Estimation method and device for longitudinal vehicle speed of vehicle

Abstract

The invention provides an estimation method and device for the longitudinal vehicle speed of a vehicle. The estimation method for the longitudinal vehicle speed of the vehicle includes the steps that the wheel linear speed vwmi with measurement noise and the vehicle speed longitudinal acceleration axm with measurement noise of the vehicle are obtained; a first extended Kalman filter is used for conducting filtering and noise reduction processing on the wheel linear speed vwmi with measurement noise and the vehicle speed longitudinal acceleration axm with measurement noise, and the noise-reduced minimum or maximum wheel speed value vwe, the noise-reduced tire line acceleration value awe and the noise-reduced vehicle body acceleration value axe are generated; estimation parameters of a second extended Kalman filter are dynamically adjusted in real time through a fuzzy controller, and the second extended Kalman filter is used for outputting the vehicle longitudinal speed value ve at the current moment according to the noise-reduced minimum or maximum wheel speed value vwe and the noise-reduced vehicle body acceleration value axe. By the adoption of the method and device, the vehicle longitudinal speed can be estimated on the basis of an extended Kalman filtering algorithm of vehicle wheel speed signals and vehicle body acceleration signals.

Description

technical field [0001] The invention relates to a technique for estimating the longitudinal speed of a wheel, in particular to a method and a device for estimating the longitudinal speed of a vehicle. Background technique [0002] Electric vehicles have good emission performance and have been widely used. Electric vehicles driven independently by electric wheels have higher driving performance and overall layout advantages. Electric wheel-driven vehicles have the advantages of fast travel of wheeled vehicles and have strong Off-road capability is one of the models that countries are striving to develop at present. Through optimal control of the power output characteristics of each electric wheel, it is possible to achieve performance including vehicle driving anti-skid (TSR), anti-lock brake (ABS) and electronic stability control system (ESP). [0003] In order to achieve optimal control of multiple electric wheels, the longitudinal vehicle speed signal must be acquired. A...

AI Technical Summary

Problems solved by technology

These methods use different methods to estimate vehicle speed from different angles, and more consider the influence of nonlinear characteristics on the accuracy of vehicle speed estimation in the process of vehicle speed estimation, so that higher vehicle speed estimation values ​​can be obtained, but because more Non-linear calculations, the performance of real vehicle applications is not very good

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