A method of estimating a longitudinal vehicle speed is disclosed. The method comprises the following steps: obtaining a steering angle, a size of the vehicle, tire radiuses of a plurality of wheels and wheel speeds; determining a compensated wheel speed for the plurality of wheels based on the steering angle, a size of the vehicle, and a tire radius and a wheel speed for the plurality of wheels; receiving a longitudinal acceleration from an inertial measurement unit of the vehicle; estimating vehicle acceleration based on the longitudinal acceleration output; 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 current speed of the vehicle. The method is 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:获得转向角度、车辆的尺寸、多个车轮的轮胎半径和车轮速度;基于转向角度、车辆的尺寸以及多个车轮的轮胎半径和车轮速度确定多个车轮的补偿车轮速度;从车辆的惯性测量单元接收纵向加速度;基于纵向加速度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的车辆当前速度估计车辆的速度。该方法以数字方式实现,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 |
SYSTEM AND METHOD FOR ESTIMATING LATERAL SPEED OF VEHICLE
European Patent Office | 2024
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