The embodiment of the invention relates to the technical field of automobile control, and discloses a side slip angle estimation method and device, a medium and a product. Establishing a first state equation based on the dynamic model, and further establishing a first finite memory estimator based on dynamics; obtaining a first FME estimation value based on dynamics according to the first finite memory estimator; establishing a second state equation based on the kinematics model, and further establishing a second finite memory estimator based on kinematics; calculating a gain value based on the first FME estimate and vehicle sensor data using a first neural network; the second finite memory estimator obtains a second FME estimated value based on kinematics according to the gain value; and fusing the first FME estimation value and the second FME estimation value by using a second neural network to obtain a final fusion estimation value of the side slip angle. The technical problem of low estimation precision of the side slip angle can be at least solved.
本申请实施例涉及汽车控制技术领域,公开了一种质心侧偏角估计方法、设备、介质及产品。基于动力学模型建立第一状态方程,进而建立基于动力学的第一有限记忆估计器;根据所述第一有限记忆估计器,得到基于动力学的第一FME估计值;基于运动学模型建立第二状态方程,进而建立基于运动学的第二有限记忆估计器;使用第一神经网络,基于所述第一FME估计值以及车辆传感器数据,计算增益值;所述第二有限记忆估计器根据所述增益值,得到基于运动学的第二FME估计值;使用第二神经网络,将所述第一FME估计值和所述第二FME估计值进行融合,得到最终的质心侧偏角融合估计值。可以至少用以解决质心侧偏角估计精度低的技术问题。
Side slip angle estimation method, equipment, medium and product
一种质心侧偏角估计方法、设备、介质及产品
15.04.2025
Patent
Elektronische Ressource
Chinesisch
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