The invention discloses a speed estimation algorithm suitable for a four-wheel drive automobile at multi-wheel high slip rate, wherein the method is divided into two layers. According to the method, the first-layer algorithm comprises that a vehicle wheel angular speed is converted into a vehicle wheel longitudinal speed through a vehicle speed estimation module based on a wheel speed, the deviation between a tire rotating radius and a tire marking radius is corrected, the vehicle speed is estimated according to fuzzy logic, the vehicle speed is estimated according to an integral accelerationvariable by using an acceleration-based vehicle speed estimation module, and when a multi-wheel slip rate is large, the first-layer algorithm cannot accurately estimate the vehicle speed; in the second-layer algorithm, fuzzy logic is introduced into the vehicle speed estimation module to accurately judge the wheel slip condition, and the accurate vehicle speed is estimated; and the final vehicle speed is estimated according to the weighting coefficient of a second-layer vehicle speed estimation module and the two signals of a balance wheel and an acceleration sensor. According to the method, the temporary estimated vehicle speed is introduced to solve the problem of inaccurate estimation of the vehicle speed and the tire slip rate, so that the precision is improved, and the method is suitable for estimating the speed of the four-wheel drive vehicle during multi-wheel high slip rate.

    本发明公开了一种适用于四轮驱动汽车多轮高滑移率时的速度估计算法,所述方法分两层,第一层包括:利用基于轮速的车速估算模块,将车轮角速度转换为车轮纵向速度并修正轮胎旋转半径和轮胎标记半径的偏差,根据模糊逻辑估计车速;利用基于加速度的车速估算模块,根据积分加速度变量来估计车速;多轮大滑移率时第一层算法无法准确估算车速,第二层算法中车速估算模块引入模糊逻辑以精确判断车轮打滑状况,并估算精确车速;按照第二层车速估算模块的加权系数,平衡车轮和加速度传感器的两种信号,估算最终车速。本方法引入了临时估算车速,以解决对车速和轮胎滑移率估算不准确的问题,本方法提高了精度,适用于四轮驱动车辆多轮高滑移率时估算速度。


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    Title :

    Speed estimation algorithm suitable for four-wheel drive vehicle at multi-wheel high slip rate


    Additional title:

    一种适用于四轮驱动车辆多轮高滑移率时的速度估计算法


    Contributors:
    SONG QIANG (author) / WANG GUANFENG (author) / ZHANG DONGMIN (author)

    Publication date :

    2020-05-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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