Four-wheel drive vehicle centroid speed estimation method, device and equipment and storage medium

• Main Authors: YANG XIANGTIAN, MENG TAO, GUO SHUXING
• Format: Patent
• Language: Chinese; English
• Published: 02.04.2024
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The invention relates to a four-wheel drive vehicle centroid speed estimation method, device and equipment and a storage medium. According to the main technical scheme, the method comprises the steps that wheel speed sensor information and driving state information of a vehicle are obtained, wherein the wheel speed sensor information comprises wheel speed validity marks of all wheels of the vehicle; according to the wheel speed validity mark of each wheel of the vehicle, the driving state information and a preset dynamic model, obtaining an initial estimated vehicle speed of the vehicle; acquiring steering state information and stable state information of the vehicle; and according to the steering state information, the stable state information, the driving state information, the initial estimated vehicle speed and a preset kinematic model of the vehicle, the vehicle centroid estimated vehicle speed is obtained. The driving state information, the steering state information, the stable state information, the d