CN113044041A - Automobile speed and tire slip rate estimation method based on wheel speed and whole automobile acceleration - Google Patents

Automobile speed and tire slip rate estimation method based on wheel speed and whole automobile acceleration Download PDF

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Publication number
CN113044041A
CN113044041A CN202110252808.9A CN202110252808A CN113044041A CN 113044041 A CN113044041 A CN 113044041A CN 202110252808 A CN202110252808 A CN 202110252808A CN 113044041 A CN113044041 A CN 113044041A
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wheel
speed
representing
vehicle
vehicle speed
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苗为为
蒋永峰
禹真
王仕伟
刘思含
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FAW Group Corp
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FAW Group Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces

Abstract

The invention relates to a method for estimating the speed and the tire slip rate of an automobile based on wheel speed and acceleration of the whole automobile. The method comprises the following steps: firstly, obtaining wheel center speed information of 4 wheel speed sensors; secondly, acquiring lateral and longitudinal acceleration information of the whole vehicle; comparing the rotating speeds provided by the four wheel speed sensors, and judging the current vehicle running state according to the current longitudinal and lateral acceleration of the vehicle measured by the acceleration sensor, namely judging whether the four wheels completely slip; fourthly, calculating the estimated value of the speed of the whole vehicle by combining the longitudinal speed of the wheel center obtained by the wheel speed information of the four wheels with the rotation angle of the front wheel and the previously judged vehicle running state; fifthly, calculating the slip rates of the four wheels according to the estimated value of the vehicle speed of the whole vehicle; according to the invention, different single wheel speeds are used for vehicle speed estimation under different running conditions, and the other three wheel speed signals are used for verification, so that vehicle speed redundancy verification without adding a sensor can be realized, and the robustness of vehicle speed estimation is improved.

Description

Automobile speed and tire slip rate estimation method based on wheel speed and whole automobile acceleration
Technical Field
The invention relates to the technical field of automobiles, in particular to an automobile speed and tire slip rate estimation method based on wheel speed and finished automobile acceleration.
Background
The influence of the slip rate on the longitudinal adhesion coefficient and the transverse adhesion coefficient of the automobile wheel is large, so that the braking performance of the automobile is influenced. When the slip rate is equal to zero, the transverse adhesion coefficient is maximum, the automobile has the strongest sideslip resistance, and the direction stability is the best when the automobile is braked.
At present, accurate vehicle speed signals and tire slip rates are input during vehicle braking, driving and steering control, so that accurate estimation of the vehicle speed and the tire slip rates is important.
Disclosure of Invention
The invention provides a method for estimating the speed and the slip rate of a tire of an automobile based on wheel speed and the acceleration of the whole automobile, which can realize the redundant check of the speed without increasing a sensor by using different single wheel speeds for estimating the speed under different running conditions and using other three wheel speed signals for checking, thereby increasing the robustness of the speed estimation and solving the problems of the speed estimation and the calculation of the slip rate of the tire during running.
The technical scheme of the invention is described as follows by combining the attached drawings:
a method for estimating the speed and the slip rate of a tire of an automobile based on the wheel speed and the acceleration of the whole automobile comprises the following steps:
step one, measuring wheel speeds of four wheels through wheel speed sensors of the four wheels, and obtaining wheel center speeds according to the wheel speeds;
calculating the current reference speed through the longitudinal acceleration and the lateral acceleration of the current automobile measured by the acceleration sensor;
step three, judging the running state of the current vehicle, namely judging whether the four wheels are all slipped by comparing the rotating speeds provided by the four wheel speed sensors and according to the longitudinal acceleration and the lateral acceleration of the current vehicle measured by the acceleration sensor;
step four, calculating the vehicle speed estimation value of the whole vehicle by combining the wheel center longitudinal speeds of the four wheels with the front wheel rotation angle and the vehicle running state;
and step five, calculating the slip rates of the four wheels according to the estimated value of the vehicle speed of the whole vehicle.
The specific formula for obtaining the wheel center speed through the wheel speed in the first step is as follows:
vfl＝ωfl*r
vfr＝ωfr*r
vrl＝ωrl*r
vrr＝ωrr*r
in the formula, vflRepresenting the wheel center speed of the left front wheel; v. offrRepresenting the wheel center speed of the front right wheel; v. ofrlRepresenting the wheel center speed of the left rear wheel; v. ofrrRepresenting the wheel center speed of the right rear wheel; omegaflRepresenting the wheel speed of the left front wheel; omegafrRepresenting the wheel speed of the front right wheel; omegarlRepresenting the wheel speed of the left rear wheel; omegarrRepresenting the wheel speed of the right rear wheel; r represents the wheel radius.
And the acceleration sensor in the second step is arranged on the center of mass of the vehicle, wherein the positive direction x is the forward driving direction of the vehicle, and the positive direction y is the left direction when the vehicle is driven forward.
The concrete method of the third step is as follows:
31) the method comprises the following steps of selecting a verified non-skid vehicle speed at the previous moment as a basis, combining the wheel center longitudinal acceleration of a vehicle after the moment, and obtaining the reference vehicle speed of the vehicle at the current state through integration, wherein the specific formula is as follows:
Vrel＝V0+ts*ax
in the formula, VrelRepresenting a current reference vehicle speed; v0Representing the reference vehicle speed estimated at the last sampling moment; t is tsRepresents a sampling time interval; a isxRepresenting the wheel center longitudinal acceleration;
32) the vehicle speed is calculated through the wheel center speed, and the specific formula is as follows:
Figure BDA0002966726020000031
Figure BDA0002966726020000032
Figure BDA0002966726020000033
Figure BDA0002966726020000034
in the formula, vflRepresenting the wheel center speed of the left front wheel; v. offrRepresenting the wheel center speed of the front right wheel; v. ofrlRepresenting the wheel center speed of the left rear wheel; v. ofrrRepresenting the wheel center speed of the right rear wheel; vFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; b represents a wheel base; a. theflIndicating a left front wheel corner; a. thefrIndicating a right front wheel corner;
33) calculating the upper limit vehicle speed increase delta VlimitThe concrete formula is as follows;
δVlimit＝amax*ts
in the formula, amaxThe maximum longitudinal acceleration of the current automobile in the gear is represented, the acceleration is positive, and the braking is negative. Directly obtaining the power through a power assembly control system; t is tsRepresents a sampling time interval;
calculating the slip rate; the formula is as follows:
Figure BDA0002966726020000035
wherein s represents a slip ratio; vFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; vrelRepresenting a current reference vehicle speed;
34) when the vehicle speed difference between the vehicle target vehicle speed estimated value of the four wheels and the vehicle speed estimated by using the wheel speed measured value is more than the upper limit vehicle speed increase or the slip rate s is more than 40%, judging that all the wheels slip; and when the difference between the vehicle target vehicle speed estimated value of the four wheels and the vehicle speed estimated by using the wheel speed measured value is not more than the upper limit vehicle speed increase and the slip rate s is not more than 40%, judging that at least one wheel does not slip.
The concrete method of the fourth step is as follows:
41) when at least one wheel is judged not to slip, the following vehicle speed is selected as the estimated vehicle speed value V of the whole vehiclee(ii) a The formula is as follows:
Figure BDA0002966726020000041
in the formula, VFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; delta VlimitRepresents an upper limit vehicle speed increase;
42) when it is determined that all the wheels are slipping, the current reference vehicle speed is used as the entire vehicle speed estimated value VeAt this time, there are:
Ve＝Vrel
in the formula, VrelIndicating the current reference vehicle speed.
The concrete method of the step five is as follows:
51) when at least one wheel is judged not to slip, the longitudinal speed of the mass center of the vehicle body is decomposed to the positions of other three reference wheels which are not selected as the reference, and the slip rates of other three wheels are calculated by combining the wheel speed of each wheel measured by a wheel speed sensor, wherein the specific formula is as follows:
Figure BDA0002966726020000042
Figure BDA0002966726020000043
Figure BDA0002966726020000044
Figure BDA0002966726020000045
in the formula, sFLRepresenting the left front wheel slip ratio; sFRRepresenting a right front wheel slip ratio; sRLRepresenting the left rear wheel slip ratio; sRRRepresenting the right rear wheel slip ratio; vFLRepresents VFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; vrelRepresenting a current reference vehicle speed; veRepresenting the estimated value of the vehicle speed of the whole vehicle;
52) when all the wheels are determined to be slipping, the slip rate formula for the four wheels is as follows:
Figure BDA0002966726020000051
Figure BDA0002966726020000052
Figure BDA0002966726020000053
Figure BDA0002966726020000054
in the formula, sFLRepresenting the left front wheel slip ratio; sFRRepresenting a right front wheel slip ratio; sRLRepresenting the left rear wheel slip ratio; sRRRepresenting the right rear wheel slip ratio; vFLRepresents VFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; vrelRepresenting a current reference vehicle speed; veAnd the estimated value of the vehicle speed of the whole vehicle is shown.
The invention has the beneficial effects that:
according to the invention, different single wheel speeds are used for vehicle speed estimation under different running conditions, and the other three wheel speed signals are used for verification, so that vehicle speed redundancy verification without adding a sensor can be realized, and the robustness of vehicle speed estimation is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of vehicle speed estimation;
FIG. 2 is a flow chart of slip rate estimation for each tire;
fig. 3 is a schematic view of a tire coordinate system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 3, a method for estimating a vehicle speed and a tire slip ratio based on a wheel speed and a vehicle acceleration includes the following steps:
step one, measuring wheel speeds of four wheels through wheel speed sensors of the four wheels, and obtaining wheel center speeds according to the wheel speeds;
the specific formula for obtaining the wheel center speed through the wheel speed is as follows:
vfl＝ωfl*r
vfr＝ωfr*r
vrl＝ωrl*r
vrr＝ωrr*r
in the formula, vflRepresenting the wheel center speed of the left front wheel; v. offrRepresenting the wheel center speed of the front right wheel; v. ofrlRepresenting the wheel center speed of the left rear wheel; v. ofrrRepresenting the wheel center speed of the right rear wheel; omegaflRepresenting the wheel speed of the left front wheel; omegafrRepresenting the wheel speed of the front right wheel; omegarlRepresenting the wheel speed of the left rear wheel; omegarrRepresenting the wheel speed of the right rear wheel; r represents the wheel radius.
Calculating the current reference speed through the longitudinal acceleration and the lateral acceleration of the current automobile measured by the acceleration sensor;
referring to fig. 3, the acceleration sensor is installed on the center of mass of the vehicle, wherein the positive x direction is the forward driving direction of the vehicle, and the positive y direction is the left direction when the vehicle is driving forward.
Step three, judging the running state of the current vehicle, namely judging whether the four wheels are all slipped by comparing the rotating speeds provided by the four wheel speed sensors and according to the longitudinal acceleration and the lateral acceleration of the current vehicle measured by the acceleration sensor;
the concrete method of the third step is as follows:
31) the method comprises the following steps of selecting a verified non-skid vehicle speed at the previous moment as a basis, combining the wheel center longitudinal acceleration of a vehicle after the moment, and obtaining the reference vehicle speed of the vehicle at the current state through integration, wherein the specific formula is as follows:
Vrel＝V0+ts*ax
in the formula, VrelRepresenting a current reference vehicle speed; v0Representing the reference vehicle speed estimated at the last sampling moment; t is tsRepresents a sampling time interval; a isxRepresenting the wheel center longitudinal acceleration;
32) the vehicle speed is calculated through the wheel center speed, and the specific formula is as follows:
Figure BDA0002966726020000071
Figure BDA0002966726020000072
Figure BDA0002966726020000073
Figure BDA0002966726020000074
in the formula, vflRepresenting the wheel center speed of the left front wheel; v. offrRepresenting the wheel center speed of the front right wheel; v. ofrlRepresenting the wheel center speed of the left rear wheel; v. ofrrRepresenting the wheel center speed of the right rear wheel; VFL represents the vehicle speed of the front left wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; b represents a wheel base; a. theflIndicating a left front wheel corner; a. thefrIndicating a right front wheel corner;
33) calculating the upper limit vehicle speed increase delta VlimitThe concrete formula is as follows;
δVlimit＝amax*ts
in the formula, amaxThe maximum longitudinal acceleration of the current automobile in the gear is directly obtained through a power assembly control system; t is tsRepresents a sampling time interval;
calculating the slip rate; the formula is as follows:
Figure BDA0002966726020000075
wherein s represents a slip ratio; vFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; vrelRepresenting a current reference vehicle speed;
34) when the vehicle speed difference between the vehicle target vehicle speed estimated value of the four wheels and the vehicle speed estimated by using the wheel speed measured value is more than the upper limit vehicle speed increase or the slip rate s is more than 40%, judging that all the wheels slip; and when the difference between the vehicle target vehicle speed estimated value of the four wheels and the vehicle speed estimated by using the wheel speed measured value is not more than the upper limit vehicle speed increase and the slip rate s is not more than 40%, judging that at least one wheel does not slip.
Step four, calculating the vehicle speed estimation value of the whole vehicle by combining the wheel center longitudinal speeds of the four wheels with the front wheel rotation angle and the vehicle running state;
the concrete method of the fourth step is as follows:
41) when at least one wheel is judged not to slip, selecting the minimum estimated vehicle speed as the estimated value V of the vehicle speede(ii) a The formula is as follows:
Figure BDA0002966726020000081
in the formula, VFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; delta VlimitIndicating an upper limit vehicle speed increase.
42) When it is determined that all the wheels are slipping, the current reference vehicle speed is used as the entire vehicle speed estimated value VeAt this time, there are:
Ve＝Vrel
in the formula, VrelIndicating the current reference vehicle speed.
And step five, calculating the slip rates of the four wheels according to the estimated value of the vehicle speed of the whole vehicle.
The concrete method of the step five is as follows:
51) when at least one wheel is judged not to slip, the longitudinal speed of the mass center of the vehicle body is decomposed to the positions of other three reference wheels which are not selected as the reference, and the slip rates of other three wheels are calculated by combining the wheel speed of each wheel measured by a wheel speed sensor, wherein the specific formula is as follows:
Figure BDA0002966726020000082
Figure BDA0002966726020000091
Figure BDA0002966726020000092
Figure BDA0002966726020000093
in the formula, sFLRepresenting the left front wheel slip ratio; sFRRepresenting a right front wheel slip ratio; sRLRepresenting the left rear wheel slip ratio; sRRRepresenting the right rear wheel slip ratio; vFLRepresents VFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; vrelRepresenting a current reference vehicle speed; veRepresenting the estimated value of the vehicle speed of the whole vehicle;
52) when all the wheels are determined to be slipping, the slip rate formula for the four wheels is as follows:
Figure BDA0002966726020000094
Figure BDA0002966726020000095
Figure BDA0002966726020000096
Figure BDA0002966726020000097
in the formula, sFLRepresenting the left front wheel slip ratio; sFRRepresenting a right front wheel slip ratio; sRLRepresenting the left rear wheel slip ratio; sRRRepresenting the right rear wheel slip ratio; vFLRepresents VFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; vrelRepresenting a current reference vehicle speed; veAnd the estimated value of the vehicle speed of the whole vehicle is shown.
Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the scope of the present invention is not limited to the specific details of the above embodiments, and any person skilled in the art can substitute or change the technical solution of the present invention and its inventive concept within the technical scope of the present invention, and these simple modifications belong to the scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.

Claims (6)

1. A method for estimating the speed and the slip ratio of a tire of an automobile based on the wheel speed and the acceleration of the whole automobile is characterized by comprising the following steps:
step one, measuring wheel speeds of four wheels through wheel speed sensors of the four wheels, and obtaining wheel center speeds according to the wheel speeds;
calculating the current reference speed through the longitudinal acceleration and the lateral acceleration of the current automobile measured by the acceleration sensor;
step three, judging the running state of the current vehicle, namely judging whether the four wheels are all slipped by comparing the rotating speeds provided by the four wheel speed sensors and according to the longitudinal acceleration and the lateral acceleration of the current vehicle measured by the acceleration sensor;
step four, calculating the vehicle speed estimation value of the whole vehicle by combining the wheel center longitudinal speeds of the four wheels with the front wheel rotation angle and the vehicle running state;
and step five, calculating the slip rates of the four wheels according to the estimated value of the vehicle speed of the whole vehicle.
2. The method for estimating the vehicle speed and the tire slip ratio based on the wheel speed and the vehicle acceleration as claimed in claim 1, wherein the specific formula for obtaining the wheel center speed through the wheel speed in the step one is as follows:
vfl＝ωfl*r
vfr＝ωfr*r
vrl＝ωrl*r
vrr＝ωrr*r
in the formula, vflRepresenting the wheel center speed of the left front wheel; v. offrRepresenting the wheel center speed of the front right wheel; v. ofrlRepresenting the wheel center speed of the left rear wheel; v. ofrrRepresenting the wheel center speed of the right rear wheel; omegaflRepresenting the wheel speed of the left front wheel; omegafrRepresenting the wheel speed of the front right wheel; omegarlRepresenting the wheel speed of the left rear wheel; omegarrRepresenting the wheel speed of the right rear wheel; r represents the wheel radius.
3. The method as claimed in claim 1, wherein the acceleration sensor of the second step is mounted on the center of mass of the vehicle, wherein the positive x-direction is the forward direction of the vehicle, and the positive y-direction is the left direction when the vehicle is moving forward.
4. The method for estimating the vehicle speed and the tire slip ratio based on the wheel speed and the vehicle acceleration as claimed in claim 1, wherein the concrete method of the third step is as follows:
31) the method comprises the following steps of selecting a verified non-skid vehicle speed at the previous moment as a basis, combining the wheel center longitudinal acceleration of a vehicle after the moment, and obtaining the reference vehicle speed of the vehicle at the current state through integration, wherein the specific formula is as follows:
Vrel＝V0+ts*ax
in the formula, VrelRepresenting a current reference vehicle speed; v0Representing the reference vehicle speed estimated at the last sampling moment; t is tsRepresents a sampling time interval; a isxRepresenting the wheel center longitudinal acceleration;
32) the vehicle speed is calculated through the wheel center speed, and the specific formula is as follows:
Figure FDA0002966726010000021
Figure FDA0002966726010000022
Figure FDA0002966726010000023
Figure FDA0002966726010000024
in the formula, vflRepresenting the wheel center speed of the left front wheel; v. offrRepresenting the wheel center speed of the front right wheel; v. ofrlRepresenting the wheel center speed of the left rear wheel; v. ofrrRepresenting the wheel center speed of the right rear wheel; vFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; b represents a wheel base; a. theflIndicating a left front wheel corner; a. thefrIndicating a right front wheel corner;
33) calculating the upper limit vehicle speed increase delta VlimitThe concrete formula is as follows;
δVlimit＝amax*ts
in the formula, amaxThe method comprises the steps that the maximum longitudinal acceleration of the current automobile in a gear is represented, the acceleration is positive, the braking is negative, and the maximum longitudinal acceleration is directly obtained through a power assembly control system; t is tsRepresents a sampling time interval;
calculating the slip rate; the formula is as follows
Figure FDA0002966726010000031
Wherein s represents a slip ratio; vFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; vrelRepresenting a current reference vehicle speed;
34) when the vehicle speed difference between the vehicle target vehicle speed estimated value of the four wheels and the vehicle speed estimated by using the wheel speed measured value is more than the upper limit vehicle speed increase or the slip rate s is more than 40%, judging that all the wheels slip; and when the difference between the vehicle target vehicle speed estimated value of the four wheels and the vehicle speed estimated by using the wheel speed measured value is not more than the upper limit vehicle speed increase and the slip rate s is not more than 40%, judging that at least one wheel does not slip.
5. The method for estimating the vehicle speed and the tire slip ratio based on the wheel speed and the vehicle acceleration as claimed in claim 1, wherein the concrete method of the fourth step is as follows:
41) when at least one wheel is judged not to slip, selecting the minimum estimated vehicle speed as the estimated value V of the vehicle speede(ii) a The formula is as follows:
Ve＝min{VFL，VRL，VFR，VRR}，if δVlimit＞0；
Ve＝max{VFL，VRL，VFR，VRR}，if δVlimit≤0；
in the formula, VFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; delta VlimitRepresents an upper limit vehicle speed increase;
42) when it is determined that all the wheels are slipping, the current reference vehicle speed is used as the entire vehicle speed estimated value VeAt this time, there are:
Ve＝Vrel
in the formula, VrelIndicating the current reference vehicle speed.
6. The method for estimating the vehicle speed and the tire slip ratio based on the wheel speed and the vehicle acceleration as claimed in claim 1, wherein the concrete method of the fifth step is as follows:
51) when at least one wheel is judged not to slip, the longitudinal speed of the mass center of the vehicle body is decomposed to the positions of other three reference wheels which are not selected as the reference, and the slip rates of other three wheels are calculated by combining the wheel speed of each wheel measured by a wheel speed sensor, wherein the specific formula is as follows:
Figure FDA0002966726010000032
Figure FDA0002966726010000041
Figure FDA0002966726010000042
Figure FDA0002966726010000043
in the formula, sFLRepresenting the left front wheel slip ratio; sFRRepresenting a right front wheel slip ratio; sRLRepresenting the left rear wheel slip ratio; sRRRepresenting the right rear wheel slip ratio; vFLRepresents VFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; vrelRepresenting a current reference vehicle speed; veRepresenting the estimated value of the vehicle speed of the whole vehicle;
52) when all the wheels are determined to be slipping, the slip rate formula for the four wheels is as follows:
Figure FDA0002966726010000044
Figure FDA0002966726010000045
Figure FDA0002966726010000046
Figure FDA0002966726010000047
in the formula, sFLRepresenting the left front wheel slip ratio; sFRIndicating a right front wheel skateThe rate of shift; sRLRepresenting the left rear wheel slip ratio; sRRRepresenting the right rear wheel slip ratio; vFLRepresents VFLIndicating the vehicle speed of the left front wheel; vFRIndicates the vehicle speed of the right front wheel; vRLRepresenting the wheel speed of the left rear wheel; vRRRepresenting the wheel speed of the right rear wheel; vrelRepresenting a current reference vehicle speed; veAnd the estimated value of the vehicle speed of the whole vehicle is shown.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116039648A (en) * 2023-04-03 2023-05-02 成都赛力斯科技有限公司 Gradient calculation method and device based on weight and vehicle

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