The invention relates to the technical field of vehicles, in particular to a vehicle longitudinal speed estimation method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the pressure of a brake master cylinder of the vehicle, the driving torque of each wheel, the rotating speed of each wheel and the acceleration of the whole vehicle; estimating the vertical force of each wheel of the vehicle according to the acceleration of the whole vehicle, and calculating the speed measurement value and the speed credibility of the vehicle according to the vertical force of each wheel and the rotating speed of each wheel; and calculating a target vehicle speed change rate and target change rate credibility of the vehicle based on multiple of the brake master cylinder pressure, the whole vehicle acceleration, the vertical force of each wheel, the vehicle speed measurement value and the vehicle speed credibility, and estimating the longitudinal vehicle speed of the vehicle according to the vehicle speed measurement value, the vehicle speed credibility, the target vehicle speed change rate and the target change rate credibility. Therefore, the problem that the accuracy of vehicle speed estimation is affected due to the fact that an accurate wheel cylinder brake pressure signal cannot be obtained through technical protection in the prior art is solved.
本申请涉及车辆技术领域,特别涉及一种车辆纵向车速估算方法、装置、车辆及存储介质,其中,方法包括:获取车辆的制动主缸压力、各车轮驱动力矩、各车轮转速和整车加速度;根据整车加速度估计车辆的各车轮垂向力,根据各车轮垂向力和车轮转速计算车辆的车速测量值和车速可信度;基于制动主缸压力、整车加速度、各车轮垂向力、车速测量值和车速可信度中多个,计算车辆的目标车速变化率及目标变化率可信度,根据车速测量值和车速可信度、以及目标车速变化率及目标变化率可信度估算车辆的纵向车速。由此,解决了相关技术由于技术保护无法获得精确的轮缸制动压力信号,导致车速估计的准确性受到影响的问题。
Vehicle longitudinal speed estimation method and device, vehicle and storage medium
车辆纵向车速估算方法、装置、车辆及存储介质
2025-03-21
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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