The invention relates to the technical field of vehicles, and discloses a vehicle speed estimation method, device and equipment, a storage medium, a program product and a vehicle. The vehicle speed estimation method comprises the following steps: converting a first longitudinal acceleration under a vehicle body consolidation coordinate system into a second longitudinal acceleration under a vehicle relative coordinate system, and converting a first lateral acceleration under the vehicle body consolidation coordinate system into a second lateral acceleration under the vehicle relative coordinate system; and decomposing a longitudinal vehicle speed and a lateral vehicle speed under the relative coordinate system of the vehicle from the resultant speed of the vehicle under the navigation coordinate system, estimating a longitudinal reference vehicle speed based on the longitudinal vehicle speed and the second longitudinal acceleration, and estimating a lateral reference vehicle speed based on the lateral vehicle speed and the second lateral acceleration. Compared with the prior art, the accuracy of reference vehicle speed estimation is improved.
本发明涉及车辆技术领域,公开了车速估计方法、装置、设备、存储介质、程序产品及车辆。车速估计方法包括:将车身固结坐标系下的第一纵向加速度转换为车辆相对坐标系下的第二纵向加速度,并将车身固结坐标系下的第一侧向加速度转换为车辆相对坐标系下的第二侧向加速度;从导航坐标系下的车辆的合速度中分解出车辆相对坐标系下的纵向车速和侧向车速,基于纵向车速和第二纵向加速度估计纵向参考车速,并基于侧向车速和第二侧向加速度估计侧向参考车速。与相关技术相比,本发明提高了参考车速估计的准确性。
Vehicle speed estimation method and device, equipment, storage medium, program product and vehicle
车速估计方法、装置、设备、存储介质、程序产品及车辆
2024-12-27
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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