The embodiment of the invention provides a multi-source fusion vehicle state estimation method and device, computer equipment and a medium, and relates to the technical field of automatic driving, and the method comprises the steps: calculating the yaw velocity estimation of a low-speed region of a vehicle according to a yaw velocity measurement value, a steering wheel rotation angle and the longitudinal velocity of the vehicle; establishing a two-degree-of-freedom self-vehicle dynamics model according to the self-vehicle longitudinal speed, and calculating the yaw velocity estimation of a vehicle high-speed area; weighting the yaw velocity estimation of the low-speed area and the high-speed area of the vehicle to obtain the final yaw velocity estimation, and calculating to obtain a mass center transverse acceleration Kalman filtering value; calculating centroid transverse and longitudinal acceleration estimation according to the final yaw velocity estimation and the centroid transverse and longitudinal acceleration Kalman filtering value; and a simple convex combination fusion algorithm is combined with actually measured centroid transverse and longitudinal acceleration to calculate centroid transverse and longitudinal acceleration fusion estimation, and a calculation result is output. According to the scheme, the accuracy of vehicle state estimation is improved.
本发明实施例提供了一种多源融合的车辆状态估计方法、装置、计算机设备及介质,涉及自动驾驶技术领域,包括根据横摆角速度测量值、方向盘转角和自车纵向速度计算车辆低速区横摆角速度估计;根据自车纵向速度建立二自由度自车动力学模型,计算车辆高速区横摆角速度估计;对车辆低、高速区的横摆角速度估计加权处理,得最终横摆角速度估计,并计算得到质心横向加速度卡尔曼滤波值;根据最终横摆角速度估计、质心横纵向加速度卡尔曼滤波值计算质心横纵向加速度估计;利用简单凸组合融合算法,与实际测量的质心横纵向加速度结合计算得到质心横纵向加速度融合估计,将计算结果输出。该方案提高了车辆状态估计的准确性。
Multi-source fusion vehicle state estimation method and device, computer equipment and medium
多源融合的车辆状态估计方法、装置、计算机设备及介质
2023-12-15
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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