The invention discloses a vehicle speed determination method and device, equipment, a medium and a product. The vehicle speed determination method comprises the following steps: acquiring actual wheel speeds corresponding to a plurality of wheels of a target vehicle; performing speed compensation on the actual wheel speed based on the yaw velocity to obtain compensated wheel speeds corresponding to the plurality of wheels; determining a first reference vehicle speed corresponding to the target vehicle according to the compensation wheel speed; based on the first reference vehicle speed and the compensation wheel speed, slip rates corresponding to the multiple wheels are calculated; weights corresponding to the wheels are determined according to the slip rate; according to the weights corresponding to the multiple wheels, weighted summation is carried out on the compensation wheel speeds corresponding to the multiple wheels, and a second reference vehicle speed corresponding to the target vehicle is obtained; and determining a target vehicle speed corresponding to the target vehicle based on the second reference vehicle speed and the target acceleration corresponding to the target vehicle. According to the embodiment of the invention, the distortion degree of the vehicle speed can be reduced, and the accuracy is improved.
本申请公开了一种车速确定方法、装置、设备、介质及产品。该车速确定方法包括获取目标车辆的多个车轮分别对应的实际轮速;基于横摆角速度对实际轮速进行速度补偿,得到与多个车轮分别对应的补偿轮速;根据补偿轮速,确定目标车辆对应的第一参考车速;基于第一参考车速和补偿轮速,计算多个车轮分别对应的滑移率;根据滑移率确定多个车轮分别对应的权重;按照多个车轮分别对应的权重,对多个车轮分别对应的补偿轮速进行加权求和,得到目标车辆对应的第二参考车速;基于第二参考车速以及目标车辆对应的目标加速度,确定目标车辆对应的目标车速。根据本申请实施例,可以降低车速的失真度,提高准确性。
Vehicle speed determination method, device, equipment, medium and product
车速确定方法、装置、设备、介质及产品
2023-05-02
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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