Vehicle lateral speed estimation method and device
Vehicle lateral speed estimation method and device
The invention discloses a vehicle lateral speed estimation method and device, and the method comprises the steps: determining a fusion weight according to a tire slip angle of a vehicle, and enabling the fusion weight to comprise a first weight corresponding to a dynamic method based on a tire model and a second weight corresponding to a kinematics method based on a sensor; and estimating the lateral velocity of the vehicle according to the fusion weight and the motion parameters of the vehicle by using a tire model-based dynamics method and/or a sensor-based kinematics method to obtain a final estimation result of the lateral velocity. According to the embodiment of the invention, the method achieves the fusion of a dynamic method based on a tire model and a kinematics method based on a sensor, solves a problem that when only the dynamic method based on the tire model is used for the estimation, the result is not accurate due to the error of the tire model and the intermediate estimation under the large vehicle load change and the combined working condition, and improves the estimation accuracy. And more accurate lateral velocity estimation is realized.
本申请公开了一种车辆侧向速度估算方法及装置，根据车辆的轮胎侧偏角确定融合权重，融合权重中包括基于轮胎模型的动力学方法对应的第一权重和基于传感器的运动学方法对应的第二权重，利用基于轮胎模型的动力学方法和/或基于传感器的运动学方法，根据融合权重和车辆的运动参数对车辆的侧向速度进行估算，得到侧向速度的最终估算结果。根据本申请实施例，实现了基于轮胎模型的动力学方法和基于传感器的运动学方法的融合，解决了只采用基于轮胎模型的动力学方法进行估算时，在车辆载荷变化较大和联合工况下，因轮胎模型及中间估算量的误差，导致结果不准的问题，实现了更精确的侧向速度估算。
Document information
Vehicle lateral speed estimation method and device
车辆侧向速度估算方法及装置
2023-09-05
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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