The invention relates to a four-wheel drive vehicle centroid speed estimation method, device and equipment and a storage medium. According to the main technical scheme, the method comprises the steps that wheel speed sensor information and driving state information of a vehicle are obtained, wherein the wheel speed sensor information comprises wheel speed validity marks of all wheels of the vehicle; according to the wheel speed validity mark of each wheel of the vehicle, the driving state information and a preset dynamic model, obtaining an initial estimated vehicle speed of the vehicle; acquiring steering state information and stable state information of the vehicle; and according to the steering state information, the stable state information, the driving state information, the initial estimated vehicle speed and a preset kinematic model of the vehicle, the vehicle centroid estimated vehicle speed is obtained. The driving state information, the steering state information, the stable state information, the dynamical model and the kinematic model are comprehensively considered, then the vehicle centroid estimation speed is obtained, and the effect of further improving the accuracy and reliability of vehicle centroid speed estimation is achieved.
本申请涉及一种四驱车辆质心车速估算方法、装置、设备和存储介质。主要技术方案包括:获取车辆的轮速传感器信息和驱动状态信息,轮速传感器信息包括车辆各车轮的轮速有效性标志;根据车辆各车轮的轮速有效性标志、驱动状态信息以及预设动力学模型,得到车辆初始估算车速;获取车辆的转向状态信息和稳定状态信息;根据车辆的转向状态信息、稳定状态信息、驱动状态信息、初始估算车速以及预设运动学模型,得到车辆质心估算车速。本申请通过全面考虑驱动状态信息、转向状态信息、稳定状态信息、动力学模型以及运动学模型,进而得到车辆质心估算车速,达到进一步提高车辆质心车速估算的精确度和可靠性的效果。
Four-wheel drive vehicle centroid speed estimation method, device and equipment and storage medium
四驱车辆质心车速估算方法、装置、设备和存储介质
2024-04-02
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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