Fusion speed estimation strategy of distributed drive vehicle under all working conditions

The estimation accuracy of longitudinal vehicle speed is crucial for the control effect of active control systems, but the problem of vehicle speed estimation with all wheels at high level of slip is still difficult to solve. At the same time, there are few studies on vehicle speed estimation under more complex condition such as all-wheel slipping on slope road. In order to solve the above problems, this paper proposes a strategy for estimating the vehicle speed of distributed drive vehicles under all working conditions. Firstly, this paper divides the driving conditions of vehicles into several typical working conditions according to the wheel slip state and slope state. Then, the dynamic vehicle speed estimation algorithm and the kinematic vehicle speed estimation algorithm are integrated to achieve the accuracy of vehicle speed estimation under all working conditions. Then, the dynamic vehicle speed estimation algorithms are verified and compared by the CarSim-Simulink co-simulation platform. Finally, at the Applus IDIADA China test site and Wudalianchi Winter Test Site, the actual vehicle experiments are carried out based on the distributed drive real production vehicle, and the experiment results verify the effectiveness of the proposed strategy.