The invention provides a vehicle pitch angle determination method and device, a controller, a vehicle and a storage medium. The method comprises the steps that the front wheel actual measurement wheel speed, the rear wheel actual measurement wheel speed, the front wheel torque, the rear wheel torque and the vehicle displacement of the vehicle are obtained; according to the front wheel torque and the rear wheel torque, the front wheel driving wheel speed and the rear wheel driving wheel speed are determined respectively; a front wheel speed difference value is determined according to the front wheel actually-measured wheel speed and the front wheel driving wheel speed; according to the rear wheel actual measurement wheel speed and the rear wheel driving wheel speed, the rear wheel speed difference value is determined; and according to the front wheel speed difference value, the rear wheel speed difference value and the vehicle displacement, an estimated pitch angle is determined. According to the method, the effect of estimating the pitch angle under the condition that a pitch angle test sensor is not used is achieved only by knowing the wheel speed, the torque and the displacement of the vehicle, the influence of torque, load fluctuation and suspension deflection fluctuation is introduced, and the estimation accuracy is improved.
本申请提供一种车辆俯仰角的确定方法、装置、控制器、车辆及存储介质,该方法包括:获取车辆的前轮实测轮速、后轮实测轮速、前轮扭矩、后轮扭矩和车辆位移;根据前轮扭矩和后轮扭矩,分别确定前轮驱动轮速和后轮驱动轮速;根据前轮实测轮速和前轮驱动轮速,确定前轮轮速差值;根据后轮实测轮速和后轮驱动轮速,确定后轮轮速差值;根据前轮轮速差值、后轮轮速差值和车辆位移,确定预估俯仰角。通过该方法,只需要知道车辆轮速、扭矩以及位移,达到在不使用俯仰角测试传感器的条件下,估算俯仰角的效果,并且该方法引入了扭矩、负载波动、悬架扰度波动的影响,提高估算精确度。
Vehicle pitch angle determination method and device, controller, vehicle and storage medium
车辆俯仰角的确定方法、装置、控制器、车辆及存储介质
2025-04-04
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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