The invention discloses a vehicle speed determination method and device, a vehicle and a storage medium. According to the method, a first estimated vehicle speed and a second estimated vehicle speed corresponding to a vehicle are obtained, the first estimated vehicle speed is a current driving speed estimated based on a pre-constructed Kalman filter, and the second estimated vehicle speed is a current driving speed estimated based on millimeter wave radar equipment; determining a first weight corresponding to the first estimated vehicle speed and a second weight corresponding to the second estimated vehicle speed based on the error data corresponding to the first estimated vehicle speed; based on the first weight and the second weight, weighted summation is conducted on the first estimated vehicle speed and the second estimated vehicle speed, and the current vehicle speed corresponding to the vehicle is obtained. Therefore, according to the error data capable of reflecting the accuracy degree of the first estimated vehicle speed based on Kalman filtering, corresponding weights are determined for the first estimated vehicle speed and the second estimated vehicle speed obtained through estimation based on the millimeter wave radar equipment, and the current vehicle speed determined based on the obtained weights can be more accurate.
本申请公开了一种车速确定方法、装置、车辆以及存储介质。该方法通过获取本车对应的第一估算车速以及第二估算车速,第一估算车速为基于预先构建的卡尔曼滤波器估算得到的当前行驶速度,第二估算车速为基于毫米波雷达设备估算得到的当前行驶速度;基于第一估算车速对应的误差数据,确定第一估算车速对应的第一权重以及第二估算车速对应的第二权重;基于第一权重和第二权重,对第一估算车速以及第二估算车速进行加权求和,得到本车对应的当前车速。由此根据能够反映基于卡尔曼滤波的第一估算车速的准确程度的误差数据,为第一估算车速以及基于毫米波雷达设备估算得到的第二估算车速确定相应的权重,可以使基于获得的权重确定出的当前车速更加准确。
Vehicle speed determination method and device, vehicle and storage medium
车速确定方法、装置、车辆以及存储介质
2024-04-30
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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