The invention discloses a four-wheel drive vehicle longitudinal speed estimation method, and belongs to the technical field of vehicle safety control. The invention aims to provide a longitudinal speed estimation method for a four-wheel drive vehicle, which accurately estimates the longitudinal speed of the four-wheel drive vehicle in any running state through effective switching between adaptive Kalman filtering and an integral method. The invention designs a self-adaptive Kalman filtering method for updating measurement noise and process noise in real time aiming at the condition that four wheels of a vehicle are not all slipped. And aiming at the condition that the four wheels of the vehicle all slip, the last accurate longitudinal speed estimated value of the adaptive Kalman filtering when the four wheels do not all slip is used as an initial value, and the longitudinal acceleration of the vehicle is integrated. The estimation method provided by the invention does not depend on a road adhesion coefficient, a measurement input signal is easy to obtain, and the method has higher practicability. Meanwhile, complex vehicle dynamics models and tire models are not involved, and the method has smaller calculation pressure and better real-time performance.

    一种四轮驱动车辆纵向速度估计方法,属于车辆安全控制技术领域。本发明的目的是通过自适应卡尔曼滤波和积分法的有效切换,准确估计出四轮驱动车辆任意行驶状态下纵向速度的四轮驱动车辆纵向速度估计方法。本发明针对车辆四轮非全部打滑的情况,设计了一种实时更新测量噪声与过程噪声的自适应卡尔曼滤波方法;针对车辆四轮全部打滑的情况,以四轮非全部打滑时自适应卡尔曼滤波的最后一个准确纵向速度估计值作为初值,对车辆的纵向加速度进行积分。本发明提出的估计方法不依赖路面附着系数,测量输入信号容易获取,具有更强的实用性。同时不涉及复杂的车辆动力学模型和轮胎模型,具有更小的计算压力和更好的实时性。


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    Title :

    Longitudinal speed estimation method for four-wheel drive vehicle


    Additional title:

    四轮驱动车辆纵向速度估计方法


    Contributors:
    WANG PING (author) / LU HAIKUAN (author) / WANG XUELEI (author) / CHEN HONG (author) / GONG XUN (author) / HU YUNFENG (author)

    Publication date :

    2023-05-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung




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