The invention provides a lateral vehicle speed estimation method, and relates to the technical field of vehicles. The lateral vehicle speed estimation method comprises the following steps: acquiring an initial lateral vehicle speed and an initial road adhesion coefficient; determining a first lateral acceleration according to the initial lateral vehicle speed and the initial road adhesion coefficient; determining a lateral acceleration estimation error according to the first lateral acceleration and a second lateral acceleration measured by a sensor; and correcting the initial lateral vehicle speed according to the lateral acceleration estimation error so as to determine the final lateral vehicle speed. According to the method, the initial lateral vehicle speed can be corrected according to the lateral acceleration estimation error, the problem of accumulative errors can be avoided, and then the vehicle control precision is improved; besides, the second lateral acceleration measurement can be realized through a sensor of the vehicle, and extra cost is not increased, so that lateral vehicle speed estimation with low cost and high precision can be realized.
本发明提供了一种侧向车速估算方法,涉及车辆技术领域。本发明所述的侧向车速估算方法包括:获取初始侧向车速和初始路面附着系数;根据所述初始侧向车速和所述初始路面附着系数确定第一侧向加速度;根据所述第一侧向加速度和传感器测得的第二侧向加速度以确定侧向加速度估计误差;根据所述侧向加速度估计误差对所述初始侧向车速进行修正,以确定最终侧向车速。本发明能够根据侧向加速度估计误差对初始侧向车速进行修正,可以避免累计误差的问题,进而提高车辆控制精度;另外,通常通过车辆自带的传感器即可实现第二侧向加速度测量,不增加额外成本,因而能够实现低成本且精度高的侧向车速估算。
Lateral vehicle speed estimation method
一种侧向车速估算方法
2023-12-22
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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