The invention discloses a vehicle and a transverse speed estimation method and device thereof, and a storage medium. The method comprises the steps of obtaining information of a road surface where the vehicle is located and operation information of the vehicle; estimating a side slip angle, a longitudinal speed and a yaw velocity of the vehicle according to the road surface information, the operation information and a nonlinear vehicle model; and determining the transverse speed of the vehicle according to the side slip angle, the longitudinal speed and the yaw velocity. According to the estimation method, the accuracy of determining the transverse speed of the vehicle under the complex working condition can be improved, and the calculation efficiency is improved.

    本发明公开了一种车辆及其横向速度估计方法和估计装置、存储介质,所述方法包括:获取车辆所处路面信息和车辆的运行信息;根据路面信息、运行信息和非线性车辆模型,估计车辆的质心侧偏角、纵向速度和横摆角速度;根据质心侧偏角、纵向速度和横摆角速度,确定车辆的横向速度。本发明的估计方法,能够提高在复杂工况下,确定车辆的横向速度的准确性,并且提高了计算效率。


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    Title :

    Vehicle, transverse speed estimation method and device thereof and storage medium


    Additional title:

    车辆及其横向速度估计方法和估计装置、存储介质


    Contributors:
    ZHANG LUNWEI (author) / XU ZHONGYI (author) / XU FEI (author) / LI GUIYU (author) / MA ZHENQIANG (author)

    Publication date :

    2023-07-28


    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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