The embodiment of the invention discloses a vehicle side slip angle estimation method and device. The method includes: identifying whether a first yaw velocity from a vehicle yaw sensor is valid; when the first yaw velocity is effective, calculating a first slip angle according to the first yaw velocity and a vehicle dynamics model; when the first yaw velocity is invalid, a second slip angle of the vehicle is calculated based on the trained neural network model; wherein the input of the neural network model is a first signal and the vehicle speed, the output of the neural network model is a second slip angle, and the first signal comprises at least one of the vehicle wheel speed, the vehicle acceleration and the vehicle steering angle. According to the embodiment of the invention, when no effective yaw velocity (provided by the yaw angle sensor) exists, the situation that no slip angle is available can be avoided.
本发明实施例公开了一种车辆侧偏角的估测方法及装置。该方法包括:识别来自车辆横摆角传感器的第一横摆角速度是否有效;在第一横摆角速度有效时,根据第一横摆角速度和车辆动力学模型,计算第一侧偏角;以及在第一横摆角速度无效时,基于训练完成的神经网络模型来计算车辆的第二侧偏角;其中,所述神经网络模型的输入为第一信号和车速,所述神经网络模型的输出为第二侧偏角,所述第一信号包括:车辆轮速、车辆加速度和车辆转向角中的至少一个。本发明实施例,在无有效的横摆角速度(由横摆角传感器提供)时,能够避免无侧偏角可用的情况出现。
Method and device for estimating side slip angle of vehicle
车辆侧偏角的估测方法及装置
05.03.2024
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 |