The invention provides a vehicle speed estimation method and device, a controller and a vehicle, and the method comprises the steps: obtaining a driving mode of the vehicle, and determining a target threshold value and target slip rates of all wheels of the vehicle according to the driving mode, and the target threshold value is larger than the minimum value of the target slip rates and smaller than the maximum value of the target slip rates; driving motors of the corresponding wheels are controlled according to the target slip rate, and the slip condition of each wheel is determined according to the target threshold value; and estimating the speed of the vehicle according to the slip condition and the wheel speed of each wheel. According to the method, different target slip rates are set for different wheels, the target threshold values between the target slip rates are set, then the steady-state wheels and the unsteady-state wheels are recognized in combination with the target threshold values, the recognition mode is easier and more reliable, and the situation that all the wheels of the vehicle are unsteady can be avoided; and then vehicle speed estimation is carried out based on the judgment result, so that the vehicle speed estimation robustness and reliability can be improved.

    本公开提出了一种车速估计方法、装置以及控制器、车辆,方法包括:获取车辆的驾驶模式,并根据驾驶模式确定目标阈值和车辆各车轮的目标滑转率其中,目标阈值大于目标滑转率中的最小值,小于目标滑转率中的最大值;根据目标滑转率对相应车轮的驱动电机进行控制,并根据目标阈值确定各车轮的打滑情况;根据打滑情况和各车轮的轮速估计车辆的车速。该方法针对不同的车轮设置不同的目标滑转率,并设置处于目标滑转率之间的目标阈值,再结合目标阈值识别出稳态轮和非稳态轮,该识别方式更容易可靠,且可避免车辆所有车轮均为非稳态的场景出现;之后基于判断结果进行车速估计,可提高车速估计的稳健性和可靠性。


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    Title :

    Vehicle speed estimation method and device, controller and vehicle


    Additional title:

    车速估计方法、装置以及控制器、车辆


    Contributors:
    WANG CONG (author) / LU GUOXIANG (author) / ZHOU CAIFENG (author) / ZHUANG XULI (author)

    Publication date :

    2025-03-07


    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



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