A method of estimating a longitudinal vehicle speed is disclosed. The method includes receiving a steering angle, a size of the vehicle, a tire radius of the plurality of wheels, and a wheel speed, and determining a compensated wheel speed of the plurality of wheels; receiving rotational inertia of the plurality of wheels, an estimated torque of one or more motors of the vehicle, a weight of the vehicle, a tire radius of the plurality of wheels, and a wheel speed and outputting an estimated vehicle acceleration; predicting a current speed of the vehicle based on the estimated vehicle acceleration and the previous vehicle speed; and estimating a speed of the vehicle based on the compensated wheel speed or the predicted vehicle speed. The method may be digitally implemented to process the speeds of all wheels and the longitudinal acceleration of the vehicle to estimate the vehicle speed.
本申请公开了一种估计纵向车辆速度的方法。该方法包括:接收转向角度、车辆的尺寸、多个车轮的轮胎半径和车轮速度,并确定多个车轮的补偿车轮速度;接收多个车轮的转动惯量、车辆的一个或多个马达的估计力矩、车辆的重量、多个车轮的轮胎半径和车轮速度并输出估计车辆加速度;基于估计车辆加速度和先前车辆速度预测车辆的当前速度;以及基于补偿车轮速度或预测车辆速度估计车辆的速度。该方法可以数字实现以处理所有车轮的速度和车辆的纵向加速度,从而估计车辆速度。
Method and system for estimating vehicle speed
估计车辆速度的方法与系统
2024-04-09
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 |