The invention relates to a multi-level fusion estimation method, device and equipment for vehicle centroid speed, and a storage medium. According to the main technical scheme, the method comprises the steps that wheel speed sensor information and current working condition information of a vehicle are obtained, and a first-level estimated vehicle speed is obtained according to the wheel speed sensor information, the current working condition information and a preset dynamic model; according to the first-level estimation vehicle speed, the current working condition information and a preset kinematic model, a second-level estimation vehicle speed is obtained; acquiring a previous moment model estimated vehicle speed and an acceleration output value of a vehicle acceleration sensor, and inputting the previous moment model estimated vehicle speed and the acceleration output value into a preset mechanism model to obtain a current moment model estimated vehicle speed; and inputting the model estimation vehicle speed at the current moment and the secondary estimation vehicle speed at the corresponding moment into a preset estimation vehicle speed fusion model to obtain a multi-stage fusion centroid estimation vehicle speed. The method can achieve the effects of improving the estimation accuracy of the vehicle centroid speed and being suitable for various working conditions.
本申请涉及一种车辆质心车速的多级融合估算方法、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当前工况信息,根据轮速传感器信息、当前工况信息以及预设动力学模型,得到一级估算车速;根据一级估算车速、当前工况信息以及预设运动学模型,得到二级估算车速;获取上一时刻模型估算车速和车辆加速度传感器的加速度输出值,将上一时刻模型估算车速和加速度输出值输入预设机理模型,得到当前时刻模型估算车速;将当前时刻模型估算车速和对应时刻二级估算车速输入预设估算车速融合模型,得到多级融合质心估算车速。本申请可以达到提高车辆质心车速的估算精确度以及可以适用于各种工况的效果。
Multi-level fusion estimation method, device and equipment for vehicle centroid speed and storage medium
车辆质心车速的多级融合估算方法、装置、设备和存储介质
2024-06-04
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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