The invention provides a distributed driving electric vehicle state estimation method and system, and the method comprises the following steps: obtaining vehicle state information through an internal sensor of a target vehicle, the vehicle state information comprising a yaw velocity, a lateral acceleration and a longitudinal acceleration; constructing a vehicle kinematic model based on the vehicle state information; according to the vehicle state information, explicitly calculating the explicit vehicle speed of the target vehicle by using a Transform encoder model; and in combination with the explicit vehicle speed and the vehicle kinematic model, calculating the estimated speed of the target vehicle through an unscented Kalman filtering method. The method has the advantage that the vehicle state estimation result is accurate.
本发明提供一种分布式驱动电动车辆状态估计方法及系统,该方法包括如下步骤:通过目标车辆内部传感器获取车辆状态信息,所述车辆状态信息包括横摆角速度、侧向加速度和纵向加速度;基于所述车辆状态信息构建车辆运动学模型;根据所述车辆状态信息并利用Transformer编码器模型显式计算所述目标车辆的显式车速;结合所述显式车速和所述车辆运动学模型并通过无迹卡尔曼滤波方法计算得到所述目标车辆的估计速度。本发明具有车辆状态估计结果较为准确的效果。
Distributed driving electric vehicle state estimation method and system
一种分布式驱动电动车辆状态估计方法及系统
2023-11-10
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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