Road Friction Estimation Method Based on Fusion of Machine Vision and Vehicle Dynamics**Resrach supported by ‘National key Research and Development Program of China’ (Grant No. 2018YFB0104805), ‘National Natural Science Foundation of China’ (Grant No. U15

摘要

This paper proposes a road friction coefficient estimation method based on the fusion of machine vision and vehicle dynamics. A vehicle-mounted camera is used to obtain the front image. Based on the deep learning method, the road surface in the image is segmented and identified to obtain the road type. Besides, a road friction estimator with the tire longitudinal force estimation is designed. With the visual estimation results, a fusion estimation method is designed based on the structural parameter optimization. The results of simulation experiments show that the fusion estimator has the characteristics of fast convergence and high accuracy.