The invention discloses a vehicle yaw velocity determination method and device, electronic equipment and a storage medium, the method is applied to a commercial vehicle, and the method comprises the following steps: obtaining a first yaw velocity of a vehicle in an IMU (inertial measurement unit); vehicle parameters are obtained through sampling, and a second yaw velocity of the vehicle is calculated; according to the first yaw velocity and the second yaw velocity, target sampling parameters based on vehicle dynamics are determined; according to the target sampling parameters based on the vehicle dynamics, a mapping relation between the yaw velocity and the front wheel turning angle of the vehicle is established; and obtaining the current yaw velocity of the vehicle according to the mapping relation. According to the invention, on-line identification and calculation of the yaw velocity are realized, and the method is suitable for a commercial vehicle usage scene in which the load is easy to change.

    本申请公开了一种车辆横摆角速度确定方法、装置及电子设备、存储介质,方法应用于商用车,所述方法包括:获取IMU惯性测量单元中车辆的第一横摆角速度;通过采样获取车辆参数,并计算出车辆的第二横摆角速度;根据所述第一横摆角速度以及所述第二横摆角速度,确定基于车辆动力学的目标采样参数;根据所述基于车辆动力学的目标采样参数,建立车辆的横摆角速度与前轮转角的映射关系;根据所述映射关系,得到车辆的当前横摆角速度。通过本申请实现对横摆角速度的在线辨识以及计算,可适用于载重易发生变化的商用车使用场景。


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    Title :

    Vehicle yaw velocity determination method and device, electronic equipment and storage medium


    Additional title:

    车辆横摆角速度确定方法、装置及电子设备、存储介质


    Contributors:
    JIA CHUNHUI (author) / ZHANG DONGHAO (author) / DING FENG (author) / TIAN SHAN (author) / SHEN PENG (author)

    Publication date :

    2023-08-08


    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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