The invention provides a vehicle lateral speed determination method, electronic equipment and a vehicle. The method comprises the following steps: constructing a two-degree-of-freedom model of a vehicle; determining a tire slip angle at the current moment, and inputting the tire slip angle at the current moment into the brush tire model to obtain a wheel lateral force at the current moment; based on a two-degree-of-freedom model, determining a moment characteristic quantity at the current moment through moment balance by utilizing the wheel lateral force at the current moment; determining a speed characteristic quantity at the current moment, and predicting a prediction parameter quantity at the next moment by using a motion algorithm in combination with the moment characteristic quantity at the current moment; calibrating the prediction parameter quantity at the next moment to obtain a calibration parameter quantity at the next moment; and according to the calibration parameter quantity at the next moment, the calibration lateral speed of the vehicle at the next moment is determined. A two-degree-of-freedom model is combined with a brush tire model to perform prediction and calibration processes, so that the final calibration lateral speed is more accurate, and the method can adapt to simple or complex road conditions.
本申请提供一种车辆侧向速度的确定方法、电子设备及车辆。其中,方法包括:构建车辆的二自由度模型;确定当前时刻的轮胎侧偏角,将当前时刻的轮胎侧偏角输入至刷子轮胎模型,得到当前时刻的车轮侧向力;基于二自由度模型,利用当前时刻的车轮侧向力通过力矩平衡确定当前时刻的力矩特征量;确定当前时刻的速度特征量,并结合当前时刻的力矩特征量,利用运动算法预测下一时刻的预测参数量;对下一时刻的预测参数量进行校准,得到下一时刻的校准参数量;根据下一时刻的校准参数量,确定车辆下一时刻的校准侧向速度。通过二自由度模型结合刷子轮胎模型经过预测和校准的过程,使得最终的校准侧向速度更加准确,无论简单或复杂的路况都能适配。
Vehicle lateral speed determination method, electronic equipment and vehicle
车辆侧向速度的确定方法、电子设备及车辆
2025-03-07
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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