The invention provides a vehicle centroid speed determination method and device and a vehicle. The vehicle centroid speed determination method comprises the steps that motion state parameters of the vehicle, control state parameters of all wheels and speeds of all the wheels are obtained; converting the speed of each wheel into the initial speed of the mass center of the vehicle; determining an optimal wheel in all the wheels according to the motion state parameters of the vehicle and the control state parameters of all the wheels; and determining the actual speed of the vehicle mass center according to the initial speed of the vehicle mass center corresponding to the optimal wheel. The speed of each wheel is converted into the initial speed of the mass center of the vehicle, then the optimal wheel is determined in all the wheels according to the motion state parameters of the vehicle and the control state parameters of all the wheels, and the actual speed of the mass center of the vehicle is determined according to the initial speed of the mass center of the vehicle corresponding to the optimal wheel; the initial speed of the vehicle centroid corresponding to the optimal wheel can accurately represent the actual speed of the vehicle centroid, and the accuracy of determining the actual speed of the vehicle centroid is improved.
本申请提供了一种车辆质心速度确定方法、装置及车辆,车辆质心速度确定方法包括:获取车辆的运动状态参数、所有车轮的控制状态参数和所有所述车轮的速度;将每个车轮的速度转换为车辆质心的初始速度;根据车辆的运动状态参数和所有车轮的控制状态参数,在所有车轮中确定最优轮;根据最优轮对应的车辆质心的初始速度,确定车辆质心的实际速度。将每个车轮的速度转换为车辆质心的初始速度,再根据车辆的运动状态参数和所有车轮的控制状态参数在所有车轮中确定最优轮,根据最优轮对应的车辆质心的初始速度确定车辆质心的实际速度,最优轮对应的车辆质心的初始速度能够准确的表征车辆质心的实际速度,提高了车辆质心实际速度确定的准确性。
Vehicle centroid speed determination method and device and vehicle
车辆质心速度确定方法、装置及车辆
2024-11-22
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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