The invention relates to the technical field of vehicle driving control, in particular to a longitudinal vehicle speed estimation method, device and equipment and a medium. Inputting the yaw velocity and the vehicle acceleration collected in the current period, the estimated longitudinal resultant force and the estimated lateral resultant force into a vehicle speed observation model to obtain the real-time longitudinal estimated vehicle speed of the current period, and inputting the historical wheel speed and the real-time wheel speed collected in the previous period into a vehicle speed measurement model to obtain the real-time longitudinal estimated vehicle speed of the current period. And carrying out weighted fusion on the real-time longitudinal estimation vehicle speed and the real-time longitudinal measurement vehicle speed to obtain the actual longitudinal vehicle speed of the current period. According to the method, the real-time longitudinal estimated vehicle speed and the vehicle speed measurement value based on the wheel speed are fused, the accuracy of longitudinal vehicle speed estimation and the applicability to different working conditions are improved, accurate longitudinal vehicle speed input is provided for a vehicle control system, and the control effect is improved.
本发明涉及车辆行驶控制技术领域,尤其涉及一种纵向车速估计方法、装置、设备及介质。将当前周期采集的横摆角速度和车辆加速度,以及估计纵向合力和估计侧向合力输入车速观测模型,得到当前周期的实时纵向估计车速,将上一周期采集的历史车轮轮速与实时车轮轮速输入车速测量模型,得到当前周期的实时纵向测量车速,对实时纵向估计车速和实时纵向测量车速进行加权融合,得到当前周期的实际纵向车速。本申请中,将实时纵向估计车速与基于轮速的车速测量值进行融合,提高纵向车速估计的准确度和不同工况的适用性,为整车控制系统提供准确的纵向车速输入,提升控制效果。
Longitudinal vehicle speed estimation method, device, equipment and medium
一种纵向车速估计方法、装置、设备及介质
2025-01-07
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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