The invention discloses a side slip angle estimation method and system, electronic equipment and a storage medium, and relates to the technical field of vehicle system key information perception. The method comprises the following steps: acquiring sensor data of a target vehicle; judging whether the inertial data meets a signal constraint condition or not; if yes, performing tire cornering stiffness operation on the target vehicle according to the sensor data to obtain first time-varying tire cornering stiffness; according to the first time-varying tire cornering stiffness and the inertial data, determining a centroid cornering angle of the target vehicle; if not, performing signal compensation according to the steering wheel angle and the wheel speed to obtain virtual inertial data; performing tire cornering stiffness operation on the target vehicle according to the steering wheel angle, the virtual inertia data and the wheel speed to obtain second time-varying tire cornering stiffness; and according to the second time-varying tire cornering stiffness and the virtual inertial data, determining the centroid cornering angle of the target vehicle. The estimation precision of the vehicle side slip angle can be improved.
本发明公开了一种质心侧偏角估计方法、系统、电子设备及存储介质,涉及车辆系统关键信息感知技术领域。所述方法包括:获取目标车辆的传感器数据;判断惯性数据是否满足信号约束条件;若满足,则:根据传感器数据对目标车辆进行轮胎侧偏刚度运算,得到第一时变轮胎侧偏刚度;根据第一时变轮胎侧偏刚度和惯性数据确定目标车辆的质心偏侧角;若不满足,则:根据方向盘转角和轮速进行信号补偿,得到虚拟惯性数据;根据方向盘转角、虚拟惯性数据和轮速对目标车辆进行轮胎侧偏刚度运算,得到第二时变轮胎侧偏刚度;根据第二时变轮胎侧偏刚度和虚拟惯性数据确定目标车辆的质心偏侧角。本发明能够提高车辆质心侧偏角的估算精度。
Side slip angle estimation method and system, electronic equipment and storage medium
一种质心侧偏角估计方法、系统、电子设备及存储介质
2023-02-03
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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