According to the longitudinal vehicle speed estimation method combined with slip control, it is ensured that the longitudinal vehicle speed is extracted from four wheel speed signals in the wheel slip control intervention period. The method comprises the following steps: firstly, measuring the rotating speed of wheels according to a wheel speed sensor, converting the rotating speed of the wheels into the speed at the center of mass of a vehicle through rigid body motion conversion and the relationship between a braking force coefficient and a slip rate, formulating fuzzy logic to obtain the credibility of the four wheels, and obtaining the measured value of the longitudinal vehicle speed through weighted fusion; calculating the longitudinal acceleration of the vehicle, correcting the longitudinal acceleration based on a longitudinal vehicle speed measurement value, and further predicting through the obtained longitudinal acceleration to obtain an estimated value of the longitudinal vehicle speed; and finally, carrying out weighted fusion according to the longitudinal vehicle speed estimation value and the measurement value to obtain a final longitudinal vehicle speed estimation result.
本发明提出一种联合滑移控制的纵向车速估计方法,确保在车轮滑移控制介入期间,确保从四个轮速信号中提取出纵向车速。首先根据轮速传感器测得车轮转速,通过刚体运动转换以及制动力系数与滑移率之间的关系将车轮转速转换为车辆质心处速度,并制定模糊逻辑得到四个车轮的可信度,通过加权融合得到纵向车速的测量值;接着计算车辆的纵向加速度,并基于纵向车速测量值对其校正,通过得到的纵向加速度进一步预测得到纵向车速的估计值;最后根据纵向车速估计值和测量值进行加权融合,得到最终的纵向车速估计结果。
Longitudinal vehicle speed estimation method combined with slip control
一种联合滑移控制的纵向车速估计方法
08.07.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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