is the dynamic adhesion coefficient of the vehicle at the last moment, and determining that the first confidence coefficient is 0.
In the present embodiment, the vehicle may determine that the vehicle does not satisfy the high adhesion estimation condition in the case where it is determined that the sensor state is the failure state, and/or the vehicle speed is less than the preset threshold.
The vehicle may directly determine the first dynamic adhesion coefficient as the dynamic adhesion coefficient of the vehicle at the previous time and determine the first confidence coefficient as 0.
The beneficial effects of this embodiment are: and under the condition that the state of the sensor is determined to be in an effective state and the vehicle speed is greater than or equal to a preset threshold value, determining a first dynamic adhesion coefficient and a first confidence coefficient according to the instantaneous adhesion coefficient, the longitudinal stability factor and the transverse stability factor. And under the condition that the state of the sensor is determined to be in a failure state and/or the vehicle speed is smaller than a preset threshold value, determining the first dynamic adhesion coefficient as the dynamic adhesion coefficient of the vehicle at the last moment, and determining the first confidence coefficient as 0. In addition, the vehicle can accurately determine the first dynamic attachment coefficient and the first confidence coefficient of the vehicle in a high attachment state by the mode under the condition of normal driving working conditions (the vehicle speed is greater than or equal to a preset threshold value), so that the vehicle can accurately determine the dynamic attachment coefficient and the confidence coefficient based on the first dynamic attachment coefficient and the first confidence coefficient, the matching degree of the dynamic attachment coefficient and the actual condition of the vehicle is improved, and the control capability of the vehicle is further improved.
One implementation process of determining the second dynamic adhesion coefficient and the second confidence coefficient of the vehicle in the low adhesion state by the vehicle will be described in detail below through a method embodiment three.
Fig. 4 is a schematic flow chart of a third embodiment of a method for determining a dynamic adhesion coefficient according to an embodiment of the present application. Referring to fig. 4, the method specifically includes the steps of:
s401: the speed and the traveling direction of the vehicle are determined.
In the present embodiment, the vehicle may determine the vehicle speed and the traveling direction of the vehicle. Wherein, the driving direction can be forward or backward.
S402: and determining a second dynamic attachment coefficient and a second confidence coefficient according to the instantaneous attachment coefficient, the longitudinal stability factor, the transverse stability factor, the vehicle speed and the driving direction.
In this embodiment, the vehicle may determine the second dynamic adhesion coefficient and the second confidence level based on the instantaneous adhesion coefficient, the longitudinal stability factor, the lateral stability factor, the vehicle speed, and the direction of travel.
Specifically, the vehicle may determine the dynamic adhesion coefficient of the vehicle at the previous time as the second dynamic adhesion coefficient and determine the confidence of the vehicle at the previous time as the second confidence in the case where it is determined that the plurality of conditions are all satisfied.
And when the vehicle determines that at least one condition of the plurality of conditions is not met, determining the dynamic adhesion coefficient of the vehicle at the last moment as a second dynamic adhesion coefficient, and determining the second confidence coefficient as 0.
Wherein the plurality of conditions includes:
The instantaneous attachment coefficient is greater than the third coefficient; illustratively, the third coefficient may be any value between 0 and 0.35.
The longitudinal stability factor and the transverse stability factor are both greater than 1;
The vehicle speed is greater than a preset speed; illustratively, the preset speed may be any value between 5kph and 10kph, where kph refers to kilometers per hour;
The traveling direction is forward (the shift position is the forward shift position).
The beneficial effects of this embodiment are: the vehicle may determine a vehicle speed and a traveling direction of the vehicle. The vehicle may determine a second dynamic adhesion coefficient and a second confidence level based on the instantaneous adhesion coefficient, the longitudinal stability factor, the lateral stability factor, the vehicle speed, and the direction of travel. By the method, the second dynamic adhesion coefficient and the second confidence coefficient of the vehicle in the low adhesion state can be accurately determined, so that the vehicle can accurately determine the dynamic adhesion coefficient and the confidence coefficient based on the second dynamic adhesion coefficient and the second confidence coefficient, the matching degree of the dynamic adhesion coefficient and the actual condition of the vehicle is improved, and the control capability of the vehicle is further improved.
Another implementation process of determining the second dynamic adhesion coefficient and the second confidence coefficient of the vehicle in the low adhesion state by the vehicle will be described in detail below through a method embodiment four.
Fig. 5 is a flowchart of a fourth embodiment of a method for determining a dynamic attachment coefficient according to an embodiment of the present application. Referring to fig. 5, the method specifically includes the steps of:
S501: it is determined whether the vehicle activates a stability control system.
In this embodiment, the vehicle may determine whether the vehicle activates the stability control system.
If yes, executing S502;
If not, S503 is performed.
The process by which the vehicle determines whether the vehicle activates the stability control system is described below.
In particular, the vehicle may determine that the vehicle activates the stability control system if it is recognized that there is a brake flag position of one wheel (tire) and the brake torque of the wheel (tire) is greater than zero. The vehicle may also determine that the vehicle activates the stability control system if it is recognized that there is a control flag of the antilock braking system of one wheel (tire) set and the braking torque of the wheel (tire) is greater than zero. The vehicle may also determine that the vehicle activates the stability control system if it is identified that there is one wheel (tire) corresponding to the identification of the wheel (tire) in the lift-torsion request and the slip rate of the wheel (tire) is greater than zero.
S502: the dynamic adhesion coefficient of the vehicle at the previous time is determined as a second dynamic adhesion coefficient, and the confidence of the vehicle at the previous time is determined as a second confidence.
In this embodiment, in the case where the vehicle determines that the vehicle activates the stability control system, the dynamic attachment coefficient of the vehicle at the last time may be determined as the second dynamic attachment coefficient, and the confidence of the vehicle at the last time may be determined as the second confidence.
S503: the dynamic adhesion coefficient of the vehicle at the last moment is determined as a second dynamic adhesion coefficient, and a second confidence coefficient is determined as 0.
In this embodiment, in the case where the vehicle determines that the vehicle does not activate the stability control system, the vehicle may determine the dynamic adhesion coefficient of the vehicle at the previous time as the second dynamic adhesion coefficient, and determine the second confidence coefficient as 0.
The beneficial effects of this embodiment are: in the case where the vehicle is determined to activate the stability control system, the dynamic attachment coefficient of the vehicle at the previous time may be determined as the second dynamic attachment coefficient, and the confidence of the vehicle at the previous time may be determined as the second confidence. In the case of determining that the vehicle does not activate the stability control system, the vehicle may determine the dynamic adhesion coefficient of the vehicle at the last time as a second dynamic adhesion coefficient, and determine the second confidence level as 0. By the method, the second dynamic adhesion coefficient and the second confidence coefficient of the vehicle in the low adhesion state can be accurately determined, so that the vehicle can accurately determine the dynamic adhesion coefficient and the confidence coefficient based on the second dynamic adhesion coefficient and the second confidence coefficient, the matching degree of the dynamic adhesion coefficient and the actual condition of the vehicle is improved, and the control capability of the vehicle is further improved.
The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.
Fig. 6 is a schematic structural diagram of a device for determining a dynamic adhesion coefficient according to an embodiment of the present application. As shown in fig. 6, the dynamic attachment coefficient determining device 60 includes a processing module 61 and a fusion module 62. Wherein,
A processing module 61 for determining an instantaneous adhesion coefficient, a longitudinal stability factor and a lateral stability factor of the vehicle;
The processing module 61 is further configured to determine a first dynamic adhesion coefficient and a first confidence coefficient of the vehicle in a high adhesion state and a second dynamic adhesion coefficient and a second confidence coefficient of the vehicle in a low adhesion state according to the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor;
The fusion module 62 is configured to determine a dynamic adhesion coefficient of the vehicle according to the first dynamic adhesion coefficient, the first confidence coefficient, the second dynamic adhesion coefficient, and the second confidence coefficient.
The device for determining the dynamic adhesion coefficient provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the processing module 61 is specifically configured to:
Acquiring a sensor state and a vehicle speed of a vehicle, wherein the sensor state is an effective state or a failure state;
If the sensor state is an effective state and the vehicle speed is greater than or equal to a preset threshold, determining a first dynamic attachment coefficient and a first confidence coefficient according to the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor;
If the sensor state is the failure state and/or the vehicle speed is smaller than a preset threshold value, determining that the first dynamic adhesion coefficient is the dynamic adhesion coefficient of the vehicle at the last moment, and determining that the first confidence coefficient is 0.
The device for determining the dynamic adhesion coefficient provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the processing module 61 is specifically configured to:
If the longitudinal stability factor and/or the transverse stability factor is greater than the first factor and the instantaneous attachment coefficient is greater than the first coefficient, determining the instantaneous attachment coefficient as a first dynamic attachment coefficient and determining a first confidence coefficient as 1;
If the longitudinal stability factor and the transverse stability factor are both smaller than the second factor, the instantaneous attachment coefficient is larger than the second coefficient, and the duration time of the instantaneous attachment coefficient larger than the second coefficient is longer than or equal to the preset duration time, determining that the first dynamic attachment coefficient is the preset dynamic attachment coefficient, and determining that the first confidence coefficient is the preset confidence coefficient;
wherein the first factor is greater than the second factor and the first coefficient is greater than the second coefficient.
The device for determining the dynamic adhesion coefficient provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the processing module 61 is specifically configured to:
determining the speed and the running direction of the vehicle;
and determining a second dynamic attachment coefficient and a second confidence coefficient according to the instantaneous attachment coefficient, the longitudinal stability factor, the transverse stability factor, the vehicle speed and the driving direction.
The device for determining the dynamic adhesion coefficient provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the processing module 61 is specifically configured to:
if the conditions are met, determining the dynamic adhesion coefficient of the vehicle at the last moment as a second dynamic adhesion coefficient, and determining the confidence coefficient of the vehicle at the last moment as a second confidence coefficient;
If at least one of the conditions is not satisfied, determining the dynamic adhesion coefficient of the vehicle at the previous moment as a second dynamic adhesion coefficient, and determining a second confidence coefficient as 0;
Wherein the plurality of conditions includes:
the instantaneous attachment coefficient is greater than the third coefficient;
the longitudinal stability factor and the transverse stability factor are both greater than 1;
The vehicle speed is greater than a preset speed;
The traveling direction is the forward direction.
The device for determining the dynamic adhesion coefficient provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the processing module 61 is specifically configured to:
determining whether the vehicle activates a stability control system;
if the vehicle activates the stability control system, determining a dynamic adhesion coefficient of the vehicle at the last moment as a second dynamic adhesion coefficient, and determining the confidence coefficient of the vehicle at the last moment as a second confidence coefficient;
if the vehicle does not activate the stability control system, the dynamic adhesion coefficient of the vehicle at the last moment is determined as a second dynamic adhesion coefficient, and a second confidence coefficient is determined to be 0.
The device for determining the dynamic adhesion coefficient provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the fusion module 62 is specifically configured to:
if the first confidence coefficient is greater than or equal to the second confidence coefficient, determining the dynamic attachment coefficient as the first dynamic attachment coefficient;
And if the first confidence coefficient is smaller than the second confidence coefficient, determining the dynamic attachment coefficient as a second dynamic attachment coefficient.
The device for determining the dynamic adhesion coefficient provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the processing module 61 is specifically configured to:
Determining a slip ratio error for each wheel of the vehicle;
Determining a left slip rate variance and a left slip rate change rate variance of a left wheel of the vehicle, and a right slip rate variance and a right slip rate change rate variance of a right wheel according to the slip rate error of each wheel;
determining a longitudinal correction factor and a transverse correction factor of the vehicle;
Determining a longitudinal stability factor based on the longitudinal correction factor, the left slip rate variance, the right slip rate variance, and the right slip rate variance;
Determining a lateral stability factor according to the lateral correction factor and the offset of the vehicle; the offset amounts include a lateral force offset amount, a yaw rate offset amount, and a roll rate offset amount, among others.
The device for determining the dynamic adhesion coefficient provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the processing module 61 is specifically configured to:
acquiring running information of a vehicle, wherein the running information comprises: wheel steering angle, longitudinal force, wheel acceleration, lateral acceleration, yaw rate, longitudinal vehicle speed, and acceleration detected by inertial measurement unit sensors;
Determining a correction coefficient according to the left side slip rate variance, the right side slip rate variance and the driving information;
Determining a longitudinal correction factor according to the correction coefficient, the yaw rate, the longitudinal vehicle speed and the acceleration detected by the inertial measurement unit sensor;
the lateral correction factor is determined based on the correction factor, the lateral acceleration, and the longitudinal force.
The device for determining the dynamic adhesion coefficient provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, and the implementation principle and the beneficial effects are similar, and are not repeated here.
Fig. 7 is a block diagram of a vehicle according to an embodiment of the present application. As shown in fig. 7, the vehicle 70 includes a processor 71 and a memory 72. Wherein the processor 71 is communicatively coupled to a memory 72, the memory 72 for storing computer-executable instructions; the processor 71 is configured to execute the technical solutions of any of the method embodiments described above via computer-executable instructions stored in the execution memory 72.
Alternatively, the memory 72 may be separate or integrated with the processor 71. Alternatively, when the memory 72 is a device separate from the processor 71, the vehicle 70 may further include: and a bus for connecting the devices.
The technical scheme of the vehicle for executing any of the foregoing method embodiments has similar implementation principles and technical effects, and is not described herein.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and the computer execution instructions are used for realizing the technical scheme provided by any one of the method embodiments when being executed by a processor.
The embodiment of the application also provides a computer program product, which comprises a computer program, and the computer program is used for realizing the technical scheme provided by the embodiment of the method when being executed by a processor.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features can be replaced equivalently; such modifications and substitutions do not depart from the spirit of the application.

Claims (13)

1. A method for determining a dynamic attachment coefficient, comprising:
Determining an instantaneous adhesion coefficient, a longitudinal stability factor and a transverse stability factor of the vehicle;
determining a first dynamic attachment coefficient and a first confidence coefficient of the vehicle in a high attachment state and a second dynamic attachment coefficient and a second confidence coefficient of the vehicle in a low attachment state according to the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor;
and determining the dynamic attachment coefficient of the vehicle according to the first dynamic attachment coefficient, the first confidence coefficient, the second dynamic attachment coefficient and the second confidence coefficient.
2. The method of claim 1, wherein determining a first dynamic adhesion coefficient and a first confidence level for the vehicle in a high adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor comprises:
acquiring a sensor state and a vehicle speed of the vehicle, wherein the sensor state is an effective state or a failure state;
If the sensor state is the effective state and the vehicle speed is greater than or equal to a preset threshold, determining the first dynamic attachment coefficient and the first confidence coefficient according to the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor;
And if the sensor state is the failure state and/or the vehicle speed is smaller than the preset threshold value, determining that the first dynamic attachment coefficient is the dynamic attachment coefficient of the vehicle at the last moment, and determining that the first confidence coefficient is 0.
3. The method of claim 2, wherein determining the first dynamic attachment coefficient and the first confidence level based on the instantaneous attachment coefficient, the longitudinal stability factor, and the lateral stability factor comprises:
If the longitudinal stability factor and/or the lateral stability factor is greater than a first factor and the instantaneous attachment coefficient is greater than a first coefficient, determining the instantaneous attachment coefficient as the first dynamic attachment coefficient and determining the first confidence level as 1;
If the longitudinal stability factor and the transverse stability factor are both smaller than a second factor, the instantaneous attachment coefficient is larger than a second coefficient, and the duration time of the instantaneous attachment coefficient larger than the second coefficient is longer than or equal to a preset duration time, determining that the first dynamic attachment coefficient is a preset dynamic attachment coefficient, and determining that the first confidence coefficient is a preset confidence coefficient;
wherein the first factor is greater than the second factor, and the first coefficient is greater than the second coefficient.
4. A method according to any one of claims 1-3, wherein determining a second dynamic adhesion coefficient and a second confidence level of the vehicle in a low adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor comprises:
Determining a speed and a traveling direction of the vehicle;
and determining the second dynamic attachment coefficient and the second confidence coefficient according to the instantaneous attachment coefficient, the longitudinal stability factor, the transverse stability factor, the vehicle speed and the running direction.
5. The method of claim 4, wherein determining the second dynamic adhesion coefficient and the second confidence level based on the instantaneous adhesion coefficient, the longitudinal stability factor, the lateral stability factor, the vehicle speed, and the travel direction comprises:
If a plurality of conditions are respectively met, determining a dynamic adhesion coefficient of the vehicle at the last moment as the second dynamic adhesion coefficient, and determining the confidence coefficient of the vehicle at the last moment as the second confidence coefficient;
if at least one of the conditions is not satisfied, determining a dynamic adhesion coefficient of the vehicle at a previous moment as the second dynamic adhesion coefficient, and determining the second confidence coefficient as 0;
Wherein the plurality of conditions includes:
the instantaneous attachment coefficient is greater than a third coefficient;
the longitudinal stability factor and the transverse stability factor are both greater than 1;
The vehicle speed is greater than a preset speed;
the running direction is forward.
6. A method according to any one of claims 1-3, wherein determining a second dynamic adhesion coefficient and a second confidence level of the vehicle in a low adhesion state based on the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor comprises:
Determining whether the vehicle activates a stability control system;
If the vehicle activates the stability control system, determining a dynamic adhesion coefficient of the vehicle at the last moment as the second dynamic adhesion coefficient, and determining the confidence coefficient of the vehicle at the last moment as the second confidence coefficient;
and if the vehicle does not activate the stability control system, determining the dynamic adhesion coefficient of the vehicle at the last moment as the second dynamic adhesion coefficient, and determining the second confidence coefficient as 0.
7. The method of any of claims 1-6, wherein determining the dynamic attachment coefficient of the vehicle based on the first dynamic attachment coefficient, the first confidence level, the second dynamic attachment coefficient, and the second confidence level comprises:
if the first confidence coefficient is greater than or equal to the second confidence coefficient, determining the dynamic attachment coefficient as the first dynamic attachment coefficient;
And if the first confidence coefficient is smaller than the second confidence coefficient, determining the dynamic attachment coefficient as the second dynamic attachment coefficient.
8. The method of any one of claims 1-7, wherein determining a longitudinal stability factor and a lateral stability factor of the vehicle comprises:
determining a slip ratio error for each wheel of the vehicle;
determining left side slip rate variance and left side slip rate change rate variance of left side wheels of the vehicle, and right side slip rate variance and right side slip rate change rate variance of right side wheels according to the slip rate error of each wheel;
Determining a longitudinal correction factor and a lateral correction factor of the vehicle;
Determining the longitudinal stability factor according to the longitudinal correction factor, the left slip rate variance, the left slip rate change rate variance, the right slip rate variance, and the right slip rate change rate variance;
Determining the lateral stability factor according to the lateral correction factor and the offset of the vehicle; wherein the offset includes a lateral force offset, a yaw rate offset, and a roll rate offset.
9. The method of claim 8, wherein determining a longitudinal correction factor and a lateral correction factor for the vehicle comprises:
Acquiring running information of the vehicle, wherein the running information comprises: wheel steering angle, longitudinal force, wheel acceleration, lateral acceleration, yaw rate, longitudinal vehicle speed, and acceleration detected by inertial measurement unit sensors;
Determining a correction coefficient according to the left slip rate variance, the right slip rate variance and the running information;
determining the longitudinal correction factor according to the correction coefficient, the yaw rate, the longitudinal vehicle speed and the acceleration detected by the inertial measurement unit sensor;
The lateral correction factor is determined based on the correction factor, the lateral acceleration, and the longitudinal force.
10. A dynamic attachment coefficient determining apparatus, comprising:
The processing module is used for determining the instantaneous attachment coefficient, the longitudinal stability factor and the transverse stability factor of the vehicle;
The processing module is further configured to determine a first dynamic adhesion coefficient and a first confidence coefficient of the vehicle in a high adhesion state, and a second dynamic adhesion coefficient and a second confidence coefficient of the vehicle in a low adhesion state according to the instantaneous adhesion coefficient, the longitudinal stability factor, and the lateral stability factor;
and the fusion module is also used for determining the dynamic attachment coefficient of the vehicle according to the first dynamic attachment coefficient, the first confidence coefficient, the second dynamic attachment coefficient and the second confidence coefficient.
11. A vehicle, characterized by comprising:
A processor, and a memory communicatively coupled to the processor;
the memory is used for storing computer execution instructions;
The processor configured to execute computer-executable instructions stored in the memory to implement the method of determining a dynamic attachment coefficient as claimed in any one of claims 1 to 9.
12. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein computer executable instructions for implementing the method of determining a dynamic adhesion coefficient according to any of claims 1-9 when executed by a processor.
13. A computer program product comprising a computer program which, when executed by a processor, implements the method of determining a dynamic attachment coefficient according to any of claims 1-9.
CN202410301346.9A 2024-03-15 2024-03-15 Method, device, vehicle, medium and program product for determining dynamic adhesion coefficient Pending CN118004188A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410301346.9A CN118004188A (en) 2024-03-15 2024-03-15 Method, device, vehicle, medium and program product for determining dynamic adhesion coefficient

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410301346.9A CN118004188A (en) 2024-03-15 2024-03-15 Method, device, vehicle, medium and program product for determining dynamic adhesion coefficient

Publications (1)

Publication Number Publication Date
CN118004188A true CN118004188A (en) 2024-05-10

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Country Link
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