CN103523022B - Hybrid vehicle vehicle speed estimation method - Google Patents
Hybrid vehicle vehicle speed estimation method Download PDFInfo
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- CN103523022B CN103523022B CN201310528609.1A CN201310528609A CN103523022B CN 103523022 B CN103523022 B CN 103523022B CN 201310528609 A CN201310528609 A CN 201310528609A CN 103523022 B CN103523022 B CN 103523022B
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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
- 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
- B60W40/105—Speed
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The invention discloses a kind of hybrid vehicle vehicle speed estimation method, when solving existing speed of a motor vehicle algorithm for estimating owing to adopting limitation in the application that causes of acceleration pick-up and ABS, ESP, TCS effect, wheel slip causes the inaccurate problem of estimation, and this hybrid vehicle vehicle speed estimation method comprises the following steps: step one, signal-obtaining: the wheel speed signal reading the near front wheel of hybrid vehicle, off front wheel, left rear wheel, off hind wheel respectively; Step 2, wheel speed signal converted to corresponding vehicle speed signal; Step 3, speed of a motor vehicle algorithm for estimating are selected: according to wheel speed error condition variable, motor speed error condition variable, the mode of operation variable of TCS, the mode of operation variable of ABS, the mode of operation variable determination speed of a motor vehicle algorithm for estimating of ESP of four wheels; Step 4, when four equal mals of wheel speed detected and drive motor or engine rotational speed signal mal time, the direct given speed of a motor vehicle is zero; Step 5, the calculating speed of a motor vehicle export.
Description
Technical field
The present invention relates to a kind of vehicle speed estimation method, or rather, the present invention relates to a kind of hybrid vehicle vehicle speed estimation method.
Background technology
In recent years, hybrid vehicle causes the extensive concern of auto-domain with the energy saving standard effect of its excellence.
Hybrid vehicle regulates the energy distribution ratio between driving engine and motor by control policy, driving engine is operated in as much as possible and optimizes in region, thus reach the object of energy-conserving and environment-protective.The speed of a motor vehicle is as the important input of in Control Strategy for Hybrid Electric Vehicle, and it is not only related to the switching condition between each mode of operation of hybrid vehicle, and has direct relation with the distribution of power source torque/power under each pattern.Therefore, the accuracy of vehicle speed signal drastically influence the oil-saving effect of hybrid vehicle, and the algorithm for estimating of the speed of a motor vehicle accurately for hybrid vehicle seems particularly important.
Some patents have been had for speed of a motor vehicle algorithm for estimating, if existing China Patent Publication No. is CN101655504A, publication date is on February 24th, 2010, denomination of invention is " a kind of vehicle speed estimation method of motor vehicle self-adaption cruise system ", this invention proposes a kind of vehicle speed estimation method of motor vehicle self-adaption cruise system, with Kalman filter algorithm for core, the measurement signal of wheel speed sensors and longitudinal acceleration sensor is utilized to calculate the speed of a motor vehicle.Chinese patent publication No. is CN102009654A, date of publication is on April 13rd, 2011, denomination of invention is " a kind of longitudinal vehicle speed estimation method of full wheel electro-motive vehicle ", patent is a kind of longitudinal vehicle speed estimation method of full wheel electro-motive vehicle, is mainly and estimates based on the speed of a motor vehicle estimation of Kalman filter space equation structure and the speed of a motor vehicle based on integrated acceleration.Above two kinds of methods all adopt wheel speed sensors to measure wheel speed and then adopt Kalman filtering to process wheel speed signal, also used the method estimation current vehicle speed of acceleration signal integration simultaneously in the speed of a motor vehicle is estimated.Present most vehicle is all equipped with anti-skid brake system ABS(Anti-lockBrakingSystem), therefore directly can read the wheel speed signal after ABS process and then do simple process from ABS, and comparatively complicated kalman filter method need not be adopted; In addition, acceleration pick-up is general only at outfit body electronics stabilization system ESP(ElectronicStabilityProgram) some medium-to-high grade cars are just equipped with, therefore the application of above-mentioned two kinds of methods has certain limitation.
Chinese patent publication No. is CN102539812A, date of publication is on July 4th, 2012, denomination of invention is " a kind of method and apparatus obtaining automobile speed ", the wheel speed signal that this invention utilizes ABS to send, selects one of them to take turns according to the failure conditions of each wheel speed of taking turns or the rotating speed of two wheels carries out speed of a motor vehicle calculating.But ABS, ESP, anti-slip regulation TCS(TractionControlSystem are not considered in this invention) when acting on, wheel slip estimates the impact brought on the speed of a motor vehicle, therefore when also having inaccurate to the estimation of the speed of a motor vehicle.
Summary of the invention
When the object of the invention is to solve existing speed of a motor vehicle algorithm for estimating due to the limitation in the application that adopts acceleration pick-up and cause and ABS, ESP, TCS effect, wheel slip causes the inaccurate problem of estimation, provides a kind of specially for the speed of a motor vehicle algorithm for estimating of hybrid vehicle.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize:
There is provided a kind of hybrid vehicle vehicle speed estimation method, the method comprises the following steps:
Step one, signal-obtaining: the wheel speed signal reading the near front wheel of hybrid vehicle, off front wheel, left rear wheel, off hind wheel respectively;
Step 2, wheel speed signal converted to corresponding vehicle speed signal: if the wheel speed signal that step one reads is the tach signal in units of r/min or r/s, then according to formula v=r ω, in formula, v represents the speed of a motor vehicle, r represents radius of wheel, ω represents angular speed of wheel, and the wheel speed of the near front wheel above-mentioned steps read, off front wheel, left rear wheel, off hind wheel is multiplied with its radius of wheel respectively and obtains the corresponding speed of a motor vehicle; If the wheel speed signal that step one reads is speed signal in units of km/h or m/s, then each wheel speed signal read directly equals the near front wheel, off front wheel, left rear wheel, the speed of a motor vehicle that off hind wheel is corresponding;
Step 3, speed of a motor vehicle algorithm for estimating are selected: according to wheel speed error condition variable, motor speed error condition variable, the mode of operation variable of TCS, the mode of operation variable of ABS, the mode of operation variables choice speed of a motor vehicle algorithm for estimating of ESP of four wheels;
Step 4, when four equal mals of wheel speed detected and drive motor or engine rotational speed signal mal time, cannot carry out speed of a motor vehicle estimation, the direct given speed of a motor vehicle is zero;
Step 5, the calculating speed of a motor vehicle export: in varied situations, adopt above-mentioned different vehicle speed estimation methods to carry out the estimation of the speed of a motor vehicle, the estimation speed of a motor vehicle obtained the most at last exports.
According to a kind of hybrid vehicle vehicle speed estimation method provided by the present invention, described step one comprises the following steps:
1) HCU (Hybridelectricvehiclecontrolunit, hybrid power automobile controller) read the rotating speed of hybrid vehicle four wheels and the error condition of rotating speed from abs controller, obtain the wheel speed error condition variable of the near front wheel, off front wheel, left rear wheel, the wheel speed of off hind wheel and the near front wheel, off front wheel, left rear wheel, off hind wheel;
2) HCU reads engine rotational speed signal and engine speed error condition variable from Engine ECU (Enginecontrolunit, engine controller);
3) HCU reads motor speed signal and motor speed error condition variable from motor ECU;
4) HCU reads the mode of operation of TCS, ABS, ESP respectively from TCS, ABS, ESP controller, obtains the mode of operation variable of TCS, ABS, ESP.
According to a kind of hybrid vehicle vehicle speed estimation method provided by the present invention, described step 3 comprises: according to wheel speed error condition variable, motor speed error condition variable, the mode of operation variable of TCS, the mode of operation variable of ABS, the mode of operation of ESP of the near front wheel, off front wheel, left rear wheel, off hind wheel, selects a kind of method to carry out the speed of a motor vehicle and estimate to calculate from maximum wheel speed method, minimum wheel speed method, average wheel speed method, power source speed method.
According to a kind of hybrid vehicle vehicle speed estimation method provided by the present invention, described step 3 specifically comprises the following steps:
1) maximum wheel speed method: when correct and ABS and ESP of four wheel rotation speed signals signals wherein have at least one enable time, adopt maximum wheel speed method;
2) minimum wheel speed method: when four wheel rotation speed signals signals are correct and TCS is enable, adopt minimum wheel speed method;
3) average wheel speed method: vehicle wheel rotational speed appearance is wrong or TCS, ABS, ESP are all not enable when having at least, and when having at least a vehicle wheel rotational speed normal, adopts average wheel speed method;
4) power source speed method: when four equal mals of wheel speed detected and drive motor and engine rotational speed signal normal time, adopt the speed estimate speed of a motor vehicle of drive motor and driving engine.
According to a kind of hybrid vehicle vehicle speed estimation method provided by the present invention, described average wheel speed method comprises the following steps:
(1) when described hybrid vehicle is f-w-d, first HCU detects four vehicle wheel rotational speed error conditions:
A. when HCU detects that left and right trailing wheel has at least a rotating speed normal, the trailing wheel estimation speed of a motor vehicle is used: when left and right rear wheel rotation speed is all normal, calculate the aviation value that wheel speed gets two trailing wheels; When left rear wheel rotating speed is normal, during off hind wheel rotating speed mal, calculate wheel speed and get left rear wheel rotating speed; When off hind wheel rotating speed is normal, during left rear wheel rotating speed mal, calculate wheel speed and get off hind wheel rotating speed;
B., when HCU detects the equal mal of left and right rear wheel rotation speed, adopt the front-wheel estimation speed of a motor vehicle: when left and right front wheel rotation speed is normal, calculate the aviation value that wheel speed gets two front-wheels; When the near front wheel rotating speed is normal, during off front wheel rotating speed mal, calculate wheel speed and get the near front wheel rotating speed; When off front wheel rotating speed is normal, during the near front wheel rotating speed mal, calculate wheel speed and get off front wheel rotating speed;
(2) when described hybrid vehicle is back-wheel drive, first HCU detects four vehicle wheel rotational speed error conditions:
A. when HCU detects that left and right front-wheel has at least a rotating speed normal, the front-wheel estimation speed of a motor vehicle is used: when left and right front wheel rotation speed is all normal, calculate the aviation value that wheel speed gets two front-wheels; When the near front wheel rotating speed is normal, during off front wheel rotating speed mal, calculate wheel speed and get the near front wheel rotating speed; When off front wheel rotating speed is normal, during the near front wheel rotating speed mal, calculate wheel speed and get off front wheel rotating speed;
B., when HCU detects the equal mal of left and right front wheel rotation speed, adopt the trailing wheel estimation speed of a motor vehicle: when left and right rear wheel rotation speed is normal, calculate the aviation value that wheel speed gets two trailing wheels; When left rear wheel rotating speed is normal, during off hind wheel rotating speed mal, calculate wheel speed and get left rear wheel rotating speed; When off hind wheel rotating speed is normal, during left rear wheel rotating speed mal, calculate wheel speed and get off hind wheel rotating speed;
(3) when described hybrid vehicle is four wheel drive, the average that wheel speed gets the normal wheel speed signal of tach signal is calculated.
According to a kind of hybrid vehicle vehicle speed estimation method provided by the present invention, described power source speed method comprises the following steps:
(1) when driving engine drives separately, wheel speed v
c=r
aveω
e/ i
e; Wherein ω
efor the rotating speed of driving engine, i
efor driving engine under current working is to the transmitting ratio of wheel, r
aveit is the average wheel radius of four wheels;
(2) when motor drives separately, wheel speed v
c=r
aveω
m/ i
m; Wherein ω
mfor the rotating speed of drive motor, i
mfor drive motor under current working is to the transmitting ratio of wheel;
(3), when driving combined by driving engine and motor, the linear combination that rotating speed is expressed as engine speed and drive motor rotating speed is calculated, i.e. v
c=k
er
aveω
e+ k
mr
aveω
m, k
eand k
mbe the parameter relevant to configuration, single shaft parallel architecture and twin shaft parallel architecture hybrid power system can make k
eand k
mone of them is 0.
Compared with prior art the invention has the beneficial effects as follows:
1. because ABS has carried out filtering to wheel speed signal, the wheel speed signal that direct employing reads from ABS carries out speed of a motor vehicle estimation, compared with carrying out Kalman filtering with the tach signal measured wheel speed sensors in existing patent, ensureing the basis effectively processed signal implements more simple.
2. when algorithm considers ABS, ESP, TCS effect, wheel slip estimates the error condition of impact and each wheel rotation speed signals brought to the speed of a motor vehicle, take different algorithms for different situations, under making the situation such as wheel slip and wheel speed signal mistake, correctly can estimate the speed of a motor vehicle.
3., when four wheel speed signals are all abnormal, utilize engine speed and drive motor turn count current vehicle speed, reduce the dependence of speed of a motor vehicle algorithm for estimating to wheel speed signal.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Fig. 1 is the diagram of circuit of the hybrid vehicle vehicle speed estimation method that the present invention proposes;
Fig. 2 is f-w-d configuration average wheel speed method diagram of circuit in the hybrid vehicle vehicle speed estimation method that proposes of the present invention;
Fig. 3 is back-wheel drive configuration average wheel speed method diagram of circuit in the hybrid vehicle vehicle speed estimation method that proposes of the present invention;
Fig. 4 is four wheel drive configuration average wheel speed method diagram of circuit in the hybrid vehicle vehicle speed estimation method that proposes of the present invention;
Fig. 5 is the structural representation of a kind of configuration in the single shaft parallel architecture mentioned in the hybrid vehicle vehicle speed estimation method medium power source engine speed method that proposes of the present invention;
Fig. 6 is the structural representation of a kind of configuration in the series-parallel configuration mentioned in the hybrid vehicle vehicle speed estimation method medium power source engine speed method that proposes of the present invention;
Fig. 7 a-Fig. 7 g is the hybrid vehicle vehicle speed estimation method embodiment speed of a motor vehicle estimated signal figure that the present invention proposes;
Fig. 7 a is the hybrid vehicle vehicle speed estimation method embodiment rear left wheel wheel speed that proposes of the present invention and wheel speed error condition;
Fig. 7 b is the hybrid vehicle vehicle speed estimation method embodiment right rear wheel wheel speed that proposes of the present invention and wheel speed mistake shape;
Fig. 7 c is the hybrid vehicle vehicle speed estimation method embodiment front left wheel wheel speed that proposes of the present invention and wheel speed error condition;
Fig. 7 d is the hybrid vehicle vehicle speed estimation method embodiment right front wheel wheel speed that proposes of the present invention and wheel speed error condition;
Fig. 7 e is the hybrid vehicle vehicle speed estimation method embodiment motor speed that proposes of the present invention and electric machine operation state;
Fig. 7 f is the hybrid vehicle vehicle speed estimation method embodiment E SP mode of operation that the present invention proposes;
Fig. 7 g is the hybrid vehicle vehicle speed estimation method embodiment actual vehicle speed that proposes of the present invention and estimate the speed of a motor vehicle;
In figure: 1. driving engine, 2. elastic coupling, 3. electrical generator, 4. power-transfer clutch, 5. drive motor, 6. transmission shaft, 7. main reduction gear, 8. diff, 9. vehicle frame, 10. off front wheel, 11. right axle shafts, 12. left half axles, 13. the near front wheels, 14. off hind wheels, 15. left rear wheels, 16. chains, 17. sun wheels, 18. satellite gears, 19. gear rings, 20. pinion carriers, 21. sun and planet gears.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is explained in detail:
In the present invention, first, hybrid power automobile controller HCU (Hybridelectricvehiclecontrolunit) from abs controller read the rotating speed of each wheel and each wheel tach signal error condition, to read drive motor rotating speed and drive motor tach signal error condition from drive motor controller MCU (Motorcontrolunit), read engine speed and engine rotational speed signal error condition from engine controller ECU (Enginecontrolunit), read their respective mode of operation from the respective controller of TCS, ABS, ESP.Then, HCU, according to the mode of operation of wheel speed error condition, drive motor rotating speed error condition, engine speed error condition and TCS, ABS, ESP, selects different speed of a motor vehicle algorithm for estimating to estimate the speed of a motor vehicle.
Under different situations, the tach signal based on above-mentioned off front wheel 10, off hind wheel 14, left rear wheel 15, the near front wheel 13, drive motor 5 and driving engine 1 has following four kinds of speed of a motor vehicle algorithm for estimating: maximum wheel speed method, minimum wheel speed method, average wheel speed method and power source speed method.
Consult Fig. 1 hybrid vehicle vehicle speed estimation method of the present invention method to comprise the steps:
1) signal-obtaining
1.1) HCU reads the rotating speed of hybrid vehicle four wheels and the error condition of rotating speed from abs controller, obtain the near front wheel 13, off front wheel 10, left rear wheel 15, off hind wheel 14 wheel speed be respectively ω
lf, ω
rf, ω
lr, ω
rr; The wheel speed error condition variable of the near front wheel 13, off front wheel 10, left rear wheel 15, off hind wheel 14 is respectively ERR
lf, ERR
rf, ERR
lr, ERR
rr.When wheel speed error condition variate-value equals 1, show corresponding wheel speed mistake; When wheel speed error condition variable equals 0, show that corresponding wheel speed is correct.
1.2) HCU reads driving engine 1 tach signal ω from Engine ECU
ewith driving engine 1 rotating speed error condition variable ERR
e.ERR
ewhen=1, show driving engine 1 rotating speed mistake; ERR
ewhen=0, show that driving engine 1 rotating speed does not have mistake.
1.3) HCU reads drive motor 5 tach signal ω from the MCU of drive motor 5
mwith drive motor 5 rotating speed error condition variable ERR
m.ERR
mwhen=1, show drive motor 5 rotating speed mistake; ERR
mwhen=0, show that drive motor 5 rotating speed does not have mistake.
1.4) HCU reads the mode of operation of TCS, ABS, ESP respectively from TCS, ABS, ESP controller, and the mode of operation variable obtaining TCS, ABS, ESP is respectively ACT
tCS, ACT
aBS, ACT
eSP.When mode of operation variable variable equals 1, show under this operating mode, corresponding system works; When mode of operation variable variable equals 0, show under this operating mode, corresponding system does not work.
2) wheel speed signal is converted to corresponding vehicle speed signal
If from the wheel speed signal ω that abs controller reads
lf, ω
rf, ω
lr, ω
rrfor with r/min(or r/s etc.) be the tach signal of unit, then according to formula v=r ω, (v, the speed of a motor vehicle, unit: m/s; R, radius of wheel, unit: m; ω, angular speed of wheel, unit: rad/s; The wheel speed of the near front wheel 13 read in step 1) signal-obtaining, off front wheel 10, left rear wheel 15, off hind wheel 14 is multiplied with its radius of wheel respectively and obtains the corresponding speed of a motor vehicle, be expressed as v
lf, v
rf, v
lr, v
rr; If from the wheel speed signal ω that abs controller reads
lf, ω
rf, ω
lr, ω
rrfor with km/h(or m/s etc.) be the speed signal of unit, then each wheel speed signal read directly equals the speed of a motor vehicle v of the near front wheel 13, off front wheel 10, left rear wheel 15, off hind wheel 14 correspondence
lf, v
rf, v
lr, v
rr.
3) speed of a motor vehicle algorithm for estimating is selected
According to the wheel speed error condition variable ERR of four wheels
lf, ERR
rf, ERR
lr, ERR
rr, drive motor 5 rotating speed error condition variable ERR
m, TCS mode of operation variables A CT
tCS, ABS mode of operation variables A CT
aBS, ESP mode of operation variables A CT
eSPdetermine speed of a motor vehicle algorithm for estimating.
A) maximum wheel speed method
When four wheel rotation speed signals signals correct (namely the value of four wheel wheel speed error condition variablees is 0) and ABS and ESP wherein have at least one enable time, adopt maximum wheel speed method, namely work as ERR
lf=0 & & ERR
rf=0 & & ERR
lr=0 & & ERR
rr=0 & & (ACT
aBS=1||ACT
eSP=1), time, speed of a motor vehicle v is calculated
c=max(v
lf, v
rf, v
lr, v
rr);
B) minimum wheel speed method
When four wheel rotation speed signals signals are correct and TCS is enable, adopt minimum wheel speed method, namely work as ERR
lf=0 & & ERR
rf=0 & & ERR
lr=0 & & ERR
rr=0 & & ACT
tCSwhen=1, calculate speed of a motor vehicle v
c=min(v
lf, v
rf, v
lr, v
rr);
C) average wheel speed method
When having one at least, vehicle wheel rotational speed appearance is wrong or TCS, ABS, ESP are all not enable, and when having at least a vehicle wheel rotational speed normal, adopts average wheel speed method, namely as [(ERR
lf=1||ERR
rf=1||ERR
lr=1||ERR
rr=1) || (ACT
tCS=0 & & ACT
aBS=0 & & ACT
eSP=0)] & & [! (ERR
lf=1 & & ERR
rf=1 & & ERR
lr=1 & & ERR
rr=1), time], speed of a motor vehicle v is calculated
c=v
ave, v
avefor considering the speed of a motor vehicle that average wheel speed that wheel speed error condition is calculated is corresponding, its concrete method for solving is as follows:
When adopting average wheel speed method to estimate the speed of a motor vehicle, estimate to bring error to the speed of a motor vehicle for avoiding the slippage of drive wheel and trackslipping, the preferential rotating speed of non-driving wheel that adopts is as calculating wheel speed.
C1) when described hybrid vehicle is f-w-d, processing method is as follows:
(1) first HCU detects four vehicle wheel rotational speed error conditions, and when left rear wheel 15 being detected, off hind wheel 14 is when having at least a rotating speed normal, uses the trailing wheel estimation speed of a motor vehicle.When left rear wheel 15, off hind wheel 14 rotating speed are all normal, calculate the aviation value that wheel speed gets two trailing wheels, namely work as ERR
lr=0 & & ERR
rrwhen=0, v
c=(v
lr+ v
rr)/2; When left rear wheel 15 rotating speed is normal, during off hind wheel 14 rotating speed mal, calculate wheel speed and get left rear wheel 15 rotating speed, namely work as ERR
lr=0 & & ERR
rrwhen=1, v
c=v
lr; When off hind wheel 14 rotating speed is normal, during left rear wheel 15 rotating speed mal, calculate wheel speed and get off hind wheel 14 rotating speed, namely work as ERR
lr=1 & & ERR
rrwhen=0, v
c=v
rr;
(2) when HCU detects the equal mal of left rear wheel 15, off hind wheel 14 rotating speed, the front-wheel estimation speed of a motor vehicle is adopted.When the near front wheel 13, off front wheel 10 rotating speed are normal, calculate the aviation value that wheel speed gets two front-wheels, namely work as ERR
lf=0 & & ERR
rf=0 & & ERR
lr=1 & & ERR
rrwhen=1, v
c=(v
lf+ v
rf)/2; When the near front wheel 13 rotating speed is normal, during off front wheel 10 rotating speed mal, calculate wheel speed and get the near front wheel 13 rotating speed, namely work as ERR
lf=0 & & ERR
rf=1 & & ERR
lr=1 & & ERR
rrwhen=1, v
c=v
lf; When off front wheel 13 rotating speed is normal, during the near front wheel rotating speed mal, calculate wheel speed and get off front wheel 13 rotating speed, namely work as ERR
lf=1 & & ERR
rf=0 & & ERR
lr=1 & & ERR
rrwhen=1, v
c=v
rf;
C2) when described hybrid vehicle is back-wheel drive, processing method is as follows:
(1) first HCU detects four vehicle wheel rotational speed error conditions.When the near front wheel 13, off front wheel 10 rotating speed are normal, calculate the aviation value that wheel speed gets two front-wheels, namely work as ERR
lf=0||ERR
rfwhen=0, v
c=(v
lf+ v
rf)/2; When the near front wheel 13 rotating speed is normal, during off front wheel 10 rotating speed mal, calculate wheel speed and get the near front wheel 13 rotating speed, namely work as ERR
lf=0 & & ERR
rfwhen=1, v
c=v
lf; When off front wheel 10 rotating speed is normal, during the near front wheel 13 rotating speed mal, calculate wheel speed and get off front wheel 10 rotating speed, namely work as ERR
lf=1 & & ERR
rfwhen=0, v
c=v
rf;
(2) when HCU detects the equal mal of the near front wheel 13, off front wheel 10 rotating speed, the trailing wheel estimation speed of a motor vehicle is adopted.When left rear wheel 15, off hind wheel 14 rotating speed are all normal, calculate the aviation value that wheel speed gets two trailing wheels, namely work as ERR
lf=1 & & ERR
rf=1 & & ERR
lr=0 & & ERR
rrwhen=0, v
c=(v
lr+ v
rr)/2; When left rear wheel 15 rotating speed is normal, during off hind wheel 14 rotating speed mal, calculate wheel speed and get left rear wheel 15 rotating speed, namely work as ERR
lf=1 & & ERR
rf=1 & & ERR
lr=0 & & ERR
rrwhen=1, v
c=v
lr; When off hind wheel 14 rotating speed is normal, during left rear wheel 15 rotating speed mal, calculate wheel speed and get off hind wheel 14 rotating speed, namely work as ERR
lf=1 & & ERR
rf=1 & & ERR
lr=1 & & ERR
rrwhen=0, v
c=v
rr;
C3) when described hybrid vehicle is four wheel drive, processing method is as follows:
Calculate the average that wheel speed gets the normal wheel speed signal of tach signal.Namely ERR is worked as
lf=0 & & ERR
rf=0 & & ERR
lr=0 & & ERR
rrwhen=0, v
c=(v
lf+ v
rf+ v
lr+ v
rr)/4; Work as ERR
lf=1 & & ERR
rf=0 & & ERR
lr=0 & & ERR
rrwhen=0, v
c=(v
rf+ v
lr+ v
rr)/3; Work as ERR
lf=0 & & ERR
rf=1 & & ERR
lr=0 & & ERR
rrwhen=0, v
c=(v
lf+ v
lr+ v
rr)/3; Work as ERR
lf=0 & & ERR
rf=0 & & ERR
lr=1 & & ERR
rrwhen=0, v
c=(v
lf+ v
rf+ v
rr)/3; Work as ERR
lf=0 & & ERR
rf=0 & & ERR
lr=0 & & ERR
rrwhen=1, v
c=(v
lf+ v
rf+ v
lr)/3; Work as ERR
lf=1 & & ERR
rf=1 & & ERR
lr=0 & & ERR
rrwhen=0, v
c=(v
lr+ v
rr)/2; Work as ERR
lf=1 & & ERR
rf=0 & & ERR
lr=1 & & ERR
rrwhen=0, v
c=(v
rf+ v
rr)/2; Work as ERR
lf=1 & & ERR
rf=0 & & ERR
lr=0 & & ERR
rrwhen=1, v
c=(v
rf+ v
lr)/2; Work as ERR
lf=0 & & ERR
rf=1 & & ERR
lr=1 & & ERR
rrwhen=0, v
c=(v
lf+ v
rr)/2; Work as ERR
lf=0 & & ERR
rf=1 & & ERR
lr=0 & & ERR
rrwhen=1, v
c=(v
lf+ v
lr)/2; Work as ERR
lf=0 & & ERR
rf=0 & & ERR
lr=1 & & ERR
rrwhen=1, v
c=(v
lf+ v
rf)/2; Work as ERR
lf=0 & & ERR
rf=1 & & ERR
lr=1 & & ERR
rrwhen=1, v
c=v
lf; Work as ERR
lf=1 & & ERR
rf=0 & & ERR
lr=1 & & ERR
rrwhen=1, v
c=v
rf; Work as ERR
lf=1 & & ERR
rf=1 & & ERR
lr=0 & & ERR
rrwhen=1, v
c=v
lr; Work as ERR
lf=1 & & ERR
rf=1 & & ERR
lr=1 & & ERR
rrwhen=0, v
c=v
rr;
D) power source speed method
When four equal mals of wheel speed detected and drive motor 5 and driving engine 1 tach signal normal time, i.e. ERR
lf=1 & & ERR
rf=1 & & ERR
lr=1 & & ERR
rr=1 & & ERR
m=0 & & ERR
e=0, adopt the speed estimate speed of a motor vehicle of drive motor 5 and driving engine 1.
During hybrid vehicle work, according to the difference of mode of operation, can have that driving engine 1 drives separately, drive motor 5 drives separately, driving engine 1 and drive motor 5 combine several form of driving.Wherein, when driving engine 1 drives separately, v
c=r
aveω
e/ i
e; Wherein ω
efor the rotating speed of driving engine 1, i
efor driving engine under current working 1 is to the transmitting ratio of wheel, r
aveit is the average wheel radius of four wheels.When drive motor 5 drives separately, v
c=r
aveω
m/ i
m; Wherein ω
mfor the rotating speed of drive motor 5, i
mfor drive motor under current working 5 is to the transmitting ratio of wheel.When driving engine 1 and drive motor 5 combine driving, calculate the linear combination that rotating speed one is expressed as driving engine 1 rotating speed and drive motor 5 rotating speed surely, i.e. v
c=k
er
aveω
e+ k
mr
aveω
m, k
eand k
mthe parameter relevant to configuration.Single shaft parallel architecture and twin shaft parallel architecture can make k
eand k
mone of them is 0; For the single-axle parallel hybrid system configuration of Five continents dragon company, consult Fig. 5, when combining drive pattern, driving engine 1 is fixedly connected with electrical generator 3 by elastic coupling 2, electrical generator 3 is connected with drive motor 5 by power-transfer clutch 4, and last drive motor 5 to be connected with main reduction gear 7 by power-transfer clutch 4 power is delivered to the near front wheel 13 or off front wheel 10 via diff 8, left half axle 12 or right axle shaft 11.According to Fig. 5 configuration, k
e=0, k
mfor main reduction gear 9 speed ratio i
0inverse, namely have v
c=r
aveω
m/ i
0; Because driving engine 1 is coaxial with drive motor 5, also k can be made
m=0, k
efor main reduction gear 9 speed ratio i
0inverse, have v
c=r
aveω
e/ i
0.Adopt satellite gear as the configuration of dynamic coupling device, k
eand k
mthe input and output of determination reference line star-wheel power coupler between rotation speed relation.With the THS(ToyotaHybridSystem that the Prius vehicle of the first generation uses, Toyota's hybrid power system) be configured as example, consult Fig. 6, the annexation of THS configuration is summarized as follows: sun wheel 17 and electrical generator 3 are connected; Driving engine 1 is connected with the pinion carrier 20 in sun and planet gear 21; Driving engine 1 passes through satellite gear 18 by transmission of power to gear ring 19 and sun wheel 17; Gear ring 19 and drive motor 5 are connected, and meanwhile, gear ring 19 is also connected by chain 16 and main reduction gear 7; The output speed ω of THS system can be obtained according to the rotation speed relation of planetary gear construction
out=ω
e(1+k)/k-ω
m/ k; Wherein ω
mfor the rotating speed of electrical generator 3, the number of teeth of the number of teeth/sun wheel of k gear ring.The approach application that the present invention is proposed when the THS configuration, k
m=1/ (ki), k
e=(1+k)/(ki), namely has v
c=r
aveω
out/ i=r
aveω
e(1+k)/(ki)-r
aveω
m/ (ki), i are total transmitting ratio of chain drive and main reduction gear.
4) when four equal mals of wheel speed detected and drive motor 5 or driving engine 1 tach signal mal time, i.e. ERR
lf=1 & & ERR
rf=1 & & ERR
lr=1 & & ERR
rr=1 & & (ERR
m=1 & & ERR
e=1), cannot carry out speed of a motor vehicle estimation, for preventing Peril Incident, the direct given speed of a motor vehicle is zero, i.e. v
c=0.
5) calculate the speed of a motor vehicle to export
In varied situations, the estimation that speed of a motor vehicle algorithm for estimating will adopt above-mentioned different vehicle speed estimation methods to carry out the speed of a motor vehicle, the estimation speed of a motor vehicle v obtained the most at last
cexport.
In embodiment, hybrid vehicle configuration as shown in Figure 5, when electric-only mode, power-transfer clutch 4 is separated, drive motor 5 is connected with main reduction gear 7 by transmission shaft 6, power is delivered to left half axle 12 and right axle shaft 11 respectively via diff 8, is finally delivered to the near front wheel 13 and off front wheel 10 accordingly.When driving engine drives separately or combines drive pattern, driving engine 1 is fixedly connected with electrical generator 3 by elastic coupling 2, electrical generator 3 is connected with drive motor 5 by power-transfer clutch 4, last drive motor 5 to be connected with main reduction gear 7 by power-transfer clutch 4 power is delivered to left half axle 12 and right axle shaft 11 respectively via diff 8, is finally delivered to the near front wheel 13 and off front wheel 10 accordingly.
According to configuration feature, this car engine can disconnect due to being separated of power-transfer clutch with front-wheel, and drive motor 5 is connected with trailing wheel all the time, therefore in power source speed method, adopt the turn count speed of a motor vehicle of drive motor 5.
Consider the situation of the wheel speed signal mistake that cannot obtain four wheels at short notice on real vehicle truly, and in test on real vehicle, carry out direct fault location to wheel speed signal and drive motor 5 tach signal artificially and have difficulties and have certain danger, therefore the present embodiment adopts off-line test to verify hybrid vehicle vehicle speed estimation method of the present invention.Concrete grammar is as follows:
1) signal-obtaining
First, by real steering vectors, adopt CANanalyzer read and record the wheel speed signal ω of four wheels
lf, ω
rf, ω
lr, ω
rr, drive motor 5 tach signal ω
m, ESP working state signal ACT
eSPwith actual vehicle speed signal v.
Then, direct fault location is carried out artificially.Specific implementation method is: given the near front wheel 13 wheel speed error condition variable ERR after 280s
lfbe 1, given off front wheel 10 wheel speed error condition variable ERR after 250s
rfbe 1, given left rear wheel 15 wheel speed error condition variable ERR after 350s
lrbe 1, given off hind wheel 14 wheel speed error condition variable ERR after 300s
rrbe 1, at 370s rear drive motor 5 rotating speed error condition variable ERR
mbe 1.
2) wheel speed signal converts the corresponding speed of a motor vehicle to
Due in this example from abs controller read wheel speed signal ω
lf, ω
rf, ω
lr, ω
rrfor the speed signal in units of km/h, therefore each wheel speed signal read directly equals the speed of a motor vehicle v of the near front wheel 13, off front wheel 10, left rear wheel 15, off hind wheel 14 correspondence
lf, v
rf, v
lr, v
rr.
The speed of a motor vehicle, the rotating speed error condition of each wheel and the working state signal of ESP that the tach signal of each wheel is corresponding consult Fig. 7.
3) speed of a motor vehicle algorithm for estimating is selected
In this example, according to the wheel speed error condition variable ERR of four wheels
lf, ERR
rf, ERR
lr, ERR
rr, drive motor 5 rotating speed error condition variable ERR
m, ESP mode of operation variables A CT
eSPdetermine speed of a motor vehicle algorithm for estimating.
Consult Fig. 7, in front 250s, the wheel speed signal of four wheels does not all have mistake.Therefore in front 250s, when ESP works, adopt maximum wheel speed method; When ESP does not work, adopt average wheel speed method, because this configuration belongs to back-wheel drive configuration, therefore adopt the aviation value of two front wheel rotation speed to estimate the speed of a motor vehicle.Between 250s to 280s, only there is mistake in off front wheel 10 wheel speed, at this moment adopts the near front wheel 13 wheel speed estimation speed of a motor vehicle.All there is mistake in the near front wheel 13, off front wheel 10 wheel speed between 280s to 300s, and mistake does not all appear in left rear wheel 15, off hind wheel 14 wheel speed, therefore adopt the wheel speed estimation speed of a motor vehicle of two trailing wheels.Between 300s to 350s, not there is mistake in four wheel rotation speed signals only left rear wheel 15 wheel speed signal, therefore adopt the wheel speed of left rear wheel 15 to estimate the speed of a motor vehicle.Between 350s to 370s, all there is mistake in the wheel speed of four wheels, and drive motor 5 tach signal is not made mistakes, therefore adopt power source speed method, adopts the turn count speed of a motor vehicle of drive motor 5.All occur mistake at the wheel speed signal of 370s to 400s four wheels, the tach signal of drive motor 5, at this moment cannot carry out the effective and reasonable speed of a motor vehicle and estimate, for guaranteeing safety, the given estimation speed of a motor vehicle is 0.
The comparison diagram of the actual vehicle speed finally obtained and the estimation speed of a motor vehicle consults Fig. 7. add up the data can effectively carried out in the time period 0-370s of speed of a motor vehicle estimation, the estimation vehicle speed data relative error of 92.7% is below 5%, and the estimation vehicle speed data relative error of 96.8% is below 10%.Therefore the hybrid vehicle vehicle speed estimation method that the present invention proposes not only is implemented simple but also can be ensured the accuracy that the speed of a motor vehicle is estimated.
Claims (6)
1. a hybrid vehicle vehicle speed estimation method, is characterized in that, the method comprises the following steps:
Step one, signal-obtaining: the wheel speed signal reading the near front wheel (13) of hybrid vehicle, off front wheel (10), left rear wheel (15), off hind wheel (14) respectively;
Step 2, wheel speed signal converted to corresponding vehicle speed signal: if the wheel speed signal that step one reads is the tach signal in units of r/min or r/s, then according to formula v=r ω, in formula, v represents the speed of a motor vehicle, unit: m/s; R represents radius of wheel, unit: m; ω represents angular speed of wheel, unit: rad/s; The wheel speed of the near front wheel (13) above-mentioned steps read, off front wheel (10), left rear wheel (15), off hind wheel (14) is multiplied with its radius of wheel respectively and obtains the corresponding speed of a motor vehicle; If the wheel speed signal that step one reads is the speed signal in units of km/h or m/s, then each wheel speed signal read directly equals the speed of a motor vehicle of the near front wheel (13), off front wheel (10), left rear wheel (15), off hind wheel (14) correspondence;
Step 3, speed of a motor vehicle algorithm for estimating are selected: according to wheel speed error condition variable, drive motor (5) rotating speed error condition variable, the mode of operation variable of anti-slip regulation TCS, the mode of operation variable of anti-skid brake system ABS, the mode of operation variables choice speed of a motor vehicle algorithm for estimating of body electronics stabilization system ESP of four wheels (10,13,14,15);
Step 4, when detect the wheel speed error condition variable of four wheels (10,13,14,15) all determine wheel speed mistake and the rotating speed error condition variable of drive motor (5) or driving engine (1) also judgement place rotating speed mistake time, namely the equal mal of wheel speed of four wheels (10,13,14,15) and drive motor (5) or driving engine (1) tach signal mal time, cannot carry out speed of a motor vehicle estimation, the direct given speed of a motor vehicle is zero;
Step 5, the calculating speed of a motor vehicle export: in varied situations, adopt the speed of a motor vehicle algorithm for estimating selected by described step 3 to carry out the estimation of the speed of a motor vehicle, the estimation speed of a motor vehicle obtained the most at last exports.
2. a kind of hybrid vehicle vehicle speed estimation method as claimed in claim 1, is characterized in that, described step one signal-obtaining comprises the following steps:
1) hybrid power automobile controller HCU reads the rotating speed of hybrid vehicle four wheels and the error condition of rotating speed from abs controller, obtains the wheel speed error condition variable of the near front wheel (13), off front wheel (10), left rear wheel (15), the wheel speed of off hind wheel (14) and the near front wheel (13), off front wheel (10), left rear wheel (15), off hind wheel (14);
2) HCU reads driving engine (1) tach signal and engine speed error condition variable from engine controller ECU;
3) HCU reads drive motor (5) tach signal and drive motor (5) rotating speed error condition variable from the electric machine controller MCU of drive motor (5);
4) HCU reads the mode of operation of TCS, ABS, ESP respectively from TCS, ABS, ESP controller, obtains the mode of operation variable of TCS, ABS, ESP.
3. a kind of hybrid vehicle vehicle speed estimation method as claimed in claim 1, it is characterized in that, described step 3 speed of a motor vehicle algorithm for estimating is selected to comprise: according to wheel speed error condition variable, drive motor (5) rotating speed error condition variable, the mode of operation variable of TCS, the mode of operation variable of ABS, the mode of operation of ESP of the near front wheel (13), off front wheel (10), left rear wheel (15), off hind wheel (14), selects a kind of method to carry out the speed of a motor vehicle and estimate to calculate from maximum wheel speed method, minimum wheel speed method, average wheel speed method, power source speed method.
4. a kind of hybrid vehicle vehicle speed estimation method as claimed in claim 3, it is characterized in that, describedly from maximum wheel speed method, minimum wheel speed method, average wheel speed method, power source speed method, select a kind of method to carry out the speed of a motor vehicle estimate to calculate and specifically comprise the following steps:
1) maximum wheel speed method: when correct and ABS and ESP of four wheel rotation speed signals signals wherein have at least one enable time, adopt maximum wheel speed method;
2) minimum wheel speed method: when four wheel rotation speed signals signals are correct and TCS is enable, adopt minimum wheel speed method;
3) average wheel speed method: vehicle wheel rotational speed appearance is wrong or TCS, ABS, ESP are all not enable when having at least, and when having at least a vehicle wheel rotational speed normal, adopts average wheel speed method;
4) power source speed method: when four equal mals of wheel speed detected and drive motor (5) and driving engine (1) tach signal normal time, adopt drive motor (5) and the speed estimate speed of a motor vehicle of driving engine (1).
5. a kind of hybrid vehicle vehicle speed estimation method as claimed in claim 4, is characterized in that, described average wheel speed method comprises the following steps:
(1) when described hybrid vehicle is f-w-d, first HCU detects four vehicle wheel rotational speed error conditions:
A. when HCU detects that left and right trailing wheel has at least a rotating speed normal, the trailing wheel estimation speed of a motor vehicle is used: when left and right rear wheel rotation speed is all normal, calculate the aviation value that wheel speed gets two trailing wheels; When left rear wheel (15) rotating speed is normal, during off hind wheel (14) rotating speed mal, calculate wheel speed and get left rear wheel (15) rotating speed; When off hind wheel (14) rotating speed is normal, during left rear wheel (15) rotating speed mal, calculate wheel speed and get off hind wheel (14) rotating speed;
B., when HCU detects the equal mal of left and right rear wheel rotation speed, adopt the front-wheel estimation speed of a motor vehicle: when left and right front wheel rotation speed is normal, calculate the aviation value that wheel speed gets two front-wheels; When the near front wheel (13) rotating speed is normal, during off front wheel (10) rotating speed mal, calculate wheel speed and get the near front wheel (13) rotating speed; When off front wheel (10) rotating speed is normal, during the near front wheel (13) rotating speed mal, calculate wheel speed and get off front wheel (10) rotating speed;
(2) when described hybrid vehicle is back-wheel drive, first HCU detects four vehicle wheel rotational speed error conditions:
A. when HCU detects that left and right front-wheel has at least a rotating speed normal, the front-wheel estimation speed of a motor vehicle is used: when left and right front wheel rotation speed is all normal, calculate the aviation value that wheel speed gets two front-wheels; When the near front wheel (13) rotating speed is normal, during off front wheel (10) rotating speed mal, calculate wheel speed and get the near front wheel (13) rotating speed; When off front wheel (10) rotating speed is normal, during the near front wheel (13) rotating speed mal, calculate wheel speed and get off front wheel (10) rotating speed;
B., when HCU detects the equal mal of left and right front wheel rotation speed, adopt the trailing wheel estimation speed of a motor vehicle: when left and right rear wheel rotation speed is normal, calculate the aviation value that wheel speed gets two trailing wheels; When left rear wheel (15) rotating speed is normal, during off hind wheel (14) rotating speed mal, calculate wheel speed and get left rear wheel (15) rotating speed; When off hind wheel (14) rotating speed is normal, during left rear wheel (15) rotating speed mal, calculate wheel speed and get off hind wheel (14) rotating speed;
(3) when described hybrid vehicle is four wheel drive, the average that wheel speed gets the normal wheel speed signal of tach signal is calculated.
6. a kind of hybrid vehicle vehicle speed estimation method as claimed in claim 4, is characterized in that, described power source speed method comprises the following steps:
(1) when driving engine (1) drives separately, wheel speed v
c=r
aveω
e/ i
e; Wherein ω
efor the rotating speed of driving engine, i
efor driving engine under current working is to the transmitting ratio of wheel, r
aveit is the average wheel radius of four wheels;
(2) when drive motor (5) drives separately, wheel speed v
c=r
aveω
m/ i
m; Wherein ω
mfor the rotating speed of drive motor (5), i
mfor drive motor under current working is to the transmitting ratio of wheel;
(3) when driving engine (1) and drive motor (5) combine driving, the linear combination that rotating speed is expressed as driving engine (1) rotating speed and drive motor (5) rotating speed is calculated, i.e. v
c=k
er
aveω
e+ k
mr
aveω
m, k
eand k
mbe the parameter relevant to configuration, single shaft parallel architecture and twin shaft parallel architecture hybrid power system can make k
eand k
mone of them is 0.
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| CN104527458B (en) * | 2014-12-10 | 2017-09-08 | 北京航天发射技术研究所 | Many wheel independent drive electric vehicle slip control methods |
| KR101822907B1 (en) * | 2016-08-16 | 2018-01-30 | 엠텍비젼 주식회사 | Method and device for calculating driving speed, and driver state monitoring system having driving speed calculation unit |
| CN108116417A (en) * | 2016-11-30 | 2018-06-05 | 南京市比亚迪汽车有限公司 | Electric bus and automobile speedestimate method and apparatus |
| CN107264287A (en) * | 2017-06-29 | 2017-10-20 | 北京新能源汽车股份有限公司 | Vehicle speed measurement method and device based on electric vehicle |
| CN107600074B (en) * | 2017-07-14 | 2019-11-22 | 北汽福田汽车股份有限公司 | Vehicle speed measurement method and device |
| CN107618511B (en) * | 2017-07-27 | 2019-11-22 | 宝沃汽车（中国）有限公司 | Speed calculation method, system and the vehicle of electric car |
| CN109307782B (en) * | 2017-07-28 | 2020-10-27 | 华创车电技术中心股份有限公司 | Vehicle speed estimation device, vehicle speed estimation method, and computer readable medium |
| CN107554529B (en) * | 2017-08-24 | 2020-05-05 | 安徽江淮汽车集团股份有限公司 | Method and system for calculating vehicle speed of commercial vehicle |
| CN108340830A (en) * | 2018-03-06 | 2018-07-31 | 威马智慧出行科技（上海）有限公司 | The control method and system of electric vehicle and its Brake lamp |
| CN108639060B (en) * | 2018-06-27 | 2020-03-06 | 北京新能源汽车股份有限公司 | Vehicle speed determination method and device and vehicle |
| CN109130874B (en) * | 2018-10-17 | 2021-12-03 | 奇瑞新能源汽车股份有限公司 | Braking energy recovery control system of electric automobile and control method thereof |
| CN109572707B (en) * | 2018-11-26 | 2020-01-31 | 吉林大学 | longitudinal vehicle speed estimation method for multi-wheel distributed electric drive system |
| CN109991438B (en) * | 2019-03-26 | 2021-12-07 | 武汉理工大学 | Method and device for eliminating angular speed measurement error of automobile gear ring |
| CN111762138B (en) * | 2020-07-02 | 2022-03-11 | 南京汽车集团有限公司 | Commercial vehicle wheel speed signal checking method |
| CN112319493B (en) * | 2020-11-17 | 2022-06-14 | 北京三快在线科技有限公司 | Vehicle speed determination method and device, storage medium and vehicle |
| CN113147406B (en) * | 2021-05-31 | 2022-04-29 | 岚图汽车科技有限公司 | Method and system for processing speed fault of electric vehicle and computer storage medium |
| CN113635908B (en) * | 2021-08-30 | 2023-11-14 | 中国第一汽车股份有限公司 | Vehicle and vehicle speed estimation method and device thereof |
| CN114435377B (en) * | 2022-02-25 | 2024-05-24 | 广汽埃安新能源汽车有限公司 | Method and device for acquiring reference vehicle speed, electronic equipment and storage medium |
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| CN201193013Y (en) * | 2008-04-25 | 2009-02-11 | 浙江亚太机电股份有限公司 | Electric-control unit of electric mechanical brake system |
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