鉴于用非驱动轮轮速信号来估计车速的方法已不适用于没有非驱动轮的全轮独立电驱动车辆,提出了借融合车载普通传感器信号和驱动电机反馈信号等多信息源,并基于稳态工况下的轮速信号卡尔曼滤波和瞬态工况下的加速度积分的全轮驱动车辆车速估计方法.通过实车试验对该方法的有效性、适用性和精度进行了验证.%In view of the unsuitability of traditional speed estimation methods based on speed signal of driven wheel to all-wheel drive vehicle without driven wheels, a speed estimation scheme for all-wheel drive vehicle is proposed by means of the fusion of multi-information including on-board common sensor signals and feedback signals of driving motor, and based on the Kalman filtering of wheel speed signal in steady-state condition and acceleration integration in transient condition. The results of real vehicle test verify the validity, suitability and accuracy of the method.
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