The invention relates to an automobile speed and tire slip rate estimation method based on wheel speed and whole automobile acceleration. The method comprises the following steps: 1, acquiring wheel center speed information of four wheel speed sensors; 2, obtaining lateral and longitudinal acceleration information of the whole vehicle; 3, comparing the rotating speeds provided by the four wheel speed sensors, judging the current vehicle running state according to the current longitudinal acceleration and the current lateral acceleration, measured by the acceleration sensor, of the vehicle, and in other words, judging whether all the four wheels slip; 4, calculating the estimated value of the vehicle speed of the whole vehicle by combining the wheel center longitudinal speed obtained by the wheel speed information of the four wheels with the front wheel turning angle and the previously judged vehicle driving state; and 5, calculating slip rates of four wheels according to the estimated value of the vehicle speed of the whole vehicle; according to the method, different single wheel speeds can be used for vehicle speed estimation under different driving conditions, the other three wheel speed signals are used for verification, vehicle speed redundancy verification without increasing sensors can be achieved, and the robustness of vehicle speed estimation is improved.

    本发明是一种基于轮速及整车加速度的汽车车速及轮胎滑移率估计方法。包括以下步骤:一、获取4个车轮轮速传感器的轮心速度信息;二、获得整车侧向及纵向加速度信息;三、比较四个轮速传感器提供的转速大小,并根据加速度传感器测量的当前汽车纵向和侧向加速度,判断当前车辆行驶状态,即判断四个车轮是否已全部打滑;四、将该四个车轮的轮速信息得到的轮心纵向速度,结合前轮转角及此前判断的车辆行驶状态计算整车车速估计值;五、根据整车车速估计值计算四个车轮滑移率;本发明能通过在不同行驶工况下使用不同的单一轮速用于车速估算,另三个轮速信号用于校验,可以实现不增加传感器的车速冗余校验,并增加车速估计的稳健性。


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    Title :

    Vehicle speed and tire slip rate estimation method based on wheel speed and vehicle acceleration


    Additional title:

    基于轮速及整车加速度的汽车车速及轮胎滑移率估计方法


    Contributors:
    MIAO WEIWEI (author) / JIANG YONGFENG (author) / YU ZHEN (author) / WANG SHIWEI (author) / LIU SIHAN (author)

    Publication date :

    2021-06-29


    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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