Improved MobileNet V3-Based Identification Method for Road Adhesion Coefficient

摘要

To enable the timely adjustment of the control strategy of automobile active safety systems, enhance their capacity to adapt to complex working conditions, and improve driving safety, this paper introduces a new method for predicting road surface state information and recognizing road adhesion coefficients using an enhanced version of the MobileNet V3 model. On one hand, the Squeeze-and-Excitation (SE) is replaced by the Convolutional Block Attention Module (CBAM). It can enhance the extraction of features effectively by considering both spatial and channel dimensions. On the other hand, the cross-entropy loss function is replaced by the Bias Loss function. It can reduce the random prediction problem occurring in the optimization process to improve identification accuracy. Finally, the proposed method is evaluated in an experiment with a four-wheel-drive ROS robot platform. Results indicate that a classification precision of 95.53% is achieved, which is higher than existing road adhesion coefficient identification methods.