A vehicle state estimation apparatus for a vehicle provided with an inertial measurement sensor and a wheel speed sensor includes: a vehicle state estimation unit configured to estimate a vehicle state of the vehicle, the vehicle state estimation unit including an inertial measurement sensor and a wheel speed sensor, and a control unit configured to control the inertial measurement sensor and the wheel speed sensor; a vehicle state estimation unit that estimates a vehicle state including a vehicle rate based on the acceleration and angular velocity acquired by the inertial measurement sensor and the wheel velocity acquired by the wheel velocity sensor; and a determination unit that determines whether or not the wheel slips. The vehicle state estimation unit estimates a steady-state vehicle rate based on the wheel speed and calculates an instantaneous vehicle rate by time integration based on the acceleration and the angular velocity. When the wheels slip, the estimation unit determines that the estimated value of the vehicle rate approaches the instantaneous vehicle rate, and when the wheels do not slip, the vehicle state estimation unit determines that the estimated value of the vehicle rate approaches the steady-state vehicle rate.

    本发明提供车辆状态估计装置、车辆状态估计方法及非暂时性计算机可读存储介质,所述车辆状态估计装置用于设置有惯性测量传感器和车轮速度传感器的车辆,其包括:车辆状态估计单元,其基于由惯性测量传感器获取的加速度和角速度以及车轮速度传感器获取的车轮速度来估计包括车辆速率在内的车辆状态;以及确定单元,其确定车轮是否打滑。车辆状态估计单元基于车轮速度估计稳态车辆速率,并通过基于加速度和角速度的时间积分计算瞬时车辆速率。当车轮打滑时,估计单元判定车辆速率的估计值接近瞬时车辆速率,而当车轮不打滑时,车辆状态估计单元判定车辆速率的估计值接近稳态车辆速率。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle state estimation device, vehicle state estimation method, and non-transitory computer-readable storage medium


    Additional title:

    车辆状态估计装置、车辆状态估计方法及非暂时性计算机可读存储介质


    Contributors:

    Publication date :

    2022-07-15


    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