The invention provides a vehicle speed estimation method and device, a controller, a storage medium and a vehicle. The method comprises the steps that whether a front axle and a rear axle of a vehicle are in a slipping state at the current moment is judged; if the front axle and the rear axle of the vehicle are both in the slipping state at the current moment, a first vehicle speed estimated value is calculated based on the vehicle speed before the slipping state and the current vehicle body acceleration; if the front axle or the rear axle of the vehicle is in the slipping state at the current moment and the difference value of the front axle speed and the rear axle speed is larger than the preset threshold value, a second vehicle speed estimated value is calculated based on the front axle speed, the rear axle speed and the vehicle body acceleration; the smaller value of the front axle speed and the rear axle speed of the vehicle at the current moment is selected as a third vehicle speed estimated value; and determining a reference vehicle speed according to the first vehicle speed estimation value, the second vehicle speed estimation value and the third vehicle speed estimation value. The method can distinguish vehicle speed separation slip and double-axle slip scenes, avoids the problem that a traditional estimation method cannot deal with complex working conditions, and improves the vehicle speed estimation accuracy.

    本申请提供一种车速估算方法、装置、控制器、存储介质及车辆。该方法包括:判断车辆的前桥和后桥在当前时刻是否处于打滑状态;若车辆的前桥和后桥在当前时刻均处于打滑状态,则基于打滑状态前的车速和当前车身加速度,计算第一车速估算值;若车辆的前桥或后桥在当前时刻处于打滑状态,且前桥车速和后桥车速的差值大于预设阈值,则基于前桥车速、后桥车速和车身加速度计算第二车速估算值;选取车辆在当前时刻的前桥车速和后桥车速的较小值作为第三车速估算值;根据第一车速估算值、第二车速估算值和第三车速估算值确定参考车速。上述方法能够区分车速分离打滑、双桥打滑场景,避免传统估算方法无法处理复杂工况的问题,提高车速估算准确性。


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    Titel :

    Vehicle speed estimation method and device, controller, storage medium and vehicle


    Weitere Titelangaben:

    车速估算方法、装置、控制器、存储介质及车辆


    Beteiligte:
    LIU FANG (Autor:in) / LIU XINQIANG (Autor:in)

    Erscheinungsdatum :

    27.05.2025


    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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