The invention discloses a method for estimating a side slip angle, electronic equipment and a vehicle, and the method comprises the steps: obtaining a longitudinal vehicle speed actual value, a lateral vehicle speed actual value, a front wheel rotation angle, a rear wheel rotation angle and a yaw velocity of the vehicle, the wheel center speed of each wheel of the vehicle is obtained according to the longitudinal vehicle speed actual value, the lateral vehicle speed actual value, the front wheel rotation angle, the rear wheel rotation angle and the yaw velocity; longitudinal acceleration and lateral acceleration of the vehicle and the wheel speed of each wheel are obtained, and longitudinal force and lateral force of the vehicle are obtained according to the wheel center speed, the front wheel rotation angle, the rear wheel rotation angle, the longitudinal acceleration, the lateral acceleration and the wheel speed; obtaining a longitudinal vehicle speed observation value and a lateral vehicle speed observation value according to the longitudinal force, the lateral force, the lateral acceleration and the wheel center speed; and obtaining the side slip angle of the vehicle according to the longitudinal vehicle speed observation value and the lateral vehicle speed observation value. Therefore, the method has the advantage of small accumulative error, and is suitable for estimating the side slip angle under the nonlinear working condition.

    一种质心侧偏角的估计方法、电子设备及车辆,所述方法包括:获取车辆的纵向车速实际值、侧向车速实际值、前轮转角、后轮转角和横摆角速度,并根据纵向车速实际值、侧向车速实际值、前轮转角、后轮转角和横摆角速度得到车辆各车轮的轮心速度;获取车辆的纵向加速度、侧向加速度和各车轮的轮速,并根据轮心速度、前轮转角、后轮转角、纵向加速度、侧向加速度和轮速得到车辆的纵向力和侧向力;根据纵向力、侧向力、侧向加速度和轮心速度得到纵向车速观测值和侧向车速观测值;根据纵向车速观测值和侧向车速观测值得到车辆的质心侧偏角。由此,具有累计误差小的优势,且适用于非线性工况下的质心侧偏角估算。


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    Titel :

    Estimation method of side slip angle, electronic equipment and vehicle


    Weitere Titelangaben:

    质心侧偏角的估计方法、电子设备及车辆


    Beteiligte:
    LUO ZHONGLIANG (Autor:in) / LIU LI (Autor:in) / XU BIN (Autor:in) / WANG HAI (Autor:in) / HUANG JIAQI (Autor:in)

    Erscheinungsdatum :

    05.07.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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