The invention discloses a speed calculation method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the current of a drive motor in the electronic equipment, and determining the longitudinal force of a wheel driven by the drive motor according to the current; determining the wheel speed of the wheel according to the load of the wheel, the longitudinal force, the adhesion coefficient of the current road surface and the rotating speed of the wheel; and calculating the wheel speed based on a wheel type speedometer to obtain the longitudinal speed and the angular speed of the electronic equipment. According to the technical scheme, the accurate longitudinal force can be determined, the slip rate is determined according to the corresponding relation between the longitudinal force and the slip rate and the accurate longitudinal force under the condition that the wheel slip is considered and the load and the adhesion coefficient are determined, and then the accurate wheel speed is determined according to the slip rate and the rotating speed of the wheel. Furthermore, the longitudinal speed and the angular speed of the electronic equipment can be determined according to the wheel speed, so that more accurate speed information can be obtained.
本发明公开了一种速度计算方法、装置、电子设备和存储介质,该方法包括:获取电子设备中驱动电机的电流,并根据所述电流确定所述驱动电机所驱动车轮的纵向力;根据所述车轮的载荷、所述纵向力、当前路面的附着系数和所述车轮的转速,确定所述车轮的车轮速度;基于轮式里程计对所述车轮速度进行计算,得到所述电子设备的纵向速度和角速度。上述技术方案,能够确定较为精确的纵向力,并且考虑到车轮打滑,在确定载荷和附着系数的情况下,根据纵向力和滑移率的对应关系以及精确的纵向力确定滑移率,进而根据滑移率以及车轮的转速确定更加精确的车轮速度,进一步可以根据车轮速度分别确定电子设备的纵向速度和角速度,以得到更加精确的速度信息。
Speed calculation method and device, electronic equipment and storage medium
一种速度计算方法、装置、电子设备和存储介质
2022-07-29
Patent
Electronic Resource
Chinese
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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