The invention relates to a method, a device and equipment for estimating the centroid speed of a completely unstable vehicle and a storage medium. According to the main technical scheme, the method comprises the steps of obtaining a predicted fusion estimated vehicle speed when a vehicle is in an incomplete instability state, and performing differential processing on the predicted fusion estimated vehicle speed to obtain an estimated acceleration value; acquiring an acceleration output value of a vehicle acceleration sensor, and obtaining an acceleration error value according to the acceleration output value and the estimated acceleration value; an error adjustment value is obtained, and whether the current vehicle is in a complete instability state or not is judged according to the acceleration error value and the error adjustment value; and when the current vehicle is in a completely unstable state, obtaining an unstable centroid estimated vehicle speed according to the predicted fusion estimated vehicle speed and the acceleration output value. According to the method and the device, the effect of accurately estimating the centroid speed of the vehicle can still be achieved under a complex driving condition even if the vehicle is in a complete instability state due to the fact that all the four wheels slip or slip.

    本申请涉及一种完全失稳车辆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:获取车辆处于非完全失稳状态时的预测融合估算车速,对预测融合估算车速进行微分处理,得到估算加速度值;获取车辆加速度传感器的加速度输出值,根据加速度输出值和估算加速度值,得到加速度误差值;获取误差调整值,根据加速度误差值和误差调整值,判断当前车辆是否处于完全失稳状态;在当前车辆处于完全失稳状态时,根据预测融合估算车速和加速度输出值,得到失稳质心估算车速。本申请可以保证在复杂行驶工况下,即使车辆由于四个车轮全部发生了滑转或滑移处于完全失稳状态时,仍然可以达到对车辆的质心车速进行精确估算的效果。


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    Title :

    Method, device and equipment for estimating centroid speed of completely unstable vehicle and storage medium


    Additional title:

    完全失稳车辆的质心车速估算方法、装置、设备和存储介质


    Contributors:

    Publication date :

    2024-05-28


    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




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