The present application relates to a unit and a method for determining a reference vehicle speed of a vehicle, the reference vehicle speed being suitable for calculating a desired steering angle of a rear wheel, the unit comprising: an acquisition module; a first determination module that determines whether the wheel speed detection value of the corresponding wheel in the current period is normal based on the detection value change rate of the corresponding wheel in the current period relative to the wheel speed detection value in the previous period; a second determination module that determines a wheel speed conversion value based on a wheel speed detection value of a corresponding wheel in a current period; the correction module is used for correcting the wheel speed conversion value of the corresponding wheel in the current period; the third determining module is used for determining the reference vehicle speed in the current period based on the wheel speed correction value of each wheel in the current period; and a fourth determination module that determines a reference vehicle speed direction in the current period based on the wheel direction detection value of each wheel in the current period. The unit and the method provided by the invention reduce the problem of rear wheel deflection and improve the smoothness of rear wheel steering.
本申请涉及用于确定车辆的参考车速的单元和方法,参考车速适用于计算后轮的期望转角,所述单元包括:获取模块;第一确定模块,其基于相应车轮在当前周期中相对于在上一周期中的轮速检测值的检测值变化率来确定相应车轮在当前周期中的轮速检测值是否正常;第二确定模块,其基于相应车轮在当前周期中的轮速检测值来确定轮速转换值;修正模块,其修正相应车轮在当前周期中的轮速转换值;第三确定模块,其基于每个车轮在当前周期中的轮速修正值来确定在当前周期中的参考车速大小;以及第四确定模块,其基于每个车轮在当前周期中的轮向检测值来确定在当前周期中的参考车速方向。本申请提供的所述单元和方法减少后轮偏摆问题且提高后轮转向的平顺性。
Unit and method for determining reference vehicle speed of vehicle
用于确定车辆的参考车速的单元和方法
2024-03-19
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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