The invention relates to the field of new energy automobiles, and provides a vehicle side slip angle estimation method and device. The method comprises the steps that if the current vehicle state is static or the steering trend is not obvious, integral zero clearing processing is conducted on a side slip angle integrator, and it is determined that the original value of the current side slip angle is zero; if the current vehicle state tends to be stable, integral pause processing is carried out on a side slip angle integrator, and a side slip angle integral value of the previous period is determined as a current side slip angle original value; if the current vehicle state tends to be an unstable state, integral recovery processing is conducted on a side slip angle integrator, and a current side slip angle integral value of the vehicle is calculated and determined as a current side slip angle original value of the vehicle; and determining a current side slip angle estimated value based on the current side slip angle original value. According to the method, the change condition of the side slip angle of the vehicle can be accurately observed in real time, and the stability state of the vehicle is accurately judged.
本申请涉及新能源汽车领域,提供了一种车辆质心侧偏角估计方法和装置。该方法包括:若当前车辆状态处于静止或转向趋势不明显,则对质心侧偏角积分器进行积分清零处理,确定当前质心侧偏角原始值为零;若当前车辆状态为趋于稳定状态,则对质心侧偏角积分器进行积分暂停处理,将上一周期质心侧偏角积分值确定为当前质心侧偏角原始值;若当前车辆状态为趋于不稳定状态,则对质心侧偏角积分器进行积分恢复处理,计算车辆的当前质心侧偏角积分值并将其确定为车辆的当前质心侧偏角原始值;基于当前质心侧偏角原始值,确定当前质心侧偏角估计值。本申请可实现实时准确的观测车辆的质心侧偏角的变化情况,对车辆稳定性状态做出准确的判别。
Vehicle side slip angle estimation method and device
一种车辆质心侧偏角估计方法和装置
2024-01-16
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 |