A fusion estimation of the peak tire-road friction coefficient based on road images and dynamic information

被引：36
作者：
Guo, Hongyan [1 ,2 ]
Zhao, Xu [2 ,4 ]
Liu, Jun [1 ]
Dai, Qikun [2 ]
Liu, Hui [2 ]
Chen, Hong [3 ]
机构：
[1] Jilin Univ, State Key Lab Automot Simulat & Control, Changchun 130025, Peoples R China
[2] Jilin Univ, Coll Commun Engn, Changchun 130025, Peoples R China
[3] Tongji Univ, Coll Elect & Informat Engn, Shanghai 201804, Peoples R China
[4] Jilin Inst Chem Technol, Dept Aircraft Control & Informat Engn, Jilin 132000, Peoples R China
来源：
MECHANICAL SYSTEMS AND SIGNAL PROCESSING | 2023年 / 189卷
基金：
中国国家自然科学基金;
关键词：
Peak tire-road friction coefficient estimation; Fusion-based estimation; Road-type recognition; Sensor information spatiotemporal; synchronization; Unscented Kalman filter; RUBBER-FRICTION; IDENTIFICATION;
D O I：
10.1016/j.ymssp.2022.110029
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
To accurately acquire the peak tire-road friction coefficient, a fusion estimation framework combining vision and vehicle dynamic information is established. First, information for the road ahead is collected in advance from an image captured by a camera, and the road type with its typical range of tire-road friction coefficients is identified with a lightweight convolutional neural network. Then, an unscented Kalman filter (UKF) method is established to estimate the tire-road friction coefficient value directly according to the dynamic vehicle states. Next, the results from the road-type recognition and dynamic estimation methods are spatiotemporally synchronized. Finally, a confidence-based vision and vehicle dynamic fusion strategy is proposed to obtain an accurate peak tire-road friction coefficient. The virtual and real vehicle test results suggest that the proposed fusion estimation strategy can accurately determine the peak tire- road friction coefficient. The proposed strategy can more precisely acquire the tire-road friction coefficient than can the general vision-based estimation method and is superior to the dynamic -based estimation method in that it eliminates the need for sufficient tire excitation to some extent.
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收藏
页数：22
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