车辆路面摩擦系数估计方法、装置、设备、介质及车辆

The application discloses a vehicle road surface friction coefficient estimation method, a device, equipment, a medium and a vehicle, belonging to the technical field of vehicle control, wherein the method comprises the steps of obtaining current road surface type information of the vehicle; the method comprises the steps of obtaining current dynamics measured values of a vehicle, obtaining target state estimators from a plurality of parallel state estimators based on current road surface type information, obtaining the current dynamics measured values of the vehicle, inputting the current dynamics measured values to the target state estimators, activating the target state estimators to conduct measurement updating to obtain output values of the target state estimators, and taking the output values as a road surface friction coefficient estimation result of the vehicle, wherein the plurality of parallel state estimators are respectively preset with different road surface types to have corresponding matching relations. According to the application, the independent state estimators are respectively configured for a plurality of different road surface types, the parallel operation is carried out, and the dynamic fusion output is carried out according to the real-time road surface type information and the dynamic measurement value, so that the quick, accurate and continuous estimation of the friction coefficient of the vehicle road surface is realized, and the system safety is improved.