The invention discloses a vehicle longitudinal speed obtaining method and system and a computer program product. The method comprises the steps of determining a current moment value of a fusion vehicle speed according to a second estimated longitudinal vehicle speed, a third estimated longitudinal vehicle speed, a previous moment value of the fusion vehicle speed and a deviation between a first estimated longitudinal acceleration and a second estimated longitudinal acceleration at a current moment; and determining the current time value of the vehicle longitudinal speed according to the first estimated longitudinal speed, the fusion speed, the previous time value of the vehicle longitudinal speed and the change rate of the first estimated longitudinal speed at the current time. Fusing the second estimated longitudinal vehicle speed and the third estimated longitudinal vehicle speed, namely comprehensively considering vehicle speeds obtained by a kinematics integral method and a dynamical model method to form a fused vehicle speed, and then fusing the fused vehicle speed and the first estimated longitudinal vehicle speed, namely comprehensively considering a vehicle speed obtained by a wheel speed method and the fused vehicle speed to form a fused vehicle speed; and the final vehicle longitudinal speed is formed, and the method can be suitable for various use scenes.
本发明公开了一种车辆纵向车速获取方法及系统、计算机程序产品。该方法包括:根据第二估计纵向车速、第三估计纵向车速和融合车速上一时刻值,以及第一估计纵向加速度与第二估计纵向加速度当前时刻的偏差,确定融合车速当前时刻值;根据第一估计纵向车速、融合车速和车辆纵向车速上一时刻值,以及第一估计纵向车速当前时刻的变化率,确定车辆纵向车速当前时刻值。先将第二估计纵向车速和第三估计纵向车速进行融合,即将运动学积分法和动力学模型法获取的车速进行综合考虑,形成融合车速,然后将融合车速与第一估计纵向车速进行融合,即将轮速法获取的车速与融合车速进行综合考虑,形成最终的车辆纵向车速,能够适用多种使用场景。
Vehicle longitudinal speed acquisition method and system and computer program product
车辆纵向车速获取方法及系统、计算机程序产品
2024-11-29
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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