The invention relates to the technical field of software algorithms, in particular to a vehicle centroid speed estimation method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the current driving working condition and current operation data of a to-be-estimated vehicle, determining an observer gain adjustment strategy according to the current driving working condition, and adjusting a preset state observer according to the observer gain adjustment strategy to obtain a target state observer, and inputting the current operation data to the target state observer to obtain the centroid speed of the to-be-estimated vehicle. Therefore, the problems that in the prior art, a simple vehicle speed estimation method is large in calculation result deviation, and an accurate vehicle speed estimation method is large in modeling error, not prone to convergence, large in calibration difficulty, difficult in model calibration, low in parameter accuracy, poor in model stability and robustness and the like are solved. A low-order linear vehicle model is constructed by using a power transmission system model and combining a vehicle kinematic model, so that the stability and robustness of a vehicle centroid estimation model are improved.

    本申请涉及软件算法技术领域,特别涉及一种车辆质心车速估计方法、装置、电子设备及存储介质,其中,包括:获取待估计车辆的当前行车工况和当前运行数据,根据当前行车工况确定观测器增益调节策略,并根据观测器增益调节策略调节预设的状态观测器,得到目标状态观测器,将当前运行数据输入至目标状态观测器,得到待估计车辆的质心车速。由此,解决了相关技术中简单车速估计方法存在计算结果偏差较大,以及精确车速估计方法存在的建模误差大、不易收敛、标定难度大、模型校准困难、参数精确度低以及模型的稳定性和鲁棒性较差等问题,通过利用动力传动系统模型并结合车辆运动学模型构建低阶线性车辆模型,提高车辆质心估计模型的稳定性和鲁棒性。


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    Title :

    Vehicle centroid speed estimation method and device, electronic equipment and storage medium


    Additional title:

    车辆质心车速估计方法、装置、电子设备及存储介质


    Contributors:
    LI HUAN (author) / WANG JINHANG (author) / CHEN LIHUA (author) / XU HAO (author) / CUI GUANGRI (author) / LIU DONGSHENG (author)

    Publication date :

    2024-10-01


    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