The invention discloses a vehicle speed estimation method, device and equipment and a readable storage medium, which can be applied to the technical field of vehicles, and the method comprises the following steps: based on a four-wheel rotation angle, a four-wheel rotation speed and a yaw velocity, respectively determining predicted speeds corresponding to four wheels of a vehicle, a left front wheel corresponding to a first predicted speed and a right front wheel corresponding to a second predicted speed, the left rear wheel corresponds to a third predicted speed, and the right rear wheel corresponds to a fourth predicted speed; determining a first vehicle speed boundary and a second vehicle speed boundary of the vehicle according to the predicted speed based on the vehicle driving condition; estimating a coarse vehicle speed of the vehicle based on the lateral vehicle speed, the first vehicle speed boundary, the second vehicle speed boundary, and the longitudinal acceleration; and performing Kalman filtering on the rough vehicle speed to obtain an estimated vehicle speed of the vehicle. Therefore, the concept of the vehicle speed boundary is introduced, the rough vehicle speed of the vehicle is estimated firstly, and then the rough vehicle speed is filtered through Kalman filtering, so that the rationalization and credibility of vehicle speed estimation are improved.

    本申请公开了一种车速估算方法、装置、设备及可读存储介质,可应用于车辆技术领域,该方法包括:基于四轮转角、四轮转速以及横摆角速度,分别确定车辆四个车轮对应的预测速度,其中,左前轮对应第一预测速度,右前轮对应第二预测速度,左后轮对应第三预测速度,右后轮对应第四预测速度;基于车辆行驶工况,根据预测速度确定车辆的第一车速边界和第二车速边界;基于侧向车速、第一车速边界、第二车速边界以及纵向加速度估算车辆的粗略车速;对粗略车速进行卡尔曼滤波,得到车辆的估算车速。如此,引入了车速边界的概念,先估算车辆的粗略车速,再通过卡尔曼滤波对粗略车速进行滤波,从而提高了车速估算的合理化和可信度。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle speed estimation method, device and equipment and readable storage medium


    Additional title:

    一种车速估算方法、装置、设备及可读存储介质


    Contributors:
    LIU XIN (author) / WANG PENG (author) / WANG QINGHUI (author) / WANG CHEN (author)

    Publication date :

    2025-01-03


    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



    Reference vehicle speed estimation method and device, electronic equipment and readable storage medium

    TAN KAIBO / YANG JING / LUO HUAN et al. | European Patent Office | 2023

    Free access

    Vehicle speed limiting method, device and equipment and readable storage medium

    ZHENG HANG / LIN LING / GUO QIXIANG et al. | European Patent Office | 2023

    Free access

    Vehicle speed control method, device and equipment and readable storage medium

    WU DI / TU LONGYAN / WANG JUN et al. | European Patent Office | 2023

    Free access

    Speed planning method, speed planning equipment, vehicle and readable storage medium

    PENG WANG / GAO LIYANG / LIANG FENGSHOU et al. | European Patent Office | 2024

    Free access

    Vehicle speed control method and device, vehicle, equipment and computer readable storage medium

    WANG SHENGTAO / LIU QIANG / CHENG YUNJIANG et al. | European Patent Office | 2023

    Free access