The invention discloses a virtual wheel speed measuring method, a virtual wheel speed sensor and a vehicle. The method comprises the following steps: establishing a vehicle wheel speed model based on a steering angle; the longitudinal speed, the lateral acceleration and the steering wheel angle of the vehicle are obtained, and the virtual wheel speed is obtained through calculation by means of the established vehicle wheel speed model based on the steering angle; wherein if the rear wheel speed sensor is reserved, the wheel speed measured by the rear wheel speed sensor serves as the longitudinal speed of the vehicle, and the virtual wheel speed of the front wheel is obtained through calculation; if the front wheel speed sensor is reserved, the longitudinal speed of the vehicle is obtained in combination with the obtained steering wheel rotation angle and the front wheel speed, and the virtual wheel speed of the rear wheels is obtained through calculation. According to the invention, the wheel speed can be measured under the condition that the number of vehicle wheel speed sensors is reduced.
本发明公开了一种虚拟轮速测量方法、虚拟轮速传感器及车辆,该方法包括以下步骤:建立基于转向角的车辆轮速模型;获取车辆纵向速度、侧向加速度以及方向盘转角,利用所建立的基于转向角的车辆轮速模型计算得到虚拟轮速;其中,若保留后轮轮速传感器,则将后轮轮速传感器测得的轮速作为车辆纵向速度,以计算得到前轮的虚拟轮速;若保留前轮轮速传感器,则结合所获取的方向盘转角以及前轮轮速获取车辆纵向速度,以计算得到后轮的虚拟轮速。本发明能够在减少车辆轮速传感器的情况下,完成对轮速的测量。
Virtual wheel speed measuring method, virtual wheel speed sensor and vehicle
一种虚拟轮速测量方法、虚拟轮速传感器及车辆
2024-08-30
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 |
European Patent Office | 2023
|European Patent Office | 2020
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