The invention discloses a method for estimating the reference speed of different wheels of an angle module vehicle, which is suitable for estimating the reference speed of the different wheels of the vehicle under steady-state and unsteady-state working conditions, and is particularly suitable for estimating the reference speed of the wheels under the unsteady-state working condition. The reference vehicle speed is estimated when different wheels are in a steady state or an unsteady state when the angle module vehicle currently runs under the working conditions such as a straight running working condition, a front wheel steering working condition, a rear wheel steering working condition, a front-back same-direction steering working condition and a front-back different-direction steering working condition. Particularly, when any wheel of the angle module vehicle is detected to be in an unstable working condition such as slipping, the theoretical reference vehicle speed of the wheel in the unstable working condition and the mass center of the vehicle can be accurately estimated, and accurate reference vehicle speed data support is provided for chassis dynamics control such as driving anti-slipping and intelligent driving control; therefore, the non-steady-state wheels can be controlled to enter the steady-state condition more quickly and effectively, and the running stability and safety of the vehicle are improved.

    本发明公开了一种角模块车辆不同轮参考车速估计方法,适用于车辆不同轮在稳态及非稳态工况下参考车速估算,尤其适用于车轮处于非稳态工况下该轮参考车速的估算,解决角模块车辆当前运行处于直行工况、前轮转向工况、后轮转向工况、前后同向转向工况、前后异向转向工况等工况下,不同轮处于稳态或非稳态参考车速估算。特别当检测到角模块车辆任何车轮处于打滑等非稳态工况下时,可以较为准确估算出该非稳态工况车轮以及车辆质心处理论参考车速,为驱动防滑等底盘动力学控制以及智能驾驶控制提供较为准确的参考车速数据支撑,方便其作出更快、更有效的控制非稳态车轮进入稳态状况,提高车辆行驶稳定性及安全性。


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    Title :

    Method for estimating reference vehicle speed of different wheels of angle module vehicle


    Additional title:

    一种角模块车辆不同轮参考车速估计方法


    Contributors:
    GAO XIAOJIE (author) / WANG DONG (author) / QIAN JIANG (author) / CHI DA (author)

    Publication date :

    2023-07-14


    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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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