CN113188997B - Method, device, equipment and storage medium for measuring road surface friction coefficient - Google Patents
Method, device, equipment and storage medium for measuring road surface friction coefficient Download PDFInfo
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- CN113188997B CN113188997B CN202110476390.XA CN202110476390A CN113188997B CN 113188997 B CN113188997 B CN 113188997B CN 202110476390 A CN202110476390 A CN 202110476390A CN 113188997 B CN113188997 B CN 113188997B
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Abstract
The embodiment of the invention provides a method, a device, equipment and a storage medium for measuring a road surface friction coefficient, and relates to the technical field of road surface detection. Wherein, the measuring method comprises the following steps: and S1, acquiring the total output power of the power source of the automobile, the running speed of the automobile and the relative wind speed of the airflow relative to the automobile. And S2, acquiring the wind resistance power of the automobile according to the running speed and the relative wind speed. And S3, acquiring the friction coefficient between the automobile and the road surface according to the total output power and the wind resistance power. And S4, outputting the friction coefficient. The total output power, the running speed and the relative wind speed of the automobile can be conveniently obtained through the rotating speed sensor, the speed sensor and the wind speed sensor which are arranged on the automobile. Based on the running speed and the relative wind speed, the wind resistance power of the automobile during running can be obtained. The friction coefficient between the automobile and the road surface is calculated based on the total output power and the wind resistance power, the steps are simple, and the time for acquiring the friction coefficient of the power automobile in the driving process is greatly saved.
Description
Technical Field
The invention relates to the technical field of road surface detection, in particular to a method, a device, equipment and a storage medium for measuring a road surface friction coefficient.
Background
The highway is a carrier of traffic transportation, vehicles are bound to be restricted by highway conditions when running on the highway, and the highway environment is not negligible as an important factor influencing traffic safety. When the automobile runs on different road surfaces, the friction coefficient between the automobile and the road surface is different, and the corresponding braking distance is also changed. That is, the vehicle runs on different roads, and different driving strategies need to be established. The driving strategies are formulated based on the friction coefficient between the automobile and the road surface, so how to quickly acquire the friction coefficient between the automobile and the road surface is very important.
The prior art road surface friction coefficient measuring instrument can generally measure only when the vehicle runs at low speed, and the measuring speed is too slow.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for measuring a road surface friction coefficient, which aim to solve the problem of too low speed of measuring the road surface friction coefficient in the related art.
The first aspect,
As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a method for measuring a road surface friction coefficient, which includes the following steps:
and S1, acquiring the total output power of the power source of the automobile, the running speed of the automobile and the relative wind speed of the airflow relative to the automobile.
And S2, acquiring the wind resistance power of the automobile according to the running speed and the relative wind speed.
And S3, acquiring the friction coefficient between the automobile and the road surface according to the total output power and the wind resistance power.
And S4, outputting the friction coefficient.
Optionally, when the power source of the vehicle is an engine, the obtaining of the total output power of the power source of the vehicle specifically includes:
the rotation speed of the engine is obtained.
And acquiring the total output power of the engine based on a power characteristic curve of the engine according to the rotating speed.
Optionally, when the power source of the vehicle is an electric motor, the obtaining of the total output power of the power source of the vehicle specifically includes:
and acquiring the output current of the power battery.
And acquiring the total output power of the power battery based on the output voltage of the power battery according to the output current.
Optionally, step S2 specifically includes:
calculating the absolute wind speed v of the airflow relative to the ground according to the running speed and the relative wind speedAbsolute。
And calculating the wind resistance power of the automobile according to the absolute wind speed. Wherein the wind resistance power PWind resistanceIs calculated as
Gamma is the wind resistance coefficient, vAbsolute valueIs the absolute wind speed.
Optionally, step S3 specifically includes:
and acquiring friction power according to the total output power and the wind resistance power. Wherein the friction power PFriction resistanceIs calculated with a model of PFriction resistance＝PGeneral assembly-PLoss transmission-PWind resistance，PGeneral assemblyFor said total output power, PLoss transmissionFor power loss in the transmission, PWind resistanceIs the windage power.
And acquiring the friction coefficient according to the friction resistance power and the running speed. Wherein the calculation model of the friction coefficient mu is as follows:
Pfriction resistanceFor said friction power, VVehicle with wheelsFor said running speed, RTyre for vehicle wheelsIs the radius of the tyre GVehicle with wheelsIs the positive pressure of the automobile tyre.
Optionally, the transmission loses power PLoss transmissionThe calculation model of (a) is:
Ploss transmission＝0.049PGeneral assembly+aτ2+0.995PJ+0.975Pp
τ＝ρv，PGeneral assemblyFor the total output power, a is the total coefficient of the combined belt row loss term, rho is the oil density, v is the oil kinematic viscosity, PJFor oil churning losses, PpIs the front pump loss.
Optionally, the measurement method further comprises:
and S5, judging whether the friction coefficient is suddenly changed.
And S6, generating an alarm signal when the friction coefficient is judged to be suddenly changed.
Optionally, step S4 specifically includes:
and outputting the friction coefficient to a display to display the friction coefficient and/or outputting the friction coefficient to a loudspeaker to broadcast the friction coefficient.
The second aspect,
As shown in fig. 3, an embodiment of the present invention provides a device for measuring a road friction coefficient, including:
and the acquisition module is used for acquiring the total output power of the automobile power source, the running speed of the automobile and the relative wind speed of the airflow relative to the automobile.
And the wind resistance power module is used for acquiring the wind resistance power of the automobile according to the running speed and the relative wind speed.
And the friction coefficient module is used for acquiring the friction coefficient between the automobile and the road surface according to the total output power and the wind resistance power.
And the output module is used for outputting the friction coefficient.
Optionally, when the power source of the vehicle is an engine, the obtaining module specifically includes:
and the rotating speed unit is used for acquiring the rotating speed of the engine.
And the first total power unit is used for acquiring the total output power of the engine based on a power characteristic curve of the engine according to the rotating speed.
Optionally, when the power source of the vehicle is an electric motor, the obtaining module specifically includes:
and the current unit is used for acquiring the output current of the power battery.
And the second total power unit is used for acquiring the total output power of the power battery based on the output voltage of the power battery according to the output current.
Optionally, the wind resistance power module specifically includes:
an absolute wind speed unit for calculating an absolute wind speed v of the airflow relative to the ground according to the traveling speed and the relative wind speedAbsolute value。
And the wind resistance power unit is used for calculating the wind resistance power suffered by the automobile according to the absolute wind speed. Wherein the wind resistance power PWind resistanceIs calculated as
Gamma is the wind resistance coefficient, vAbsoluteIs the absolute wind speed.
Optionally, the friction coefficient module specifically includes:
and the friction power unit is used for acquiring friction power according to the total output power and the wind resistance power. Wherein the friction power PFriction resistanceIs calculated with a model of PFriction resistance＝PGeneral assembly-PLoss transmission-PWind resistance，PGeneral assemblyFor said total output power, PLoss transmissionFor power loss in the transmission, PWind resistanceIs the windage power. The transmission loss power PLoss transmissionIs calculated with a model of PLoss transmission＝0.049PGeneral assembly+aτ2+0.995PJ+0.975Pp，τ＝ρv，PGeneral assemblyFor the total output power, a is the total coefficient of the combined belt row loss term, rho is the oil density, v is the oil kinematic viscosity, PJFor churning losses, PpIs the front pump loss.
And the friction coefficient unit is used for acquiring the friction coefficient according to the friction resistance power and the running speed. Wherein the calculation model of the friction coefficient mu is as follows:
Pfriction resistanceFor said friction power, VVehicle with wheelsFor said running speed, RTyre for vehicle wheelsIs the radius of the tyre GVehicle with wheelsIs the positive pressure of the automobile tyre.
Optionally, the measuring device further comprises:
and the sudden change judging module is used for judging whether the friction coefficient has sudden change.
And the alarm generating module is used for generating an alarm signal when the friction coefficient is judged to be suddenly changed.
The output module is specifically configured to:
and outputting the friction coefficient to a display to display the friction coefficient and/or outputting the friction coefficient to a loudspeaker to broadcast the friction coefficient.
The third aspect,
An embodiment of the present invention provides a road surface friction coefficient measuring device, which includes a processor, a memory, and a computer program stored in the memory. The computer program is executable by the processor to implement the method of measuring a road surface friction coefficient as described in any one of the paragraphs of the first aspect.
The fourth aspect,
An embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, an apparatus in which the computer-readable storage medium is located is controlled to execute the method for measuring a road surface friction coefficient according to any one of the paragraphs of the first aspect.
By adopting the technical scheme, the invention can obtain the following technical effects:
the total output power, the running speed and the relative wind speed of the automobile can be conveniently obtained through the rotating speed sensor, the speed sensor and the wind speed sensor which are arranged on the automobile. Based on the running speed and the relative wind speed, the wind resistance power of the automobile during running can be obtained. The friction coefficient between the automobile and the road surface is calculated based on the total output power and the wind resistance power, the steps are simple, and the time for acquiring the friction coefficient of the power automobile in the driving process is greatly saved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a method for measuring a road surface friction coefficient according to a first embodiment of the present invention.
Fig. 2 is a schematic diagram of a method for measuring a road surface friction coefficient according to a first embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a road surface friction coefficient measuring device according to a second embodiment of the present invention.
The labels in the figure are: the device comprises a 1-acquisition module, a 2-wind resistance power module, a 3-friction coefficient module and a 4-output module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The word "if," as used herein, may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection," depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
In the embodiments, the references to "first \ second" merely distinguish similar objects and do not represent a specific ordering for the objects, and it is to be understood that "first \ second" may interchange a specific order or sequence where permitted. It should be understood that "first \ second" distinguishing objects may be interchanged under appropriate circumstances such that the embodiments described herein may be implemented in sequences other than those illustrated or described herein.
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
the first embodiment is as follows:
referring to fig. 1, a method for measuring a road friction coefficient according to a first embodiment of the present invention may be implemented by a road friction coefficient measuring apparatus installed in an automobile. In particular, execution by one or more processors in a measurement device to implement the steps of:
and S1, acquiring the total output power of the power source of the automobile, the running speed of the automobile and the relative wind speed of the airflow relative to the automobile.
In this embodiment, when the vehicle power source is an engine, the method for obtaining the total output power of the vehicle power source specifically includes:
and S11a, acquiring the rotation speed of the engine. The engine speed can be measured directly by a speed sensor arranged on the vehicle.
And S11b, acquiring the total output power of the engine based on the power characteristic curve of the engine according to the rotating speed. Specifically, the engine characteristic curve records the characteristic of each engine, and the output power of the engine corresponding to different engine speeds can be inquired through the engine power characteristic curve.
In other embodiments, when the power source of the vehicle is an electric motor, the obtaining of the total output power of the power source of the vehicle specifically includes:
and S11c, acquiring the output current of the power battery.
And S11d, acquiring the total output power of the power battery according to the output current and based on the output voltage of the power battery. Specifically, the output power of the whole vehicle is calculated by directly obtaining the output voltage and the output current of the power battery of the electric vehicle, rather than calculating the output power of the whole vehicle by the output power of the motor. Not only the data acquisition is simpler, but also the calculation process is faster.
In the embodiment, different types of automobiles adopt different types of methods, so that the power output power of the whole automobile is obtained. The running speed can be directly measured by a vehicle speed sensor arranged on the vehicle, and the relative wind speed can be directly measured by a wind speed sensor arranged on the vehicle. The measuring equipment can be friction coefficient calculating equipment independently installed on the automobile, and can also be integrated in a central control platform of the automobile.
And S2, acquiring the wind resistance power of the automobile according to the running speed and the relative wind speed.
Based on the foregoing embodiments, in an alternative embodiment of the present invention, step S2 specifically includes S21 and S22.
S21, calculating the absolute wind speed v of the airflow relative to the ground according to the running speed and the relative wind speedAbsolute。
And S22, calculating the wind resistance power of the automobile according to the absolute wind speed. Wherein the wind resistance power PWind resistanceThe calculation model of (a) is:
gamma is the wind resistance coefficient, vAbsoluteIs the absolute wind speed. Specifically, the wind resistance coefficient is closely related to the design of each vehicle, a characteristic designed for different vehicle types. Each vehicle type has different wind resistance coefficients. The automobile can be known by inquiring the factory parameters of the automobile. And the running speed and the relative wind speed are obtained according to the measurement of the vehicle speed sensor and the wind speed sensor. Through the wind resistance power calculation model, the wind resistance power in the running process of the automobile can be calculated quickly.
And S3, acquiring the friction coefficient between the automobile and the road surface according to the total output power and the wind resistance power.
Based on the foregoing embodiments, in an alternative embodiment of the present invention, step S3 specifically includes S31 and S32.
And S31, acquiring friction power according to the total output power and the wind resistance power. Wherein the friction power PFriction resistanceThe calculation model of (a) is:
Pfriction resistance＝PGeneral assembly-PLoss transmission-PWind resistance
PGeneral assemblyTo total output power, PLoss transmissionFor power loss in the transmission, PWind resistanceIs the windage power.
Specifically, energy loss of the automobile during driving is mainly used for overcoming friction and gas resistance to move forward and energy loss of the automobile internal component transmission process. The first two steps have found the total power and the windage power. In the present embodiment, in order to increase the speed of obtaining the friction coefficient, the transmission loss efficiency PLoss transmissionAn empirical model is adopted:
Ploss transmission＝PGeneral assembly×15％
PGeneral assemblyIs the total output power. I.e. the transmission losses are 15% of the total power.
Alternatively, as the computational power of the chip increases, the computational speed becomes faster and faster. In other embodiments, a more precise power loss P may be usedLoss transmissionThe calculation model of (a) is:
Ploss transmission＝0.049PGeneral assembly+aτ2+0.995PJ+0.975Pp
τ＝ρvPGeneral assemblyFor the total output power, a is the total coefficient of the combined belt row loss term, rho is the oil density, v is the oil kinematic viscosity, PJFor churning losses, PpIs the front pump loss. Specifically, the total coefficient of the merged band loss terms is a characteristic parameter of the automobile, and coefficients of different automobile types are different and can be found by inquiring a technical manual of the automobile. The oil density and the oil kinematic viscosity can be known by inquiring the information of the oil for the characteristic parameters of the oil. The calculation process of the oil stirring loss and the front pump loss is the prior art, and the invention isThis will not be described in detail.
And S32, acquiring the friction coefficient according to the friction resistance power and the running speed. Wherein, the calculation model of the friction coefficient mu is as follows:
Pfriction resistanceTo frictional power, VVehicle with wheelsFor the speed of travel, RTyre for vehicle wheelsRadius of car tire, GVehicle with wheelsIs the positive pressure of the automobile tyre.
In particular, the radius of a car tyre is a characteristic of a car, a known parameter. The positive pressure of the automobile tire can be obtained through the weight of the whole automobile, and the difference between the weight of passengers and the automobile is large. Therefore, in the present embodiment, the passenger's weight information is ignored, and the positive pressure of the automobile tires is calculated directly from the weight of the automobile. The quality of the automobile is a characteristic parameter of the automobile, and the automobile related information can be obtained by inquiring. The positive pressure of the automobile tire is obtained by the automobile quality is the prior art, and is not described in detail herein.
And S4, outputting the friction coefficient.
Specifically, the friction coefficient is output to a display to display the friction coefficient and/or the friction coefficient is output to a speaker to broadcast the friction coefficient.
After the friction coefficient is calculated, the friction coefficient is output to a display or a loudspeaker in the vehicle, so that the current friction coefficient is displayed to passengers in real time. So that passengers can know the sudden change of the friction coefficient in time.
In other embodiments, the friction coefficients are output to a server to monitor the road surface condition in multiple zones to discover road surface problems in a timely manner for maintenance of the road surface.
The total output power, the running speed and the relative wind speed of the automobile can be conveniently obtained through the rotating speed sensor, the speed sensor and the wind speed sensor which are arranged on the automobile. Based on the running speed and the relative wind speed, the wind resistance power of the automobile during running can be obtained. The friction coefficient between the automobile and the road surface is calculated based on the total output power and the wind resistance power, the steps are simple, and the time for acquiring the friction coefficient of the power automobile in the driving process is greatly saved.
On the basis of the above embodiment, in an optional embodiment of the present invention, the measurement method further includes:
and S5, judging whether the friction coefficient is suddenly changed.
And S6, generating an alarm signal when the friction coefficient is judged to be suddenly changed.
Specifically, when a large change occurs in the coefficient of friction between the automobile and the road surface, an alarm signal is actively generated to notify the passenger of the driving safety. So as to prevent passengers from paying attention to the friction coefficient information at any time and neglecting driving safety.
In order to facilitate understanding of the present invention, the application of the present embodiment will be described below by way of a hypothetical example.
For example:
a vehicle has a service mass of about 1550kg,
the radius of the tire is 0.32m,
the output power of the automobile engine is about 215kw,
the wind speed measured by the wind speed sensor is 5m/s (driving against the wind),
the vehicle speed is 72 km/h-20 m/s,
assuming that the number of passengers is 2, the average weight of the passengers is 60kg, and no heavy object is arranged on the vehicle. And (5) calculating the friction coefficient.
PLoss transmission＝0.15×PGeneral assembly＝0.15×215＝32.25kW
PFriction resistance＝PGeneral assembly-PLoss transmission-PWind resistance＝215-32.25-40.6≈142.15kw
The available frictional resistance is:
Ghuman being＝60×2×10＝1200N
The available friction coefficient:
example II,
The embodiment of the invention provides a measuring device for a road surface friction coefficient, which comprises:
the acquisition module 1 is used for acquiring the total output power of the automobile power source, the running speed of the automobile and the relative wind speed of the airflow relative to the automobile.
And the wind resistance power module 2 is used for acquiring the wind resistance power of the automobile according to the running speed and the relative wind speed.
And the friction coefficient module 3 is used for acquiring the friction coefficient between the automobile and the road surface according to the total output power and the wind resistance power.
And the output module 4 is used for outputting the friction coefficient.
The total output power, the running speed and the relative wind speed of the automobile can be conveniently obtained through the rotating speed sensor, the speed sensor and the wind speed sensor which are arranged on the automobile. Based on the running speed and the relative wind speed, the wind resistance power of the automobile during running can be obtained. The friction coefficient between the automobile and the road surface is calculated based on the total output power and the wind resistance power, the steps are simple, and the time for acquiring the friction coefficient of the power automobile in the driving process is greatly saved.
Optionally, when the power source of the vehicle is an engine, the obtaining module 1 specifically includes:
and the rotating speed unit is used for acquiring the rotating speed of the engine.
And the first total power unit is used for acquiring the total output power of the engine based on the power characteristic curve of the engine according to the rotating speed.
Alternatively, when the power source of the vehicle is an electric motor, the obtaining module 1 specifically includes:
and the current unit is used for acquiring the output current of the power battery.
And the second total power unit is used for acquiring the total output power of the power battery based on the output voltage of the power battery according to the output current.
Optionally, the wind resistance power module 2 specifically includes:
an absolute wind speed unit for calculating an absolute wind speed v of the airflow relative to the ground according to the traveling speed and the relative wind speedAbsolute。
And the wind resistance power unit is used for calculating the wind resistance power of the automobile according to the absolute wind speed. Wherein the wind resistance power PWind resistanceIs calculated as
Gamma is the wind resistance coefficient, vAbsoluteIs the absolute wind speed.
Optionally, the friction coefficient module 3 specifically includes:
and the friction power unit is used for acquiring friction power according to the total output power and the wind resistance power. Wherein the friction power PFriction resistanceIs calculated with a model of PFriction resistance＝PGeneral assembly-PLoss transmission-PWind resistance，PGeneral assemblyTo total output power, PLoss transmissionFor power loss in the transmission, PWind resistanceIs the windage power. Power loss in transmission PLoss transmissionIs calculated with a model of PLoss transmission＝0.049PGeneral assembly+aτ2+0.995PJ+0.975Pp，τ＝ρv，PGeneral assemblyIn terms of total output power, a is the total coefficient of the combined belt row loss term, rho is the oil density, v is the oil kinematic viscosity, and P isJFor oil churning losses, PpIs the front pump loss.
And the friction coefficient unit is used for acquiring the friction coefficient according to the friction resistance power and the running speed. Wherein, the calculation model of the friction coefficient mu is as follows:
Pfriction resistanceTo frictional power, VVehicle with wheelsFor the speed of travel, RTyre for vehicle wheelsIs the radius of the tyre GVehicle with wheelsIs the positive pressure of the automobile tyre.
Optionally, the measuring device further comprises:
and the sudden change judging module is used for judging whether the friction coefficient has sudden change.
And the alarm generating module is used for generating an alarm signal when the friction coefficient is judged to be suddenly changed.
The output module 4 is specifically configured to:
and outputting the friction coefficient to a display to display the friction coefficient and/or outputting the friction coefficient to a loudspeaker to broadcast the friction coefficient.
Example III,
An embodiment of the present invention provides a road surface friction coefficient measuring device, which includes a processor, a memory, and a computer program stored in the memory. The computer program can be executed by a processor to implement the method of measuring a road surface friction coefficient as described in any of the paragraphs of the embodiments.
Example four,
Embodiments of the present invention provide a computer-readable storage medium including a stored computer program, wherein when the computer program runs, a device in which the computer-readable storage medium is located is controlled to execute the method for measuring a road surface friction coefficient according to any one of the embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method for measuring a road surface friction coefficient, comprising:
acquiring the total output power of an automobile power source, the running speed of an automobile, the wind resistance coefficient of the automobile and the relative wind speed of airflow relative to the automobile;
acquiring the wind resistance power of the automobile according to the wind resistance coefficient, the running speed and the relative wind speed;
acquiring a friction coefficient between the automobile and a road surface according to the total output power and the wind resistance power;
outputting the friction coefficient;
calculating the friction coefficient between the automobile and the road surface according to the total output power and the wind resistance power, and specifically comprises the following steps:
acquiring friction power according to the total output power and the wind resistance power; wherein the friction drag power PFriction resistanceIs calculated with a model of PFriction resistance＝PGeneral assembly-PLoss transmission-PWind resistance，PGeneral assemblyFor said total output power, PLoss transmissionFor power loss in the transmission, PWind resistanceThe wind resistance power;
acquiring the friction coefficient according to the friction resistance power and the running speed; wherein the calculation model of the friction coefficient mu is as follows:
Pfriction resistanceFor said friction power, VVehicle with wheelsFor said running speed, RTyre for vehicle wheelsIs the radius of the tyre GVehicle with wheelsIs the positive pressure of the automobile tyre.
2. The method for measuring the road surface friction coefficient according to claim 1, wherein when the automotive power source is an engine, the obtaining of the total output power of the automotive power source specifically comprises:
acquiring the rotating speed of an engine;
acquiring the total output power of the engine based on a power characteristic curve of the engine according to the rotating speed;
when the automobile power source is the motor, the total output power of the automobile power source is obtained, and the method specifically comprises the following steps:
acquiring the output current of a power battery;
and acquiring the total output power of the power battery based on the output voltage of the power battery according to the output current.
3. The method for measuring the road surface friction coefficient according to claim 1, wherein the calculating the wind resistance power of the automobile according to the running speed and the relative wind speed specifically comprises:
calculating the absolute wind speed v of the airflow relative to the ground according to the running speed and the relative wind speedAbsolute；
Calculating the wind resistance power of the automobile according to the absolute wind speed; wherein the wind resistance power PWind resistanceIs calculated as
Gamma is the wind resistance coefficient, vAbsoluteIs the absolute wind speed.
4. The method of measuring a road surface friction coefficient according to claim 3, wherein the transmission power loss P isLoss transmissionIs calculated with a model of PLoss transmission＝0.049PGeneral assembly+aτ2+0.995PJ+0.975Pp，τ＝ρv，PGeneral assemblyFor the total output power, a is the total coefficient of the combined belt row loss term, rho is the oil density, v is the oil kinematic viscosity, PJFor oil churning losses, PpIs the front pump loss.
5. The method for measuring a road surface friction coefficient according to claim 1, characterized by further comprising:
judging whether the friction coefficient is mutated or not;
when the friction coefficient is judged to have sudden change, generating an alarm signal;
the outputting the friction coefficient specifically includes:
and outputting the friction coefficient to a display to display the friction coefficient and/or outputting the friction coefficient to a loudspeaker to broadcast the friction coefficient.
6. A road surface friction coefficient measuring device, comprising:
the acquisition module is used for acquiring the total output power of the automobile power source, the running speed of the automobile, the wind resistance coefficient of the automobile and the relative wind speed of the airflow relative to the automobile;
the wind resistance power module is used for acquiring the wind resistance power of the automobile according to the wind resistance coefficient, the running speed and the relative wind speed;
the friction coefficient module is used for acquiring the friction coefficient between the automobile and a road surface according to the total output power and the wind resistance power;
the output module is used for outputting the friction coefficient;
the friction coefficient module specifically comprises:
the friction power unit is used for acquiring friction power according to the total output power and the wind resistance power; wherein the friction power PFriction resistanceIs calculated with a model of PFriction resistance＝PGeneral assembly-PLoss transmission-PWind resistance，PGeneral assemblyFor said total output power, PLoss transmissionFor power loss in the transmission, PWind resistanceIs the windage power;
the friction coefficient unit is used for acquiring the friction coefficient according to the friction resistance power and the running speed; wherein the calculation model of the friction coefficient mu is as follows:
Pfriction resistanceFor said friction power, VVehicle with wheelsFor said running speed, RTyre for vehicle wheelsIs the radius of the tyre GVehicle with wheelsIs the positive pressure of the automobile tyre.
7. A measuring device according to claim 6,
when the automobile power source is an engine, the obtaining module specifically comprises:
the rotating speed unit is used for acquiring the rotating speed of the engine;
the first total power unit is used for acquiring the total output power of the engine based on a power characteristic curve of the engine according to the rotating speed;
when the automobile power source is an electric motor, the obtaining module specifically comprises:
the current unit is used for acquiring the output current of the power battery;
the second total power unit is used for acquiring the total output power of the power battery based on the output voltage of the power battery according to the output current;
the wind resistance power module specifically comprises:
an absolute wind speed unit for calculating an absolute wind speed v of the airflow relative to the ground according to the traveling speed and the relative wind speedAbsolute；
The wind resistance power unit is used for calculating the wind resistance power suffered by the automobile according to the absolute wind speed; wherein the wind resistance power PWind resistanceIs calculated as
Gamma is the wind resistance coefficient, vAbsoluteIs the absolute wind speed.
8. A road surface friction coefficient measuring device comprising a processor, a memory, and a computer program stored in the memory; the computer program is executable by the processor to implement the method of measuring a road surface friction coefficient according to any one of claims 1 to 5.
9. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is stored to perform the method for measuring a road surface friction coefficient according to any one of claims 1 to 5.
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| JP2600986B2 (en) * | 1990-07-06 | 1997-04-16 | 三菱自動車工業株式会社 | Rear wheel steering control method |
| CN1065960C (en) * | 1997-04-08 | 2001-05-16 | 华南理工大学 | Method for automobile air resistance coefficient CD value |
| JP3693097B2 (en) * | 2000-04-19 | 2005-09-07 | 三菱ふそうトラック・バス株式会社 | Vehicle weight detection device |
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| CN103234900A (en) * | 2013-04-19 | 2013-08-07 | 清华大学 | Method for identifying sliding friction coefficient between tire and ground |
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