The invention relates to a self-vehicle speed estimation method and system and a computer readable storage medium. The method comprises the steps that a wheel speed signal and an acceleration signal serve as observed quantities to be input into a preset Kalman filtering model for self-vehicle speed estimation, and a first self-vehicle speed is obtained; according to a preset clustering algorithm, clustering the speed signals of the multiple radar targets relative to the self-vehicle, and when clustering succeeds, obtaining a second self-vehicle speed according to a clustering result; when clustering succeeds, the current driving working condition is recognized, a weighting factor Z1 and a weighting factor Z2 are determined according to the current driving working condition, fusion calculation is conducted according to the first self-vehicle speed, the weighting factor Z1, the second self-vehicle speed and the weighting factor Z2, and a fusion calculation result is output to serve as a self-vehicle speed estimation result; and when clustering fails, outputting the first self-vehicle speed as a self-vehicle speed estimation result. According to the method, a good estimation effect is ensured under a limit nonlinear working condition, especially under a sudden acceleration and deceleration working condition and a low-attachment road surface.

    本发明涉及一种自车车速估算方法与系统、计算机可读存储介质,包括:以车轮轮速信号和加速度信号作为观测量输入预先设置的卡尔曼滤波模型进行自车车速估算得到第一自车车速;根据预先设置的聚类算法对多个雷达目标雷达多个目标相对于自车的速度信号进行聚类,当聚类成功时,根据聚类结果获得第二自车车速;当聚类成功时,识别当前行驶工况,根据所述当前行驶工况确定加权因子Z1及加权因子Z2,根据第一自车车速、加权因子Z1、第二自车车速和加权因子Z2进行融合计算,将融合计算结果输出作为自车车速估算结果;当聚类失败时,将第一自车车速输出作为自车车速估算结果。本发明在极限非线性工况下,尤其在急加、减速工况、低附路面下保证良好估算效果。


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    Title :

    Self-vehicle speed estimation method and system and computer readable storage medium


    Additional title:

    一种自车车速估算方法与系统、计算机可读存储介质


    Contributors:
    ZU GUOQIANG (author) / WANG YI (author) / HE QIAOJUN (author) / LIU ZHEN (author) / CAI LULONG (author)

    Publication date :

    2023-11-24


    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 / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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