The invention discloses a longitudinal vehicle speed estimation method and device. The longitudinal vehicle speed estimation method comprises the steps of correcting acquired first wheel speeds corresponding to all tires of a vehicle in the current time period to obtain second wheel speeds of all the tires; determining an acceleration vehicle speed and an acceleration variance according to the second wheel speed of each tire and the vehicle speed estimated in the previous time period; determining a wheel speed and a wheel speed variance according to the second wheel speed of each tire in the previous time period and the corrected vehicle acceleration; and obtaining a vehicle speed estimated in the current period according to the acceleration vehicle speed, the acceleration variance, the wheel speed and the wheel speed variance. According to the vehicle speed estimation method based on data fusion, the credibility of the acceleration vehicle speed and the wheel speed is judged according to fuzzy logic, the influence of noise is reduced as much as possible, and the optimal estimation of the system is obtained from measurement values containing the noise.

    本发明公开了一种纵向车速估算方法及装置,包括:对获取到的当前时间周期车辆各个轮胎对应的第一轮速进行修正得到各个轮胎的第二轮速;根据各个轮胎的所述第二轮速、上一时间周期估算的车速确定加速度车速和加速度方差;根据上一时间周期各个轮胎的第二轮速及修正后的整车加速度确定轮速车速和轮速方差;根据所述加速度车速、所述加速度方差、所述轮速车速和所述轮速方差得到当前周期估算的车速。本发明基于数据融合的车速估计方法依据模糊逻辑来判断加速度车速与轮速车速的可信度,尽可能地减小了噪声的影响,并且从含有噪声的测量值中得到系统的最优估计。


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    Title :

    Longitudinal vehicle speed estimation method and device


    Additional title:

    一种纵向车速估算方法及装置


    Contributors:
    DING SHAOBING (author) / LIU GUORUI (author) / ZHANG DANG (author) / YAN ZHONGYI (author) / ZHANG ZHIGANG (author)

    Publication date :

    2021-04-16


    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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