The invention discloses a vehicle speed calculation method, which comprises the following steps of: performing four-wheel speed correction calculation according to the four-wheel speed of a vehicle and the yaw velocity of the vehicle to obtain the corrected four-wheel speed of the vehicle; calculating a vehicle reference speed according to the corrected vehicle four-wheel speed and the vehicle wheel end braking force existence signal; calculating adaptive weights under different vehicle speeds; the reference vehicle speed is corrected based on calculations of different acceleration decisions. In order to solve the problems that the precision of vehicle speed calculation is easily influenced by different road adhesion coefficients and actuator control performance, an existing common speed estimation method is high in cost and not practical and the like, the wheel speeds of four wheels of a vehicle are corrected through yaw velocity, and a set of vehicle speed reference value calculation method is designed. The vehicle speed reference value is corrected by calculating the adaptive weights at different vehicle speeds and combining different acceleration decisions, so that the accuracy of vehicle speed estimation is improved, the test cost is reduced, and the full-speed adaptive cruise control precision is further improved.

    本发明公开了一种车辆速度计算方法,包括:根据车辆四轮轮速和车辆横摆角速度进行四轮轮速纠正计算,获得纠正车辆四轮轮速;根据纠正车辆四轮轮速和车辆轮端制动力存在信号计算车辆参考速度;计算不同车速下的自适应权重;基于不同加速度决策的计算修正参考车速。本发明针对车辆速度计算的精度易受不同路面附着系数和执行器控制性能的影响,现有的常用速度估计方法成本高、不实用等问题,通过横摆角速度对车辆四轮轮速进行纠正,再设计一套车辆速度参考值计算方法,通过计算不同车速下的自适应权重结合不同的加速度决策对车辆速度参考值进行修正,提高了车辆速度估计的准确性,降低了测试成本,也进一步提高了全速自适应巡航控制精度。


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    Title :

    Vehicle speed calculation method and system and storage medium


    Additional title:

    车辆速度计算方法、系统及存储介质


    Contributors:
    TONG YUWEI (author) / HE YICHAO (author) / HOU SHICHANG (author) / LI HAO (author) / TIAN HE (author) / LU CHANG (author)

    Publication date :

    2023-08-11


    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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