The invention relates to a longitudinal vehicle speed estimation method and device for an all-wheel distributed vehicle. The method comprises the following steps: step 1, acquiring an estimated wheel linear acceleration A and an actual wheel linear acceleration a of each wheel, and verifying whether the actual wheel linear acceleration a of each wheel is credible based on the estimated wheel linear acceleration A; 2, the estimated wheel linear speed V and the actual wheel linear speed v of each wheel are obtained, and whether the actual wheel linear speed v of each wheel is credible or not is verified based on the estimated wheel linear speed V; the method comprises the following steps of 1, obtaining the actual wheel linear acceleration a, 2, obtaining the actual wheel linear acceleration a, 3, obtaining the calibration wheel linear velocity Vcorrect based on the number of the wheels with the credible actual wheel linear acceleration a and the number of the wheels with the credible actual wheel linear velocity v, and 4, obtaining the longitudinal vehicle speed Vxn of the vehicle based on the calibration wheel linear velocity Vcorrect. A kinematics method is applied to verify whether the wheel linear acceleration and the wheel linear speed of each wheel are reliable or not so as to estimate the longitudinal vehicle speed, so that the estimation method of the longitudinal vehicle speed is more accurate and real-time.
本公开涉及一种全轮分布式车辆的纵向车速估计方法及装置。所述方法包括以下步骤,步骤1:获取每个车轮的预估轮线加速度A和实际轮线加速度a,基于所述预估轮线加速度A,验证每个车轮的所述实际轮线加速度a是否可信;步骤2:获取每个车轮的预估轮线速度V和实际轮线速度v,基于所述预估轮线速度V,验证每个车轮的所述实际轮线速度v是否可信;步骤3:基于所述实际轮线加速度a可信的车轮的数量和所述实际轮线速度v可信的车轮的数量,获取校准轮线速度Vcorrect,步骤4:基于所述校准轮线速度Vcorrect,获得车辆的纵向车速Vxn。运用运动学方法,验证每个车轮的轮线加速度和轮线速度是否可靠,以对纵向车速进行估算,使纵向车速的估计方法更准确和实时。
Longitudinal vehicle speed estimation method and device for all-wheel distributed vehicle
全轮分布式车辆的纵向车速估计方法及装置
2024-03-01
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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