The invention relates to the technical field of intelligent automobiles, in particular to a vehicle side slip angle detection method, device and equipment and a computer storage medium. The method comprises the steps of obtaining a first side slip angle estimated value according to a vehicle dynamics model; according to the chassis acceleration information, through an integral discount factor and a zero clearing mechanism, a second side slip angle estimation value of the vehicle is obtained through direct integration of the acceleration; by introducing the projection of the difference value between the ideal yaw velocity and the actual vehicle yaw velocity, the distortion degree of the current vehicle dynamic model is evaluated, the weight coefficients of different estimated values are obtained, and the self-adaptive weight fusion of the first and second estimated values of the side slip angle is realized. According to the method, the estimation precision of the side slip angle can be effectively improved, state quantity support is provided for the active safety technology and function of the vehicle, the method is developed based on an existing vehicle-mounted sensor, the algorithm design is fully analyzed, the algorithm is low in calculation cost and easy to implement in loading, and the method has high engineering application value.
本发明涉及智能汽车技术领域,尤其是指一种车辆质心侧偏角检测方法、装置、设备及计算机存储介质。本发明根据车辆动力学模型获得第一质心侧偏角估计值;根据底盘加速度信息,通过积分折扣因子和清零机制,通过对加速度的直接积分获取车辆第二质心侧偏角估计值;通过引入理想横摆角速度与实际车辆横摆角速度差值的投影,评价当前车辆动力学模型的失真程度,获得不同估估计值的权重系数,实现第一、第二质心侧偏角估计值的自适应加权融合。本发明能有效提升质心侧偏角估计精度,为车辆主动安全技术及功能提供状态量支撑,本方法基于现有车载传感器开发,且算法设计全解析,使得该算法计算代价小且易于装车实现,具有较大的工程应用价值。
Vehicle side slip angle detection method, device and equipment and storage medium
一种车辆质心侧偏角检测方法、装置、设备及存储介质
2025-05-23
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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