The invention provides a suspension state determination method and device, electronic equipment and a readable storage medium. The method comprises the following steps: acquiring unsprung information of a front axle of a vehicle; according to the axle distance between the front axle and the rear axle, delay information of the front axle and the rear axle passing through the same position is determined, and unsprung information of the rear axle is determined according to the delay information and the unsprung information of the front axle; establishing a sprung motion equation and an unsprung motion equation according to the seven-degree-of-freedom model of the vehicle; establishing a state equation according to the unsprung motion equation, and establishing an observation equation according to the unsprung motion equation, the unsprung information of the front axle and the unsprung information of the rear axle; and performing Kalman filtering processing on the unsprung information of the rear axle according to the state equation and the observation equation, and outputting the optimized unsprung information of the rear axle. The delay of the front axle and the rear axle passing through the same position can be determined by using the axle distance between the front axle and the rear axle, so that the rear axle unsprung information is estimated through the front axle unsprung information, the data acquisition process of the rear axle unsprung information is simplified, and the sensor cost of the rear axle is saved.
本发明提供了一种悬架状态确定方法、装置、电子设备及可读存储介质,获取车辆前轴的簧下信息;根据前轴与后轴之间的轴距,确定前轴与后轴经过同一位置的延迟信息,并根据延迟信息和前轴的簧下信息确定后轴的簧下信息;根据车辆的七自由度模型建立簧上运动方程与簧下运动方程;根据簧下运动方程建立状态方程,以及根据簧上运动方程、前轴的簧下信息和后轴的簧下信息建立观测方程;根据状态方程和观测方程对后轴的簧下信息进行卡尔曼滤波处理,输出优化后的后轴的簧下信息。本申请利用前轴与后轴之间的轴距可确定前轴与后轴经过同一位置的延迟,从而通过前轴簧下信息去估计后轴簧下信息,简化了获取后轴的簧下信息的数据获取过程,节约了后轴的传感器成本。
Suspension state determination method and device, electronic equipment and readable storage medium
悬架状态确定方法、装置、电子设备及可读存储介质
2025-01-14
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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