The invention is suitable for the technical field of vehicles, and provides a wheel rotating speed determining method and device, a vehicle and a storage medium, and the wheel rotating speed determining method comprises the steps that the rotating speeds of all driving motors, the rotating directions of all wheels and the rotating speeds of all the wheels are obtained; according to the rotating speeds of all the driving motors, the rotating directions of all the wheels and the rotating speeds of all the wheels, the vector rotating speeds of all the wheels and the vector rotating speeds of all the driving motors are determined; according to the vector rotating speeds of all the wheels, the vector rotating speeds of all the driving motors and the corresponding relation between the wheels and the driving motors, the output rotating speed of each wheel is determined. Firstly, vector rotating speeds of all wheels and vector rotating speeds of all driving motors are calculated, and then the vector rotating speeds of the wheels are processed by combining the vector rotating speeds of all the driving motors and the corresponding relation between the wheels and the driving motors to obtain accurate output rotating speeds of the wheels, so that the accuracy of the rotating speeds of the wheels is improved; and the stability of vehicle control is improved.
本申请适用于车辆技术领域,提供了一种车轮转速确定方法、装置、车辆及存储介质,所述车轮转速确定方法包括:获取所有驱动电机的转速、所有车轮的转动方向和所有车轮的转速;根据所有驱动电机的转速、所有车轮的转动方向和所有车轮的转速,确定所有车轮的矢量转速和所有驱动电机的矢量转速;根据所有车轮的矢量转速、所有驱动电机的矢量转速以及车轮与驱动电机的对应关系,确定每个车轮的输出转速。首先计算得到所有车轮的矢量转速和所有驱动电机的矢量转速,然后结合所有驱动电机的矢量转速以及车轮与驱动电机的对应关系,对车轮的矢量转速进行处理得到准确的车轮的输出转速,提高车轮转速的准确性,进而提高车辆控制的稳定性。
Wheel rotating speed determination method and device, vehicle and storage medium
车轮转速确定方法、装置、车辆及存储介质
2024-11-22
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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