A method for estimating the reference vehicle speeds of different wheels of an angular module vehicle

Abstract

The present invention discloses a method for estimating the reference vehicle speed of different wheels of an angular module vehicle, which is applicable to the estimation of the reference vehicle speed of different wheels of a vehicle under steady-state and non-steady-state conditions, and is particularly applicable to the estimation of the reference vehicle speed of a wheel under non-steady-state conditions. It solves the problem of estimating the reference vehicle speed of different wheels in a steady state or non-steady state under various conditions such as when the angular module vehicle is currently operating in a straight-ahead condition, a front-wheel steering condition, a rear-wheel steering condition, a front-and-rear same-direction steering condition, and a front-and-rear opposite-direction steering condition. Especially when it is detected that any wheel of the angular module vehicle is in a non-steady state condition such as slipping, the theoretical reference vehicle speed of the non-steady state wheel and the vehicle centroid can be accurately estimated, providing relatively accurate reference vehicle speed data support for chassis dynamics control such as drive anti-skid and intelligent driving control, facilitating making faster and more effective control to make the non-steady state wheel enter the steady state, and improving the driving stability and safety of the vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle speed estimation method, and particularly to a method for estimating the reference vehicle speeds of different wheels of an angular module vehicle. Background Art

[0002] In the field of vehicle system dynamics control, such as during anti-lock braking system (ABS) control, obtaining real-time and accurate vehicle reference speeds plays a crucial role in the effectiveness of vehicle anti-lock braking control. Most of the existing methods directly calculate the reference vehicle speed using wheel speed signals. For vehicles with trailing wheels, it is feasible to estimate the vehicle speed using the rotational speed of the trailing wheels. However, for all-wheel drive vehicles, since all tires may slip or lock, resulting in significant changes in wheel speed while the vehicle speed does not change much. Therefore, there will be a large deviation between the reference vehicle speed obtained directly using wheel speed and steering angle signals and the actual vehicle speed. Therefore, with the rise of current distributed all-wheel drive vehicles, accurately estimating the reference vehicle speeds of different wheels of all-wheel drive vehicles has become a major difficulty. In addition, for angular module distributed drive vehicles where each wheel has both driving and steering functions, since each tire can rotate 360 degrees, when the wheel steering angle is large, there is a significant difference in rotational speed between the inner and outer wheels during normal vehicle driving, and the speed difference is greater when the vehicle steering angle is larger. In addition, the current design vehicle speed of angular module vehicles is relatively low. Using the average vehicle speed to estimate the reference vehicle speed of each wheel will result in a large deviation, which will seriously affect the vehicle dynamics control effect and is not conducive to the stable and safe driving of the vehicle. Summary of the Invention

[0003] The object of the present invention is to provide a method for estimating the reference vehicle speeds of different wheels of an angular module vehicle, which is applicable to estimating the reference vehicle speeds of different wheels of a vehicle under steady-state and non-steady-state conditions, especially applicable to estimating the reference vehicle speed of a wheel under non-steady-state conditions, and solves the problem of estimating the reference vehicle speeds of different wheels in a steady or non-steady state when the angular module vehicle is currently operating in straight-ahead conditions, front-wheel steering conditions, front and rear co-directional steering conditions, front and rear counter-directional steering conditions, etc. Especially when it is detected that any wheel of the angular module vehicle is in a non-steady state such as slipping, the theoretical reference vehicle speeds of the non-steady state wheel and the vehicle centroid can be estimated more accurately, providing more accurate reference vehicle speed data support for chassis dynamics control such as anti-lock braking and intelligent driving control, facilitating it to make faster and more effective control to bring the non-steady state wheel into a steady state and improving the driving stability of the vehicle.

[0004] The technical solution of the present invention is as follows:

[0005] A method for estimating the reference vehicle speeds of different wheels of an angular module vehicle, which determines the wheel steering mode according to the steering directions of the front and rear wheels of the angular module vehicle. The wheel steering modes include: no steering, only front-wheel steering, only rear-wheel steering, front and rear co-directional steering, and front and rear counter-directional steering; the estimation method includes:

[0006] S1. For low-speed angular module vehicles, during the vehicle's steering operation, it conforms to the Ackermann steering principle. According to different vehicle wheel steering modes, calculate the actual steering radii of different wheels and the steering radius of the vehicle's center of mass.

[0007] S2. For low-speed angular module vehicles, according to the velocity instantaneous center theorem, when all wheels do not slip, the instantaneous angular velocity of the vehicle around the rotation center is equal.

[0008] S3. When all wheels of the angular module vehicle do not slip, calculate the reference vehicle speeds of each wheel based on the rotational speeds of the corresponding motors of each wheel.

[0009] S4. When there is wheel slip in the angular module vehicle, according to the velocity instantaneous center theorem, taking the vehicle speed of any non-slip wheel as a reference, calculate the reference vehicle speeds of other slipping wheels and the vehicle's center of mass.

[0010] S5. When the angular module vehicle is steering and there is wheel slip and the vehicle steering mode is Ackermann front-wheel steering, taking the vehicle speed of any non-slip wheel as a reference, calculate the reference vehicle speeds of other wheels and the vehicle's center of mass.

[0011] S6. When the angular module vehicle is steering and there is wheel slip and the vehicle steering mode is Ackermann rear-wheel steering, taking the vehicle speed of any non-slip wheel as a reference, calculate the reference vehicle speeds of other wheels and the vehicle's center of mass.

[0012] S7. When the angular module vehicle is steering and there is wheel slip and the vehicle steering mode is Ackermann four-wheel steering: taking the vehicle speed of any non-slip wheel as a reference, calculate the reference vehicle speeds of other wheels and the vehicle's center of mass.

[0013] S8. When the angular module vehicle is moving straight, the slipping wheels use the average vehicle speed of the non-slipping wheels as the reference vehicle speed.

[0014] S9. When all wheels slip, based on the vehicle center of mass speed estimated when not all wheels of the angular module vehicle slip, combined with the integration of the vehicle body center of mass acceleration sensor, obtain the current vehicle center of mass speed.

[0015] Preferably, in step S1, calculating the actual steering radii of different wheels and the steering radius of the vehicle's center of mass according to different vehicle wheel steering modes includes:

[0016] (1) For vehicles with an Ackermann front-wheel steering system:

[0017]

[0018]

[0019]

[0020]

[0021]

[0022] (2) For vehicles with an Ackermann rear-wheel steering system:

[0023]

[0024]

[0025]

[0026]

[0027]

[0028] (3) For vehicles with an Ackermann four-wheel steering system:

[0029]

[0030]

[0031]

[0032]

[0033] Positive is taken when the front and rear are in the same direction, and negative is taken when the front and rear are in the opposite direction;

[0034] Where: R1, R2, R3, R4, and R are the actual turning radii of the left front wheel, right front wheel, right rear wheel, left rear wheel, and the vehicle's center of mass respectively; L is the vehicle wheelbase; B is the distance between the left and right steering knuckles; K is the distance from the four-wheel steering knuckle to the tire; δ fin is the angle of the left front wheel; δ fout is the angle of the right front wheel; δ rin is the angle of the left rear wheel; δ rout is the angle of the right rear wheel; a is the distance from the vehicle's turning center to the front axle; b is the distance from the vehicle's turning center to the rear axle.

[0035] Preferably, in step S2, the equal instantaneous angular velocity of the vehicle around the rotation center is expressed as:

[0036]

[0037] Where V, V1, V2, V3, and V4 are the actual vehicle speeds of the vehicle's center of mass, left front wheel, right front wheel, right rear wheel, and left rear wheel respectively.

[0038] Preferably, in steps S3 - S9, the wheel slip judgment criteria are as follows:

[0039] (1) The speed of the wheel center is greater than the estimated vehicle speed by more than the calibration value 1;

[0040] (2) The wheel acceleration is greater than the vehicle body acceleration by more than the calibration value 2;

[0041] (3) The wheel acceleration exceeds the maximum acceleration that the road surface adhesion can provide;

[0042] When the wheel meets any one of the conditions for a certain period of time, it is considered that the wheel slips.

[0043] Preferably, in step S4, taking the speed V1 of the non - slipping left - front wheel as the reference, we can get:

[0044]

[0045] Similarly, calculate the reference speeds of other slipping wheels based on the speeds of the non - slipping right - front, left - rear, and right - rear wheels.

[0046] Preferably, in step S5, taking the speed V1 of the non - slipping left - front wheel as the reference, calculate the reference speeds of other wheels and the vehicle center of mass as follows:

[0047]

[0048]

[0049]

[0050]

[0051] Similarly, calculate the reference speeds of other slipping wheels based on the speeds of the non - slipping wheels among other right - front, left - rear, and right - rear wheels and the speed at the vehicle center of mass.

[0052] Preferably, in step S6, taking the speed V1 of the non - slipping left - front wheel as the reference, calculate the reference speeds of other wheels and the vehicle center of mass as follows:

[0053]

[0054]

[0055]

[0056]

[0057] Similarly, calculate the reference speeds of other slipping wheels based on the speeds of the non - slipping wheels among other right - front, left - rear, and right - rear wheels and the speed at the vehicle center of mass.

[0058] Preferably, in step S7, taking the speed V1 of the non-slip front left wheel as a reference, the reference speeds of other wheels and the vehicle's center of mass are calculated as follows:

[0059]

[0060]

[0061]

[0062]

[0063] Similarly, taking the speeds of the non-slip wheels among other right front, left rear, and right rear wheels and the speed at the vehicle's center of mass, the reference speeds of other slipping wheels are calculated.

[0064] Preferably, in steps S4 - S7, the method for selecting the reference wheel of the vehicle's slipping wheel is as follows:

[0065] When one wheel of the corner module vehicle slips and there are multiple non-slipping wheels, first consider selecting the non-slipping wheel on the same side, secondly consider selecting the non-slipping wheel on the same axis, and finally consider selecting the non-slipping wheel at the diagonal as a reference to calculate the reference speed of the slipping wheel.

[0066] Preferably, when all wheels slip, based on the estimated vehicle center of mass speed when not all wheels of the corner module vehicle slip, combined with the integration of the vehicle body center of mass acceleration sensor to obtain the current vehicle center of mass speed, the estimated vehicle center of mass speed is processed by Kalman filtering to further reduce signal noise interference and obtain a more realistic vehicle center of mass speed; taking the vehicle center of mass speed of the corner module vehicle as a reference, judging the steering mode of the corner module vehicle. When the vehicle is in the steering mode, according to the velocity instantaneous center theorem, the reference speeds of all slipping vehicles are calculated based on the vehicle center of mass speed; when the vehicle is in the non-steering mode, the vehicle center of mass speed is the reference speed of all slipping vehicles.

[0067] The advantages of the present invention are:

[0068] The method for estimating the reference vehicle speed of different wheels of an angular module vehicle proposed by the present invention is applicable to the estimation of the reference vehicle speed of different wheels of a vehicle under steady-state and non-steady-state conditions, and is particularly applicable to the estimation of the reference vehicle speed of a wheel under non-steady-state conditions. It solves the problem of estimating the reference vehicle speed of different wheels in a steady state or non-steady state under conditions such as the current straight running condition, front-wheel steering condition, front-and-rear wheels co-directional steering condition, and front-and-rear wheels counter-directional steering condition of the angular module vehicle. Especially when it is detected that any wheel of the angular module vehicle is in a non-steady state condition such as skidding, the theoretical reference vehicle speed of the non-steady state wheel and the vehicle center of mass can be accurately estimated, providing relatively accurate reference vehicle speed data support for chassis dynamics control such as drive anti-skid and intelligent driving control, facilitating it to make faster and more effective control to make the non-steady state wheel enter the steady state, and improving the driving stability and safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The present invention will be further described below in conjunction with the drawings and embodiments:

[0070] Figure 1 It is a flowchart of the method for estimating the reference vehicle speed of different wheels of the angular module vehicle of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0071] As Figure 1 shown, for the method for estimating the reference vehicle speed of different wheels of the angular module vehicle of the present invention, first, the wheel steering mode is judged according to the steering directions of the front and rear wheels of the angular module vehicle. The wheel steering modes include: no steering, only front-wheel steering, only rear-wheel steering, front-and-rear wheels co-directional steering, and front-and-rear wheels counter-directional steering; the specific estimation method is as follows.

[0072] For a low-speed angular module vehicle, during the vehicle steering driving process, the vehicle steering driving process more conforms to the Ackermann steering principle. According to different vehicle wheel steering modes, the actual steering radius of different wheels and the steering radius of the vehicle center of mass are calculated.

[0073] For a vehicle with an Ackermann front-wheel steering system:

[0074]

[0075]

[0076]

[0077]

[0078]

[0079] For a vehicle with an Ackermann rear-wheel steering system:

[0080]

[0081]

[0082]

[0083]

[0084]

[0085] For an Ackermann four-wheel steering system vehicle:

[0086]

[0087]

[0088]

[0089]

[0090] (Positive for the same direction of front and rear, negative for the opposite direction of front and rear).

[0091] Where: R1, R2, R3, R4, and R are the actual turning radii of the left front wheel, right front wheel, right rear wheel, left rear wheel, and the vehicle's center of mass, respectively; L is the vehicle wheelbase; B is the distance between the left and right steering knuckles; K is the distance from the four-wheel steering knuckle to the tire; δ fin is the angle of the left front wheel; δ fout is the angle of the right front wheel; δ rin is the angle of the left rear wheel; δ rout is the angle of the right rear wheel; a is the distance from the vehicle's turning center to the front axle; b is the distance from the vehicle's turning center to the rear axle.

[0092] For a low-speed angle module vehicle, according to the velocity instantaneous center theorem, when all wheels do not slip, the instantaneous angular velocity of the vehicle around the rotation center is equal:

[0093]

[0094] Where V, V1, V2, V3, and V4 are the actual vehicle speeds of the vehicle's center of mass, left front wheel, right front wheel, right rear wheel, and left rear wheel, respectively.

[0095] Standard judgment for wheel slip: (1) The speed of the wheel center is greater than the estimated vehicle speed by more than the calibration value 1; (2) The wheel acceleration is greater than the vehicle body acceleration by more than the calibration value 2; (3) The wheel acceleration exceeds the maximum acceleration provided by the road surface adhesion. When the wheel meets any one of these conditions for a certain period of time, it is considered that the wheel has slipped.

[0096] When all wheels of the angle module vehicle do not slip, the reference vehicle speeds of each wheel are calculated from the rotational speeds of the corresponding motors of each wheel.

[0097] When there is wheel slip in an angular module vehicle, according to the velocity instantaneous center theorem, the reference vehicle speeds of other slipping wheels and the vehicle's center of mass can be calculated based on the vehicle speed of any non-slipping wheel. For example, if the left front wheel does not slip and V1 is used as the reference, we can get:

[0098]

[0099] Similarly, the reference vehicle speeds of other slipping wheels can also be calculated based on the vehicle speeds of the non-slipping right front, left rear, and right rear wheels.

[0100] When the angular module vehicle is turning and there is wheel slip and the vehicle steering mode is Ackermann front-wheel steering: For example, using the vehicle speed V1 of the non-slipping left front wheel as the reference, the reference vehicle speeds of other wheels and the vehicle's center of mass are calculated as follows:

[0101]

[0102]

[0103]

[0104]

[0105] Similarly, the reference vehicle speeds of other slipping wheels can also be calculated based on the vehicle speeds of the non-slipping wheels among the other right front, left rear, and right rear wheels and the vehicle speed at the center of mass.

[0106] When the angular module vehicle is turning and there is wheel slip and the vehicle steering mode is Ackermann rear-wheel steering: For example, using the vehicle speed V1 of the non-slipping left front wheel as the reference, the reference vehicle speeds of other wheels and the vehicle's center of mass are calculated as follows:

[0107]

[0108]

[0109]

[0110]

[0111] Similarly, the reference vehicle speeds of other slipping wheels can also be calculated based on the vehicle speeds of the non-slipping wheels among the other right front, left rear, and right rear wheels and the vehicle speed at the center of mass.

[0112] When the angular module vehicle is turning and there is wheel slip and the vehicle steering mode is Ackermann four-wheel steering: For example, using the vehicle speed V1 of the non-slipping left front wheel as the reference, the reference vehicle speeds of other wheels and the vehicle's center of mass are calculated as follows:

[0113]

[0114]

[0115]

[0116]

[0117] Similarly, the reference vehicle speeds of other slipping wheels can be calculated using the vehicle speeds of the non-slipping wheels on the right front, left rear, and right rear middle, as well as the vehicle speed at the center of mass of the vehicle.

[0118] When the angular module vehicle is moving straight, the slipping wheel uses the average vehicle speed of the non-slipping wheels as the reference vehicle speed.

[0119] Method for selecting the reference wheel of the slipping wheel of the vehicle: When one wheel of the angular module vehicle slips and there are multiple non-slipping wheels, first consider selecting the non-slipping wheels on the same side, secondly consider selecting the non-slipping wheels on the same axis, and finally consider selecting the non-slipping wheels on the diagonal as the reference to calculate the reference vehicle speed of the slipping wheel.

[0120] When all wheels slip, based on the vehicle speed at the center of mass of the vehicle estimated when not all wheels of the angular module vehicle slip, combined with the integration of the vehicle body center of mass acceleration sensor, the current vehicle speed at the center of mass is obtained.

[0121] The estimated vehicle speed at the center of mass is processed by Kalman filtering to further reduce signal noise interference and obtain a more realistic vehicle speed at the center of mass. Based on the vehicle speed at the center of mass of the angular module vehicle, the steering mode of the angular module vehicle is determined. When the vehicle is in the steering mode, according to the velocity instantaneous center theorem, the reference vehicle speeds of all slipping vehicles are calculated using the vehicle speed at the center of mass of the vehicle; when the vehicle is in the non-steering mode, the vehicle speed at the center of mass is the reference vehicle speed of all slipping vehicles.

[0122] The above embodiments are only used to illustrate the technical concept and features of the present invention, and their purpose is to enable those familiar with this technology to understand the content of the present invention and implement it accordingly, and should not be used to limit the protection scope of the present invention. All modifications made according to the spirit and essence of the main technical solution of the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for estimating the reference vehicle speed of different wheels of an angular module vehicle, characterized in that Judge the wheel steering mode according to the steering directions of the front and rear wheels of the angular module vehicle. The wheel steering modes include: no steering, only front-wheel steering, only rear-wheel steering, same-direction steering of front and rear wheels, and opposite-direction steering of front and rear wheels. The estimation methods include: S1. For a low-speed angular module vehicle, during the vehicle's steering driving process, the vehicle's steering driving process conforms to the Ackermann steering principle. According to different vehicle wheel steering modes, calculate the actual steering radii of different wheels and the steering radius of the vehicle's center of mass. S2. For a low-speed angular module vehicle, according to the velocity instantaneous center theorem, when all wheels do not slip, the instantaneous angular velocity of the vehicle around the rotation center is equal. S3. When all wheels of the angular module vehicle do not slip, calculate the reference vehicle speeds of each wheel based on the rotational speeds of the corresponding motors of each wheel. S4. When there are slipping wheels on the angular module vehicle, according to the velocity instantaneous center theorem, taking the vehicle speed of any non-slipping wheel as the benchmark, calculate the reference vehicle speeds of other slipping wheels and the vehicle's center of mass. S5. When the angular module vehicle is steering and there are slipping wheels and the vehicle steering mode is Ackermann front-wheel steering, taking the vehicle speed of any non-slipping wheel as the benchmark, calculate the reference vehicle speeds of other wheels and the vehicle's center of mass. S6. When the angular module vehicle is steering and there are slipping wheels and the vehicle steering mode is Ackermann rear-wheel steering, taking the vehicle speed of any non-slipping wheel as the benchmark, calculate the reference vehicle speeds of other wheels and the vehicle's center of mass. S7. When the angular module vehicle is steering and there are slipping wheels and the vehicle steering mode is Ackermann four-wheel steering: taking the vehicle speed of any non-slipping wheel as the benchmark, calculate the reference vehicle speeds of other wheels and the vehicle's center of mass. S8. When the angular module vehicle is driving straight, the slipping wheels use the average vehicle speed of the non-slipping wheels as the reference vehicle speed. S9. When all wheels slip, based on the vehicle center of mass speed estimated when not all wheels of the angular module vehicle slip, combined with the integration of the vehicle body center of mass acceleration sensor, obtain the current vehicle center of mass speed.

2. The method for estimating the reference vehicle speed of different wheels of an angular module vehicle according to claim 1, characterized in that, In step S1, calculating the actual steering radii of different wheels and the steering radius of the vehicle's center of mass according to different vehicle wheel steering modes includes: (1) For a vehicle with an Ackermann front-wheel steering system: (2) For a vehicle with an Ackermann rear-wheel steering system: (3) For a vehicle with an Ackermann four-wheel steering system: Positive values are taken when the front and rear are in the same direction, and negative values are taken when the front and rear are in the opposite direction; where: R1, R2, R3, R4, and R are the actual turning radii of the left front wheel, right front wheel, right rear wheel, left rear wheel, and the vehicle's center of mass, respectively; L is the wheelbase of the vehicle; B is the distance between the left and right steering knuckles; K is the distance from the four-wheel steering knuckle to the tire; δ fin is the angle of the left front wheel; δ fout is the angle of the right front wheel; δ rin is the angle of the left rear wheel; δ rout is the angle of the right rear wheel; a is the distance from the vehicle's turning center to the front axle; b is the distance from the vehicle's turning center to the rear axle.

3. The method for estimating the reference vehicle speed of different wheels of an angular module vehicle according to claim 2, wherein In step S2, the equal instantaneous angular velocity of the vehicle around the rotation center is expressed as: where V, V1, V2, V3, and V4 are the actual vehicle speeds of the vehicle's center of mass, left front wheel, right front wheel, right rear wheel, and left rear wheel respectively.

4. The method for estimating the reference vehicle speed of different wheels of an angular module vehicle according to claim 3, wherein In steps S3 - S9, the wheel slip judgment criteria are: (1) The wheel center speed is greater than the estimated vehicle speed of the vehicle by more than calibration value 1; (2) The wheel acceleration is greater than the vehicle body acceleration by more than calibration value 2; (3) The wheel acceleration exceeds the maximum acceleration that the road surface adhesion can provide; When a wheel meets any one of these conditions for a certain period of time, it is considered that the wheel slips.

5. The method for estimating the reference vehicle speed of different wheels of an angular module vehicle according to claim 4, characterized in that, In step S4, taking the vehicle speed V1 of the non-slipping left front wheel as the benchmark, we can get: Similarly, calculate the reference vehicle speeds of other slipping wheels based on the vehicle speeds of the non-slipping right front, left rear, and right rear wheels.

6. The method for estimating the reference vehicle speed of different wheels of an angular module vehicle according to claim 5, characterized in that, In step S5, with the speed V1 of the non-slip left front wheel as the reference, the reference speeds of other wheels and the vehicle's center of mass are calculated as follows: Similarly, the reference speeds of other slipping wheels are calculated based on the speeds of the non-slip wheels among the other right front, left rear, and right rear wheels, as well as the speed at the vehicle's center of mass.

7. The method for estimating the reference vehicle speed of different wheels of an angular module vehicle according to claim 5, characterized in that In step S6, with the speed V1 of the non-slip left front wheel as the reference, the reference speeds of other wheels and the vehicle's center of mass are calculated as follows: Similarly, the reference speeds of other slipping wheels are calculated based on the speeds of the non-slip wheels among the other right front, left rear, and right rear wheels, as well as the speed at the vehicle's center of mass.

8. The method for estimating the reference vehicle speeds of different wheels of an angular module vehicle according to claim 5, characterized in that In step S7, with the speed V1 of the non-slip left front wheel as the reference, the reference speeds of other wheels and the vehicle's center of mass are calculated as follows: Similarly, the reference speeds of other slipping wheels are calculated based on the speeds of the non-slip wheels among the other right front, left rear, and right rear wheels, as well as the speed at the vehicle's center of mass.

9. The method for estimating the reference vehicle speed of different wheels of an angular module vehicle according to claim 5, characterized in that, In steps S4 - S7, the method for selecting the reference wheel of the vehicle's slipping wheel is as follows: When one wheel of the corner module vehicle slips and there are multiple non-slip wheels, first consider selecting the non-slip wheel on the same side, secondly consider selecting the non-slip wheel on the same axis, and finally consider selecting the non-slip wheel at the diagonal as the reference to calculate the reference speed of the slipping wheel.

10. The method for estimating the reference vehicle speed of different wheels of an angular module vehicle according to claim 5, wherein When all wheels slip, based on the estimated vehicle center of mass speed when not all wheels of the corner module vehicle slip, combined with the integration of the vehicle body center of mass acceleration sensor to obtain the current vehicle center of mass speed, the estimated vehicle center of mass speed is processed by Kalman filtering to further reduce signal noise interference and obtain a more realistic vehicle center of mass speed; with the vehicle center of mass speed of the corner module vehicle as the reference, determine the steering mode of the corner module vehicle. When the vehicle is in the steering mode, according to the velocity instantaneous center theorem, calculate the reference speeds of all slipping vehicles based on the vehicle center of mass speed; when the vehicle is in the non-steering mode, the vehicle center of mass speed is the reference speed of all slipping vehicles.

Images