CN102539812B - Method and device for acquiring speed of automobile - Google Patents

Method and device for acquiring speed of automobile Download PDF

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Publication number
CN102539812B
CN102539812B CN 201210032910 CN201210032910A CN102539812B CN 102539812 B CN102539812 B CN 102539812B CN 201210032910 CN201210032910 CN 201210032910 CN 201210032910 A CN201210032910 A CN 201210032910A CN 102539812 B CN102539812 B CN 102539812B
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wheel
speed
wheel speed
automobile
computing formula
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CN102539812A (en
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郑鹏
曹尚贵
孙小冬
姚晓东
张霞
李倩倩
刘志
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Chery Automobile Co Ltd
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Chery Automobile Co Ltd
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Abstract

The invention discloses a method and device for acquiring a speed of an automobile, belonging to the technical field of automobile electronics. The method comprises the following steps of: receiving a wheel speed CAN (Controller Area Network) signal transmitted by an ABS (Anti-lock Brake System) of the automobile; and calculating to acquire the current speed of the automobile by utilizing a preset automobile speed calculation formula according to the wheel speed CAN signal. The device comprises a receiving module and a calculating module. According to the method and device for acquiring the speed of the automobile, disclosed by the invention, the current speed of the automobile can be acquired by processing the wheel speed CAN signal transmitted by the ABS of the automobile, and a speed sensor does not need to be arranged on the automobile so as to reduce the cost of the automobile.

Description

A kind of method and apparatus that obtains automobile speed
Technical field
The present invention relates to technical field of automotive electronics, particularly a kind of method and apparatus that obtains automobile speed.
Background technology
Along with the develop rapidly of automobile industry, automobile has reached unprecedented popularity, and the speed of a motor vehicle is to use requisite parameter in the automobile process, therefore, must show the speed of a motor vehicle on existing automobile combination meter.
The speed of a motor vehicle that shows on automobile combination meter at present is the pulse signal that automobile combination meter sends by receiving vehicle speed sensor, calculates according to this pulse signal.
Yet in realizing process of the present invention, the inventor finds that there is following problem at least in prior art:
Must configure vehicle speed sensor in automobile and just can obtain the speed of a motor vehicle of automobile, increase the cost of automobile.
Summary of the invention
In order to reduce auto cost, the embodiment of the present invention provides a kind of method and apparatus that obtains automobile speed.Described technical scheme is as follows:
A kind of method of obtaining automobile speed, described method comprises:
Receive the wheel speed controller area network signal that anti-block braking system of car ABS sends;
According to described wheel speed controller area network signal, utilize default speed of a motor vehicle computing formula, calculate the current speed of a motor vehicle of automobile;
Wherein, according to described wheel speed controller area network signal, utilize default speed of a motor vehicle computing formula, calculate the current speed of a motor vehicle of automobile, specifically comprise:
By the wheel speed effective information in described wheel speed controller area network signal, whether all effectively to detect four wheel speeds;
If four wheel speeds are all effective, according to effective wheel speed in described wheel speed controller area network signal, utilize the first default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
If four wheel speeds are not all effectively, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that a wheel speed lost efficacy;
If a wheel speed lost efficacy, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the off hind wheel wheel speed lost efficacy;
If the off hind wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the second default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
Lost efficacy if not the off hind wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the left rear wheel wheel speed lost efficacy;
If the left rear wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the 3rd default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
Lost efficacy if not the left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilized the 4th default automobile speed computing formula, calculated the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the near front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the off-front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(the near front wheel wheel speed+off hind wheel wheel speed)/2.
A kind of device that obtains automobile speed, described device comprises:
Receiver module is used for receiving the wheel speed controller area network signal that anti-block braking system of car ABS sends;
Computing module for the wheel speed controller area network signal that receives according to described receiver module, utilizes default speed of a motor vehicle computing formula, calculates the current speed of a motor vehicle of automobile;
Wherein, described computing module specifically comprises:
Whether all effectively the first detecting unit for the wheel speed effective information of the wheel speed controller area network signal that receives by described receiver module, detects four wheel speeds;
The first computing unit, be used for testing result when described the first detecting unit and be four wheel speeds when all effective, according to effective wheel speed in described wheel speed controller area network signal, utilize the first default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
Described computing module also comprises:
The second detecting unit, when being used for testing result when described the first detecting unit and being four wheel speeds and be not all effectively, by the wheel speed effective information in described wheel speed controller area network signal, whether detection is a wheel speed inefficacy;
The 3rd detecting unit is used for when the testing result of described the second detecting unit is a wheel speed inefficacy, and whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the off hind wheel wheel speed lost efficacy;
The second computing unit, be used for when the testing result of described the 3rd detecting unit is the inefficacy of off hind wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the second default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
The 4th detecting unit is used for when the testing result of described the 3rd detecting unit for not being off hind wheel wheel speed when losing efficacy, and by the wheel speed effective information in described wheel speed controller area network signal, whether detection is the inefficacy of left rear wheel wheel speed;
The 3rd computing unit, be used for when the testing result of described the 4th detecting unit is the inefficacy of left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 3rd default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
The 4th computing unit, be used for when the testing result of described the 4th detecting unit when not being the inefficacy of left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 4th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the near front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the off-front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(the near front wheel wheel speed+off hind wheel wheel speed)/2.
The beneficial effect of the technical scheme that the embodiment of the present invention provides is:
Process by the wheel speed CAN signal that automobile ABS is sent and to get the current speed of a motor vehicle of automobile, need to not assemble vehicle speed sensor on automobile, reduced auto cost.
Description of drawings
Fig. 1 is a kind of method flow diagram that obtains automobile speed that the embodiment of the present invention 1 provides;
Fig. 2 a, Fig. 2 b and Fig. 2 c are a kind of method flow diagrams that obtains automobile speed that the embodiment of the present invention 2 provides;
Fig. 3 is a kind of apparatus structure schematic diagram that obtains automobile speed that the embodiment of the present invention 3 provides.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
Embodiment 1
Referring to Fig. 1, the embodiment of the present invention provides a kind of method of obtaining automobile speed, comprising:
101: receive the wheel speed controller area network signal that anti-block braking system of car ABS sends.
102: according to wheel speed CAN signal, utilize default speed of a motor vehicle computing formula, calculate the current speed of a motor vehicle of automobile.
Wherein, according to wheel speed CAN signal, utilize default speed of a motor vehicle computing formula, calculate the current speed of a motor vehicle of automobile, specifically comprise:
By the wheel speed effective information in wheel speed CAN signal, whether all effectively to detect four wheel speeds;
If four wheel speeds are all effective, according to effective wheel speed in wheel speed CAN signal, utilize the first default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(the near front wheel wheel speed+off-front wheel wheel speed)/2.
Further, by the wheel speed effective information in wheel speed CAN signal, detect four wheel speeds whether all effectively after, the method also comprises:
If four wheel speeds are not all effectively, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that a wheel speed lost efficacy;
If a wheel speed lost efficacy, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the off hind wheel wheel speed lost efficacy;
If the off hind wheel wheel speed lost efficacy, according to effective wheel speed in wheel speed CAN signal, utilize the second default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
Lost efficacy if not the off hind wheel wheel speed, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the left rear wheel wheel speed lost efficacy;
If the left rear wheel wheel speed lost efficacy, according to effective wheel speed in wheel speed CAN signal, utilize the 3rd default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
Lost efficacy if not the left rear wheel wheel speed, according to effective wheel speed in wheel speed CAN signal, utilized the 4th default automobile speed computing formula, calculated the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the near front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the off-front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(the near front wheel wheel speed+off hind wheel wheel speed)/2.
Further, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that after a wheel speed lost efficacy, the method also comprises:
Lost efficacy if not a wheel speed, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that two wheel speeds lost efficacy;
If two wheel speeds lost efficacy, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the near front wheel wheel speed and off-front wheel wheel speed lost efficacy;
If the near front wheel wheel speed and off-front wheel wheel speed lost efficacy, according to effective wheel speed in wheel speed CAN signal, utilize the 5th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 5th default automobile speed V 5Computing formula is specially: V 5=(left rear wheel wheel speed+off hind wheel wheel speed)/2;
Lost efficacy if not the near front wheel wheel speed and off-front wheel wheel speed, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that left rear wheel wheel speed and off hind wheel wheel speed lost efficacy;
If left rear wheel wheel speed and off hind wheel wheel speed lost efficacy, according to effective wheel speed in wheel speed CAN signal, utilize the 6th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 6th default automobile speed V 6Computing formula is specially: V 6=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
Lost efficacy if not left rear wheel wheel speed and off hind wheel wheel speed, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the near front wheel wheel speed and left rear wheel wheel speed lost efficacy;
If the near front wheel wheel speed and left rear wheel wheel speed lost efficacy, according to effective wheel speed in wheel speed CAN signal, utilize the 7th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 7th default automobile speed V 7Computing formula is specially: V 7=(off-front wheel wheel speed+off hind wheel wheel speed)/2;
Lost efficacy if not the near front wheel wheel speed and left rear wheel wheel speed, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the near front wheel wheel speed and off hind wheel wheel speed lost efficacy;
If the near front wheel wheel speed and off hind wheel wheel speed lost efficacy, according to effective wheel speed in wheel speed CAN signal, utilize the 8th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 8th default automobile speed V 8Computing formula is specially: V 8=(off-front wheel wheel speed+left rear wheel wheel speed)/2;
Lost efficacy if not the near front wheel wheel speed and off hind wheel wheel speed, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that off-front wheel wheel speed and left rear wheel wheel speed lost efficacy;
If off-front wheel wheel speed and left rear wheel wheel speed lost efficacy, according to effective wheel speed in wheel speed CAN signal, utilize the 9th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 9th default automobile speed V 9Computing formula is specially: V 9=(the near front wheel wheel speed+off hind wheel wheel speed)/2;
Lost efficacy if not off-front wheel wheel speed and left rear wheel wheel speed, according to effective wheel speed in wheel speed CAN signal, utilized the tenth default automobile speed computing formula, calculated the current speed of a motor vehicle of automobile; Wherein, the tenth default automobile speed V 10Computing formula is specially: V 10=(the near front wheel wheel speed+left rear wheel wheel speed)/2.
Further, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that after two wheel speeds lost efficacy, the method also comprises:
Lost efficacy if not two wheel speeds, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that three wheel speeds lost efficacy;
If three wheel speeds lost efficacy, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the near front wheel wheel speed, off-front wheel wheel speed and left rear wheel wheel speed lost efficacy;
If the near front wheel wheel speed, off-front wheel wheel speed and left rear wheel wheel speed lost efficacy, according to effective wheel speed in wheel speed CAN signal, utilize the 11 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 11 default automobile speed V 11Computing formula is specially: V 11=off hind wheel wheel speed;
Lost efficacy if not the near front wheel wheel speed, off-front wheel wheel speed and left rear wheel wheel speed, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the near front wheel wheel speed, off-front wheel wheel speed and off hind wheel wheel speed lost efficacy;
If the near front wheel wheel speed, off-front wheel wheel speed and off hind wheel wheel speed lost efficacy, according to effective wheel speed in wheel speed CAN signal, utilize the 12 default automobile speed meter to calculate formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 12 default automobile vehicle velocity V 12Computing formula is specially: V 12=left rear wheel wheel speed;
Lost efficacy if not the near front wheel wheel speed, off-front wheel wheel speed and off hind wheel wheel speed, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the near front wheel wheel speed, left rear wheel wheel speed and off hind wheel wheel speed lost efficacy;
If the near front wheel wheel speed, left rear wheel wheel speed and off hind wheel wheel speed lost efficacy, according to effective wheel speed in wheel speed CAN signal, utilize the 13 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 13 default automobile speed V 13Computing formula is specially: V 13=off-front wheel wheel speed;
Lost efficacy if not the near front wheel wheel speed, left rear wheel wheel speed and off hind wheel wheel speed, according to effective wheel speed in wheel speed CAN signal, utilized the 14 default automobile speed computing formula, calculated the current speed of a motor vehicle of automobile; Wherein, the 14 default automobile speed V 14Computing formula is specially: V 14=the near front wheel wheel speed.
Further, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that after three wheel speeds lost efficacy, the method also comprises:
Lost efficacy if not three wheel speeds, according to effective wheel speed in wheel speed CAN signal, utilized the 15 default automobile speed computing formula, calculated the current speed of a motor vehicle of automobile; Wherein, the 15 default automobile speed V 15Computing formula is specially: V 15=0.
The described method of obtaining automobile speed of the embodiment of the present invention is processed by the wheel speed CAN signal that automobile ABS is sent and can be got the current speed of a motor vehicle of automobile, need to not assemble vehicle speed sensor on automobile, has reduced auto cost.
The described method of the embodiment of the present invention can be applied to rear-guard vehicle automobile or forerunner's vehicle automobile.The below introduces further to be applied to rear-guard vehicle automobile as example.
Embodiment 2
Referring to Fig. 2 a, Fig. 2 b and Fig. 2 c, the embodiment of the present invention provides a kind of method of obtaining automobile speed, comprising:
201: automobile combination meter judges whether to receive the wheel speed CAN(Controller Area Network that automobile ABS (Antiblockier System, anti-lock braking system(ABS)) sends, controller local area network) signal, if receive, carry out 202; Otherwise, finish.
Wherein, the wheel speed CAN signal that sends of automobile ABS comprises wheel speed and the wheel speed effective information of each wheel.At present, automobile generally has four wheels, is respectively the near front wheel, left rear wheel, off-front wheel, off hind wheel, and corresponding wheel speed is respectively the near front wheel wheel speed and (is denoted as V FL), the left rear wheel wheel speed (is denoted as V RL), the off-front wheel wheel speed (is denoted as V FR), the off hind wheel wheel speed (is denoted as V RR).
202: whether all effectively automobile combination meter detects four wheel speeds by the wheel speed effective information in wheel speed CAN signal, if so, carries out 203; Otherwise, carry out 204.
Particularly, the wheel speed effective information in wheel speed CAN signal can be the wheel speed signal significance bit, by the wheel speed signal significance bit, judges whether corresponding wheel speed is effective.When the wheel speed signal significance bit is 0, represent that wheel speed signal is effective; When the wheel speed signal significance bit is 1, represent that wheel speed signal is invalid; For example: wheel speed signal significance bit 0000 represents that four wheel speeds are all effective; Wheel speed signal significance bit 0001 represents that three wheel speeds are effective, right back wheel speed lost efficacy, wheel speed signal significance bit 0010 represents that three wheel speeds are effective, right front wheel speed lost efficacy, wheel speed signal significance bit 0100 represents that three wheel speeds are effective, left back wheel speed lost efficacy, and wheel speed signal significance bit 1000 represents that three wheel speeds are effective, and left front wheel speed lost efficacy; Wheel speed signal significance bit 0011 represents that bright two wheel speeds are effective, and left back and right back wheel speed lost efficacy; So arrange, etc.And, can according to the practical application situation, corresponding wheel speed signal significance bit be set represent that whether corresponding wheel speed is effective, is not limited to above-mentioned expression.
203: automobile combination meter utilizes the first default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the first default automobile speed V 1Computing formula is specially:
V 1=(left rear wheel wheel speed+off hind wheel wheel speed)/2.
Need to prove, if be forerunner's vehicle automobile, the first automobile speed V that presets 1Computing formula is specially:
V 1=(the near front wheel wheel speed+off-front wheel wheel speed)/2.
204: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be a wheel speed lost efficacy, if so, carry out 205 if detecting; Otherwise, carry out 206.
205: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be off hind wheel wheel speed lost efficacy, if so, carry out 205a if detecting; Otherwise, carry out 205b.
205a: automobile combination meter utilizes the second default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the second default automobile speed V 2Computing formula is specially:
V 2=(left rear wheel wheel speed+off-front wheel wheel speed)/2.
Need to prove, if be forerunner's vehicle automobile, the second automobile speed V that presets 2Computing formula is specially:
V 2=(the near front wheel wheel speed+off-front wheel wheel speed)/2.
205b: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be left rear wheel wheel speed lost efficacy, if so, carry out 205c if detecting; Otherwise, carry out 205d.
205c: automobile combination meter utilizes the 3rd default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 3rd default automobile speed V 3Computing formula is specially:
V 3=(the near front wheel wheel speed+off hind wheel wheel speed)/2.
Need to prove, if be forerunner's vehicle automobile, the 3rd automobile speed V that presets 3Computing formula is specially:
V 3=(the near front wheel wheel speed+off-front wheel wheel speed)/2.
205d: automobile combination meter utilizes the 4th default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 4th default automobile speed V 4Computing formula is specially:
V 4=(left rear wheel wheel speed+off hind wheel wheel speed)/2.
Need to prove, if be forerunner's vehicle automobile, when the near front wheel wheel speed lost efficacy, the 4th automobile speed V that presets 4Computing formula is specially:
V 4=(left rear wheel wheel speed+off-front wheel wheel speed)/2.
Need to prove, if be forerunner's vehicle automobile, when the off-front wheel wheel speed lost efficacy, the 4th automobile speed V that presets 4Computing formula is specially:
V 4=(the near front wheel wheel speed+off hind wheel wheel speed)/2.
206: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be two wheel speeds lost efficacy, if so, carry out 207 if detecting; Otherwise, carry out 208.
207: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be the near front wheel wheel speed and off-front wheel wheel speed lost efficacy, if so, carry out 207a if detecting; Otherwise, carry out 207b.
207a: automobile combination meter utilizes the 5th default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 5th default automobile speed V 5Computing formula is specially:
V 5=(left rear wheel wheel speed+off hind wheel wheel speed)/2.
Need to prove, if be forerunner's vehicle automobile, the 5th automobile speed V that presets 5Computing formula is same as described above.
207b: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be left rear wheel wheel speed and off hind wheel wheel speed lost efficacy, if so, carry out 207c if detecting; Otherwise, carry out 207d.
207c: automobile combination meter utilizes the 6th default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 6th default automobile speed V 6Computing formula is specially:
V 6=(the near front wheel wheel speed+off-front wheel wheel speed)/2.
Need to prove, if be forerunner's vehicle automobile, the 6th default automobile speed computing formula is same as described above.
207d: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be the near front wheel wheel speed and left rear wheel wheel speed lost efficacy, if so, carry out 207e if detecting; Otherwise, carry out 207f.
207e: automobile combination meter utilizes the 7th default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 7th default automobile speed V 7Computing formula is specially:
V 7=(off-front wheel wheel speed+off hind wheel wheel speed)/2.
Need to prove, if be forerunner's vehicle automobile, the 7th automobile speed V that presets 7Computing formula is same as described above.
207f: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be the near front wheel wheel speed and off hind wheel wheel speed lost efficacy, if so, carry out 207g if detecting; Otherwise, carry out 207h.
207g: automobile combination meter utilizes the 8th default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 8th default automobile speed V 8Computing formula is specially:
V 8=(off-front wheel wheel speed+left rear wheel wheel speed)/2
Need to prove, if be forerunner's vehicle automobile, the 8th automobile speed V that presets 8Computing formula is same as described above.
207h: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be off-front wheel wheel speed and left rear wheel wheel speed lost efficacy, if so, carry out 207i if detecting; Otherwise, carry out 207j.
207i: automobile combination meter utilizes the 9th default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 9th default automobile speed V 9Computing formula is specially:
V 9=(the near front wheel wheel speed+off hind wheel wheel speed)/2.
Need to prove, if be forerunner's vehicle automobile, the 9th automobile speed V that presets 9Computing formula is same as described above.
207j: automobile combination meter utilizes the tenth default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the tenth default automobile speed V 10Computing formula is specially:
V 10=(the near front wheel wheel speed+left rear wheel wheel speed)/2.
Need to prove, if be forerunner's vehicle automobile, the tenth automobile speed V that presets 10Computing formula is same as described above.
208: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be three wheel speeds lost efficacy, if so, carry out 209 if detecting; Otherwise, carry out 210.
209: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be the near front wheel wheel speed, off-front wheel wheel speed and left rear wheel wheel speed lost efficacy, if so, carry out 209a if detecting; Otherwise, carry out 209b.
209a: automobile combination meter utilizes the 11 default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 11 default automobile speed V 11Computing formula is specially:
V 11=off hind wheel wheel speed.
Need to prove, if be forerunner's vehicle automobile, the 11 automobile speed V that presets 11Computing formula is same as described above.
209b: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be the near front wheel wheel speed, off-front wheel wheel speed and off hind wheel wheel speed lost efficacy, if so, carry out 209c if detecting; Otherwise, carry out 209d.
209c: automobile combination meter utilizes the 12 default automobile speed meter to calculate formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 12 default automobile vehicle velocity V 12Computing formula is specially:
V 12=left rear wheel wheel speed.
Need to prove, if be forerunner's vehicle automobile, the 12 automobile vehicle velocity V of presetting 12Computing formula is same as described above.
209d: automobile combination meter is by the wheel speed effective information in wheel speed CAN signal, and whether be the near front wheel wheel speed, left rear wheel wheel speed and off hind wheel wheel speed lost efficacy, if so, carry out 209e if detecting; Otherwise, carry out 209f.
209e: automobile combination meter utilizes the 13 default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 13 default automobile speed V 13Computing formula is specially:
V 13=off-front wheel wheel speed.
Need to prove, if be forerunner's vehicle automobile, the 13 default automobile speed computing formula is same as described above.
209f: automobile combination meter utilizes the 14 default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 14 default automobile speed V 14Computing formula is specially:
V 14=the near front wheel wheel speed.
Need to prove, if be forerunner's vehicle automobile, the 14 automobile speed V that presets 14Computing formula is same as described above.
210: automobile combination meter utilizes the 15 default automobile speed computing formula according to effective wheel speed in wheel speed CAN signal, calculates the current speed of a motor vehicle of automobile, then carries out 201.
Wherein, the 15 default automobile speed V 15Computing formula is specially:
V 15=0。
Need to prove, be not that three wheel speeds lost efficacy when detecting, and is that four wheel speeds had all lost efficacy, at this time the 15 automobile speed V 15=0.
Need to prove, if be forerunner's vehicle automobile, the 15 automobile speed V that presets 15Computing formula is same as described above.
The described method of obtaining automobile speed of the embodiment of the present invention is processed by the wheel speed CAN signal that automobile ABS is sent and can be got the current speed of a motor vehicle of automobile, need to not assemble vehicle speed sensor on automobile, has reduced auto cost.
Embodiment 3
Referring to Fig. 3, the embodiment of the present invention provides a kind of device that obtains automobile speed, and this device comprises:
Receiver module 301 is used for receiving the wheel speed controller area network signal that anti-block braking system of car ABS sends;
Computing module 302 for the wheel speed CAN signal that receives according to receiver module 301, utilizes default speed of a motor vehicle computing formula, calculates the current speed of a motor vehicle of automobile.
Further, computing module 302 specifically comprises:
Whether all effectively the first detecting unit for the wheel speed effective information of the wheel speed CAN signal that receives by receiver module, detects four wheel speeds;
The first computing unit is used for testing result when the first detecting unit and is four wheel speeds all effectively the time, according to effective wheel speed in described wheel speed CAN signal, utilizes the first automobile speed computing formula of presetting, calculates the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(the near front wheel wheel speed+off-front wheel wheel speed)/2.
Further, computing module 302 also comprises:
The second detecting unit, when being used for testing result when the first detecting unit and being four wheel speeds and be not all effectively, by the wheel speed effective information in described wheel speed CAN signal, whether detection is a wheel speed inefficacy;
The 3rd detecting unit is used for when the testing result of the second detecting unit is a wheel speed inefficacy, and whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the off hind wheel wheel speed lost efficacy;
The second computing unit is used for according to effective wheel speed in wheel speed CAN signal, utilizing the second default automobile speed computing formula when the testing result of the 3rd detecting unit is the inefficacy of off hind wheel wheel speed, calculates the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
The 4th detecting unit is used for when the testing result of the 3rd detecting unit for not being off hind wheel wheel speed when losing efficacy, and by the wheel speed effective information in wheel speed CAN signal, whether detection is the inefficacy of left rear wheel wheel speed;
The 3rd computing unit is used for according to effective wheel speed in wheel speed CAN signal, utilizing the 3rd default automobile speed computing formula when the testing result of the 4th detecting unit is the inefficacy of left rear wheel wheel speed, calculates the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
The 4th computing unit is used for when the testing result of the 4th detecting unit for not being left rear wheel wheel speed when losing efficacy, and according to effective wheel speed in wheel speed CAN signal, the 4th automobile speed computing formula that utilization is preset calculates the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the near front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the off-front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(the near front wheel wheel speed+off hind wheel wheel speed)/2.
Further, computing module 302 also comprises:
The 5th detecting unit is used for when the testing result of the second detecting unit for not being a wheel speed when losing efficacy, and by the wheel speed effective information in wheel speed CAN signal, whether detection is two wheel speeds inefficacies;
The 6th detecting unit is used for when the testing result of the 5th detecting unit is two wheel speeds inefficacies, and whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the near front wheel wheel speed and off-front wheel wheel speed lost efficacy;
The 5th computing unit is used for according to effective wheel speed in wheel speed CAN signal, utilizing the 5th default automobile speed computing formula when the testing result of the 6th detecting unit is the near front wheel wheel speed and the inefficacy of off-front wheel wheel speed, calculates the current speed of a motor vehicle of automobile; Wherein, the 5th default automobile speed V 5Computing formula is specially: V 5=(left rear wheel wheel speed+off hind wheel wheel speed)/2;
The 7th detecting unit is used for when the testing result of the 6th detecting unit for not being the near front wheel wheel speed and off-front wheel wheel speed when losing efficacy, and by the wheel speed effective information in wheel speed CAN signal, whether detection is left rear wheel wheel speed and the inefficacy of off hind wheel wheel speed;
The 6th computing unit is used for according to effective wheel speed in wheel speed CAN signal, utilizing the 6th default automobile speed computing formula when the testing result of the 7th detecting unit is left rear wheel wheel speed and the inefficacy of off hind wheel wheel speed, calculates the current speed of a motor vehicle of automobile; Wherein, the 6th default automobile speed V 6Computing formula is specially: V 6=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
The 8th detecting unit is used for when the testing result of the 7th detecting unit for not being left rear wheel wheel speed and off hind wheel wheel speed when losing efficacy, and by the wheel speed effective information in wheel speed CAN signal, whether detection is the near front wheel wheel speed and the inefficacy of left rear wheel wheel speed;
The 7th computing unit is used for according to effective wheel speed in wheel speed CAN signal, utilizing the 7th default automobile speed computing formula when the testing result of the 8th detecting unit is the near front wheel wheel speed and the inefficacy of left rear wheel wheel speed, calculates the current speed of a motor vehicle of automobile; Wherein, the 7th default automobile speed V 7Computing formula is specially: V 7=(off-front wheel wheel speed+off hind wheel wheel speed)/2;
The 9th detecting unit is used for when the testing result of the 8th detecting unit for not being the near front wheel wheel speed and left rear wheel wheel speed when losing efficacy, and by the wheel speed effective information in wheel speed CAN signal, whether detection is the near front wheel wheel speed and the inefficacy of off hind wheel wheel speed;
The 8th computing unit is used for according to effective wheel speed in wheel speed CAN signal, utilizing the 8th default automobile speed computing formula when the testing result of the 9th detecting unit is the near front wheel wheel speed and the inefficacy of off hind wheel wheel speed, calculates the current speed of a motor vehicle of automobile; Wherein, the 8th default automobile speed V 8Computing formula is specially: V 8=(off-front wheel wheel speed+left rear wheel wheel speed)/2;
The tenth detecting unit is used for when the testing result of the 9th detecting unit for not being the near front wheel wheel speed and off hind wheel wheel speed when losing efficacy, and by the wheel speed effective information in wheel speed CAN signal, whether detection is off-front wheel wheel speed and the inefficacy of left rear wheel wheel speed;
The 9th computing unit is used for according to effective wheel speed in wheel speed CAN signal, utilizing the 9th default automobile speed computing formula when the testing result of the tenth detecting unit is off-front wheel wheel speed and the inefficacy of left rear wheel wheel speed, calculates the current speed of a motor vehicle of automobile; Wherein, the 9th default automobile speed V 9Computing formula is specially: V 9=(the near front wheel wheel speed+off hind wheel wheel speed)/2;
The tenth computing unit, be used for when the testing result of the tenth detecting unit when not being the inefficacy of off-front wheel wheel speed and left rear wheel wheel speed, according to effective wheel speed in wheel speed CAN signal, utilize the tenth default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the tenth default automobile speed V 10Computing formula is specially: V 10=(the near front wheel wheel speed+left rear wheel wheel speed)/2.
Further, computing module 302 also comprises:
The 11 detecting unit is used for when the testing result of the 5th detecting unit for not being two wheel speeds when losing efficacy, and by the wheel speed effective information in wheel speed CAN signal, whether detection is three wheel speeds inefficacies;
The 12 detecting unit is used for when the testing result of the 11 detecting unit is three wheel speeds inefficacies, and whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the near front wheel wheel speed, off-front wheel wheel speed and left rear wheel wheel speed lost efficacy;
The 11 computing unit, when being used for testing result when the 12 detecting unit and being the near front wheel wheel speed, off-front wheel wheel speed and the inefficacy of left rear wheel wheel speed, according to effective wheel speed in wheel speed CAN signal, utilize the 11 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 11 default automobile speed V 11Computing formula is specially: V 11=off hind wheel wheel speed;
The 13 detecting unit, be used for working as the testing result of the 12 detecting unit for not being the near front wheel wheel speed, off-front wheel wheel speed and the inefficacy of left rear wheel wheel speed, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the near front wheel wheel speed, off-front wheel wheel speed and off hind wheel wheel speed lost efficacy;
The 12 computing unit, when being used for testing result when the 13 detecting unit and being the near front wheel wheel speed, off-front wheel wheel speed and the inefficacy of off hind wheel wheel speed, according to effective wheel speed in wheel speed CAN signal, utilize the 12 default automobile speed meter to calculate formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 12 default automobile vehicle velocity V 12Computing formula is specially: V 12=left rear wheel wheel speed;
The 14 detecting unit, be used for working as the testing result of the 13 detecting unit for not being the near front wheel wheel speed, off-front wheel wheel speed and the inefficacy of off hind wheel wheel speed, whether by the wheel speed effective information in wheel speed CAN signal, detecting is that the near front wheel wheel speed, left rear wheel wheel speed and off hind wheel wheel speed lost efficacy;
The 13 computing unit, when being used for testing result when the 14 detecting unit and being the near front wheel wheel speed, left rear wheel wheel speed and the inefficacy of off hind wheel wheel speed, according to effective wheel speed in wheel speed CAN signal, utilize the 13 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 13 default automobile speed V 13Computing formula is specially: V 13=off-front wheel wheel speed;
The 14 computing unit, be used for when the testing result of the 14 detecting unit when not being the near front wheel wheel speed, left rear wheel wheel speed and the inefficacy of off hind wheel wheel speed, according to effective wheel speed in wheel speed CAN signal, utilize the 14 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 14 default automobile speed V 14Computing formula is specially: V 14=the near front wheel wheel speed;
The 15 computing unit is used for when the testing result of the 11 detecting unit for not being three wheel speeds when losing efficacy, and according to effective wheel speed in wheel speed CAN signal, utilizes the 15 automobile speed computing formula of presetting, and calculates the current speed of a motor vehicle of automobile; Wherein, the 15 default automobile speed V 15Computing formula is specially: V 15=0.
The described device that obtains automobile speed of the embodiment of the present invention is processed by the wheel speed CAN signal that automobile ABS is sent and can be got the current speed of a motor vehicle of automobile, need to not assemble vehicle speed sensor on automobile, has reduced auto cost.
All or part of content in the technical scheme that above embodiment provides can realize by software programming, and its software program is stored in the storage medium that can read, storage medium for example: the hard disk in computing machine, CD or floppy disk.
The above is only preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims (6)

1. a method of obtaining automobile speed, is characterized in that, described method comprises:
Receive the wheel speed controller area network signal that anti-block braking system of car ABS sends;
According to described wheel speed controller area network signal, utilize default speed of a motor vehicle computing formula, calculate the current speed of a motor vehicle of automobile;
Wherein, according to described wheel speed controller area network signal, utilize default speed of a motor vehicle computing formula, calculate the current speed of a motor vehicle of automobile, specifically comprise:
By the wheel speed effective information in described wheel speed controller area network signal, whether all effectively to detect four wheel speeds;
If four wheel speeds are all effective, according to effective wheel speed in described wheel speed controller area network signal, utilize the first default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
If four wheel speeds are not all effectively, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that a wheel speed lost efficacy;
If a wheel speed lost efficacy, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the off hind wheel wheel speed lost efficacy;
If the off hind wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the second default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
Lost efficacy if not the off hind wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the left rear wheel wheel speed lost efficacy;
If the left rear wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the 3rd default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
Lost efficacy if not the left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilized the 4th default automobile speed computing formula, calculated the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the near front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the off-front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(the near front wheel wheel speed+off hind wheel wheel speed)/2.
2. the method for obtaining automobile speed according to claim 1, is characterized in that, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that after a wheel speed lost efficacy, described method also comprises:
Lost efficacy if not a wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that two wheel speeds lost efficacy;
If two wheel speeds lost efficacy, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed and off-front wheel wheel speed lost efficacy;
If the near front wheel wheel speed and off-front wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the 5th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 5th default automobile speed V 5Computing formula is specially: V 5=(left rear wheel wheel speed+off hind wheel wheel speed)/2;
Lost efficacy if not the near front wheel wheel speed and off-front wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that left rear wheel wheel speed and off hind wheel wheel speed lost efficacy;
If left rear wheel wheel speed and off hind wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the 6th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 6th default automobile speed V 6Computing formula is specially: V 6=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
Lost efficacy if not left rear wheel wheel speed and off hind wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed and left rear wheel wheel speed lost efficacy;
If the near front wheel wheel speed and left rear wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the 7th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 7th default automobile speed V 7Computing formula is specially: V 7=(off-front wheel wheel speed+off hind wheel wheel speed)/2;
Lost efficacy if not the near front wheel wheel speed and left rear wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed and off hind wheel wheel speed lost efficacy;
If the near front wheel wheel speed and off hind wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the 8th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 8th default automobile speed V 8Computing formula is specially: V 8=(off-front wheel wheel speed+left rear wheel wheel speed)/2;
Lost efficacy if not the near front wheel wheel speed and off hind wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that off-front wheel wheel speed and left rear wheel wheel speed lost efficacy;
If off-front wheel wheel speed and left rear wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the 9th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 9th default automobile speed V 9Computing formula is specially: V 9=(the near front wheel wheel speed+off hind wheel wheel speed)/2;
Lost efficacy if not off-front wheel wheel speed and left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilized the tenth default automobile speed computing formula, calculated the current speed of a motor vehicle of automobile; Wherein, the tenth default automobile speed V 10Computing formula is specially: V 10=(the near front wheel wheel speed+left rear wheel wheel speed)/2.
3. the method for obtaining automobile speed according to claim 2, is characterized in that, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that after two wheel speeds lost efficacy, described method also comprises:
Lost efficacy if not two wheel speeds, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that three wheel speeds lost efficacy;
If three wheel speeds lost efficacy, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed, off-front wheel wheel speed and left rear wheel wheel speed lost efficacy;
If the near front wheel wheel speed, off-front wheel wheel speed and left rear wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the 11 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 11 default automobile speed V 11Computing formula is specially: V 11=off hind wheel wheel speed;
Lost efficacy if not the near front wheel wheel speed, off-front wheel wheel speed and left rear wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed, off-front wheel wheel speed and off hind wheel wheel speed lost efficacy;
If the near front wheel wheel speed, off-front wheel wheel speed and off hind wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the 12 default automobile speed meter to calculate formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 12 default automobile vehicle velocity V 12Computing formula is specially: V 12=left rear wheel wheel speed;
Lost efficacy if not the near front wheel wheel speed, off-front wheel wheel speed and off hind wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed, left rear wheel wheel speed and off hind wheel wheel speed lost efficacy;
If the near front wheel wheel speed, left rear wheel wheel speed and off hind wheel wheel speed lost efficacy, according to effective wheel speed in described wheel speed controller area network signal, utilize the 13 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 13 default automobile speed V 13Computing formula is specially: V 13=off-front wheel wheel speed;
Lost efficacy if not the near front wheel wheel speed, left rear wheel wheel speed and off hind wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilized the 14 default automobile speed computing formula, calculated the current speed of a motor vehicle of automobile; Wherein, the 14 default automobile speed V 14Computing formula is specially: V 14=the near front wheel wheel speed;
Lost efficacy if not three wheel speeds, according to effective wheel speed in described wheel speed controller area network signal, utilized the 15 default automobile speed computing formula, calculated the current speed of a motor vehicle of automobile; Wherein, the 15 default automobile speed V 15Computing formula is specially: V 15=0.
4. a device that obtains automobile speed, is characterized in that, described device comprises:
Receiver module is used for receiving the wheel speed controller area network signal that anti-block braking system of car ABS sends;
Computing module for the wheel speed controller area network signal that receives according to described receiver module, utilizes default speed of a motor vehicle computing formula, calculates the current speed of a motor vehicle of automobile;
Wherein, described computing module specifically comprises:
Whether all effectively the first detecting unit for the wheel speed effective information of the wheel speed controller area network signal that receives by described receiver module, detects four wheel speeds;
The first computing unit, be used for testing result when described the first detecting unit and be four wheel speeds when all effective, according to effective wheel speed in described wheel speed controller area network signal, utilize the first default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the first default automobile speed V 1Computing formula is specially: V 1=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
Described computing module also comprises:
The second detecting unit, when being used for testing result when described the first detecting unit and being four wheel speeds and be not all effectively, by the wheel speed effective information in described wheel speed controller area network signal, whether detection is a wheel speed inefficacy;
The 3rd detecting unit is used for when the testing result of described the second detecting unit is a wheel speed inefficacy, and whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the off hind wheel wheel speed lost efficacy;
The second computing unit, be used for when the testing result of described the 3rd detecting unit is the inefficacy of off hind wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the second default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile, the second default automobile speed V 2Computing formula is specially: V 2=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
The 4th detecting unit is used for when the testing result of described the 3rd detecting unit for not being off hind wheel wheel speed when losing efficacy, and by the wheel speed effective information in described wheel speed controller area network signal, whether detection is the inefficacy of left rear wheel wheel speed;
The 3rd computing unit, be used for when the testing result of described the 4th detecting unit is the inefficacy of left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 3rd default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile, the 3rd default automobile speed V 3Computing formula is specially: V 3=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
The 4th computing unit, be used for when the testing result of described the 4th detecting unit when not being the inefficacy of left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 4th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, when being rear-guard vehicle automobile, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off hind wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the near front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(left rear wheel wheel speed+off-front wheel wheel speed)/2; When being forerunner's vehicle automobile and when losing efficacy for the off-front wheel wheel speed, the 4th default automobile speed V 4Computing formula is specially: V 4=(the near front wheel wheel speed+off hind wheel wheel speed)/2.
5. the device that obtains automobile speed according to claim 4, is characterized in that, described computing module also comprises:
The 5th detecting unit is used for when the testing result of described the second detecting unit for not being a wheel speed when losing efficacy, and by the wheel speed effective information in described wheel speed controller area network signal, whether detection is two wheel speeds inefficacies;
The 6th detecting unit is used for when the testing result of described the 5th detecting unit is two wheel speeds inefficacies, and whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed and off-front wheel wheel speed lost efficacy;
The 5th computing unit, be used for when the testing result of described the 6th detecting unit is the near front wheel wheel speed and the inefficacy of off-front wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 5th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 5th default automobile speed V 5Computing formula is specially: V 5=(left rear wheel wheel speed+off hind wheel wheel speed)/2;
The 7th detecting unit, be used for when the testing result of described the 6th detecting unit when not being the inefficacy of the near front wheel wheel speed and off-front wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that left rear wheel wheel speed and off hind wheel wheel speed lost efficacy;
The 6th computing unit, be used for when the testing result of described the 7th detecting unit is left rear wheel wheel speed and the inefficacy of off hind wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 6th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 6th default automobile speed V 6Computing formula is specially: V 6=(the near front wheel wheel speed+off-front wheel wheel speed)/2;
The 8th detecting unit, be used for when the testing result of described the 7th detecting unit when not being the inefficacy of left rear wheel wheel speed and off hind wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed and left rear wheel wheel speed lost efficacy;
The 7th computing unit, be used for when the testing result of described the 8th detecting unit is the near front wheel wheel speed and the inefficacy of left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 7th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 7th default automobile speed V 7Computing formula is specially: V 7=(off-front wheel wheel speed+off hind wheel wheel speed)/2;
The 9th detecting unit, be used for when the testing result of described the 8th detecting unit when not being the inefficacy of the near front wheel wheel speed and left rear wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed and off hind wheel wheel speed lost efficacy;
The 8th computing unit, be used for when the testing result of described the 9th detecting unit is the near front wheel wheel speed and the inefficacy of off hind wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 8th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 8th default automobile speed V 8Computing formula is specially: V 8=(off-front wheel wheel speed+left rear wheel wheel speed)/2;
The tenth detecting unit, be used for when the testing result of described the 9th detecting unit when not being the inefficacy of the near front wheel wheel speed and off hind wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that off-front wheel wheel speed and left rear wheel wheel speed lost efficacy;
The 9th computing unit, be used for when the testing result of described the tenth detecting unit is off-front wheel wheel speed and the inefficacy of left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 9th default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 9th default automobile speed V 9Computing formula is specially: V 9=(the near front wheel wheel speed+off hind wheel wheel speed)/2;
The tenth computing unit, be used for when the testing result of described the tenth detecting unit when not being the inefficacy of off-front wheel wheel speed and left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the tenth default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the tenth default automobile speed V 10Computing formula is specially: V 10=(the near front wheel wheel speed+left rear wheel wheel speed)/2.
6. the device that obtains automobile speed according to claim 5, is characterized in that, described computing module also comprises:
The 11 detecting unit is used for when the testing result of described the 5th detecting unit for not being two wheel speeds when losing efficacy, and by the wheel speed effective information in described wheel speed controller area network signal, whether detection is three wheel speeds inefficacies;
The 12 detecting unit, be used for when the testing result of described the 11 detecting unit is three wheel speeds inefficacies, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed, off-front wheel wheel speed and left rear wheel wheel speed lost efficacy;
The 11 computing unit, when being used for testing result when described the 12 detecting unit and being the near front wheel wheel speed, off-front wheel wheel speed and the inefficacy of left rear wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 11 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 11 default automobile speed V 11Computing formula is specially: V 11=off hind wheel wheel speed;
The 13 detecting unit, be used for working as the testing result of described the 12 detecting unit for not being the near front wheel wheel speed, off-front wheel wheel speed and the inefficacy of left rear wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed, off-front wheel wheel speed and off hind wheel wheel speed lost efficacy;
The 12 computing unit, when being used for testing result when described the 13 detecting unit and being the near front wheel wheel speed, off-front wheel wheel speed and the inefficacy of off hind wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 12 default automobile speed meter to calculate formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 12 default automobile vehicle velocity V 12Computing formula is specially: V 12=left rear wheel wheel speed;
The 14 detecting unit, be used for working as the testing result of described the 13 detecting unit for not being the near front wheel wheel speed, off-front wheel wheel speed and the inefficacy of off hind wheel wheel speed, whether by the wheel speed effective information in described wheel speed controller area network signal, detecting is that the near front wheel wheel speed, left rear wheel wheel speed and off hind wheel wheel speed lost efficacy;
The 13 computing unit, when being used for testing result when described the 14 detecting unit and being the near front wheel wheel speed, left rear wheel wheel speed and the inefficacy of off hind wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 13 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 13 default automobile speed V 13Computing formula is specially: V 13=off-front wheel wheel speed;
The 14 computing unit, be used for when the testing result of described the 14 detecting unit when not being the near front wheel wheel speed, left rear wheel wheel speed and the inefficacy of off hind wheel wheel speed, according to effective wheel speed in described wheel speed controller area network signal, utilize the 14 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 14 default automobile speed V 14Computing formula is specially: V 14=the near front wheel wheel speed;
The 15 computing unit, be used for when the testing result of described the 11 detecting unit when not being three wheel speeds inefficacies, according to effective wheel speed in described wheel speed controller area network signal, utilize the 15 default automobile speed computing formula, calculate the current speed of a motor vehicle of automobile; Wherein, the 15 default automobile speed V 15Computing formula is specially: V 15=0.
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CN109324600A (en) * 2018-10-08 2019-02-12 南京汽车集团有限公司 A kind of commercial vehicle speed and mileage output system and its output method
CN109490569B (en) * 2018-12-14 2020-05-29 安徽江淮汽车集团股份有限公司 Vehicle speed calculation method
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