一种全工况适应的全轮独立驱动车辆车速估计方法

为解决全轮独立驱动车辆车速估计难的问题，提出了一种全工况适应的车速估计方法。该方法以参数自适应卡尔曼滤波算法为基础，采用左右侧分离估计，并设计模糊控制器对滤波系数进行自适应调节，通过判断车辆的行驶工况和路面条件，设计自适应切换条件，当车轮滑转/滑移状态超过预设值，切换为纵向加速度积分估计。利用硬件在环实时仿真实验对所提出的车速估计方法的有效性和准确性进行了验证，仿真结果表明，该方法在多工况运行下具有很好的估计精度，具有普遍应用价值。

Method of Vehicle Speed Estimation Adapted in All Conditions for All-wheel Independent Drive Vehicle

A speed estimating method adapted in all conditions based on the parameter adaptive Kalman filter is established for speed estimation of the all-wheel independent drive vehicle. The left and right sides are estimated separately, and the parameters of filter are adaptively adjusted by fuzzy controller. An adaptive switching condition is designed based on drive condition and road adhesion condition. The accelerating integral is chosen when the anti-slip of the tire is higher than the preset default value. The effectiveness and accuracy of the speed estimating method are verified through hardware-in-loop real-time simulation. The simulation results show that the proposed method possesses high estimation precision under many operating condistions, and has general application value.