The invention relates to a centroid vehicle speed estimation method and device during vehicle state switching, equipment and a storage medium. According to the main technical scheme, the method comprises the steps that the non-instability mass center estimation vehicle speed of a vehicle is obtained, and a vehicle complete instability state mark is obtained according to the non-instability mass center estimation vehicle speed; according to the vehicle complete instability state mark and a preset time interval, whether the current vehicle is in a complete instability and incomplete instability switching state or not is judged; when the current vehicle is in the state of switching between complete instability and incomplete instability, obtaining the instability centroid of the vehicle and estimating the vehicle speed; according to the non-unstable centroid estimation vehicle speed and the unstable centroid estimation vehicle speed, a compensation acceleration value is obtained; an acceleration output value of a vehicle acceleration sensor is obtained, and the switching state centroid estimation vehicle speed is obtained according to the compensation acceleration value and the acceleration output value of the acceleration sensor. According to the method, the effects of avoiding sudden change of the estimated vehicle speed in the vehicle state switching process and improving the reliability and accuracy of centroid vehicle speed estimation can be achieved.

    本申请涉及一种车辆状态切换时的质心车速估算方法、装置、设备和存储介质。主要技术方案包括:获取车辆的非失稳质心估算车速,根据非失稳质心估算车速,得到车辆完全失稳状态标志;根据车辆完全失稳状态标志和预设时间间隔,判断当前车辆是否处于完全失稳与非完全失稳的切换状态;在当前车辆处于完全失稳与非完全失稳的切换状态时,获取车辆的失稳质心估算车速;根据非失稳质心估算车速和失稳质心估算车速,得到补偿加速度值;获取车辆加速度传感器的加速度输出值,根据补偿加速度值和加速度传感器的加速度输出值,得到切换态质心估算车速。本申请可以达到避免车辆状态切换过程中的估算车速突变以及提高质心车速估算的可靠性和精确度的效果。


    Access

    Download


    Export, share and cite



    Title :

    Method, device and equipment for estimating centroid vehicle speed during vehicle state switching and storage medium


    Additional title:

    车辆状态切换时的质心车速估算方法、装置、设备和存储介质


    Contributors:

    Publication date :

    2024-03-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



    Four-wheel drive vehicle centroid speed estimation method, device and equipment and storage medium

    YANG XIANGTIAN / GUO SHUXING / MENG TAO | European Patent Office | 2024

    Free access

    Vehicle centroid position determination method and device, equipment and storage medium

    XU XIANJIE / ZHOU DAOLIN | European Patent Office | 2021

    Free access

    VEHICLE CENTROID POSITION ESTIMATION DEVICE AND CENTROID POSITION ESTIMATION METHOD

    HORIKOME TATSUYA | European Patent Office | 2017

    Free access

    VEHICLE CENTROID POSITION ESTIMATION DEVICE

    ISHIZAKI KEISUKE / OGOSHI ATSUTAKA / YASUKI YUSUKE et al. | European Patent Office | 2019

    Free access

    Vehicle driving state switching method and device, equipment and storage medium

    CHEN XU / HUANG SHUO / CHEN CHANGGUI et al. | European Patent Office | 2023

    Free access