CN107878463A

CN107878463A - The determination method and apparatus of speed

Info

Publication number: CN107878463A
Application number: CN201610875103.1A
Authority: CN
Inventors: 方海积; 廖银生; 赵高明; 倪超; 汪虹
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2016-09-30
Filing date: 2016-09-30
Publication date: 2018-04-06
Anticipated expiration: 2036-09-30
Also published as: CN107878463B

Abstract

This disclosure relates to a kind of determination method and apparatus of speed, this method include：By obtaining N number of wheel speed signal corresponding to N number of wheel of vehicle, and longitudinal acceleration, the operating mode acquisition further according to vehicle refers to wheel speed to obtain wheel acceleration；Afterwards according to wheel acceleration and the difference of longitudinal acceleration, and during the condition of default acceleration difference threshold determination satisfaction prediction skidding, start to carry out fixed cycle integration to difference；Then judge whether the vehicle enters full wheel slipping state according to the current integration value and difference of difference；And when confirming that vehicle is introduced into full wheel slipping state, the speed of the vehicle is determined according to reference speed, when confirming that vehicle enters full wheel slipping state, the speed of vehicle is determined according to the integrated value of longitudinal acceleration.Prior art be can solve the problem that due to ground complexity and caused by calculated distortion problem, improve the degree of accuracy that speed calculates.

Description

The determination method and apparatus of speed

Technical field

This disclosure relates to technical field of vehicle, more particularly to a kind of determination method and apparatus of speed.

Background technology

The speed of vehicle is the essential parameter information to vehicle state analysis, when obtaining the speed of vehicle, is needed With reference to information such as vehicle working condition, road conditions, vehicle performances, accurate speed result can be just accessed.In a kind of prior art In, angular speed of wheel is calculated according to the wheel speed signal of each wheel first, while judge the affiliated operating mode of vehicle, then using dynamic tiltedly Reference speed under the corresponding operating mode of rate updating method estimation, further according to the reference speed of each wheel estimated, with reference to vehicle working condition Obtain reference speed.But the dynamic slope updating method used by above-mentioned technology, its dynamic slope have very to ground characteristics Strong dependence, can intricately cause result distortion under condition, and for a long time using integration speed is carried out estimation can produce compared with Big accumulated error.

The content of the invention

The disclosure is in order to overcome above mentioned problem, there is provided a kind of determination method and apparatus of speed.

According to the first aspect of the embodiment of the present disclosure, there is provided a kind of determination method of speed, methods described include：

Obtain corresponding N number of wheel speed signal of N number of wheel of vehicle, and the longitudinal acceleration of the vehicle；

Selected in N number of wheel speed signal to refer to wheel speed according to the operating mode of the vehicle；

Wheel acceleration is obtained according to the reference wheel speed with reference to wheel speed and last acquisition；

Determined according to the wheel acceleration and the difference of the longitudinal acceleration, and default acceleration difference threshold When meeting the condition that prediction is skidded, start to carry out fixed cycle integration to the difference；

Judge whether the vehicle enters full wheel slipping state according to the current integration value of the difference and the difference；

When confirming that the vehicle is introduced into full wheel slipping state, the car of the vehicle is determined according to the reference speed Speed, when confirming that the vehicle enters full wheel slipping state, the integrated value of the longitudinal acceleration is obtained, and according to the longitudinal direction The integrated value of acceleration determines the speed of the vehicle.

Optionally, the operating mode according to the vehicle selects to refer to wheel speed in N number of wheel speed signal, including：

In the case where driving operating mode, the minimum value in N number of wheel speed signal is defined as described to refer to wheel speed；

Under damped condition, the maximum in N number of wheel speed signal is defined as described to refer to wheel speed；

Wherein, when accelerator pedal signal is more than zero, the operating mode of the vehicle is the driving operating mode；When the throttle is stepped on When partitioned signal is zero, the operating mode of the vehicle is the damped condition.

Optionally, it is described according to the wheel acceleration and the difference of the longitudinal acceleration, and default acceleration When difference threshold determines to meet the condition of prediction skidding, start to carry out the difference fixed cycle integration, including：

In the case where driving operating mode, the difference is more than the acceleration difference threshold, it is determined that meeting the bar that the prediction is skidded Part；Or

When the difference is less than the acceleration difference threshold under damped condition, it is determined that meeting the bar that the prediction is skidded Part；

When meeting the condition of the prediction skidding, start to carry out fixed cycle integration to the difference；

Wherein, the fixed cycle of the integration is from the first moment to current time, and first moment is described pre- to meet At the time of during the condition that survey is skidded, value of the acceleration difference threshold under the driving operating mode and under the damped condition is not Together.

Optionally, it is described to start to carry out the difference fixed cycle integration, including：

Start to carry out the difference integration from the first moment to the current time；

Wherein, in the case where driving operating mode, during fixed cycle integration is carried out to the difference, if there is the difference No more than the acceleration difference threshold, then the integrated value of the difference is reset, and rejudge whether the difference is more than institute State acceleration difference threshold；Or

It is not small if there is the difference during fixed cycle integration is carried out to the difference under damped condition In the acceleration difference threshold, then the integrated value of the difference is reset, and rejudge whether the difference is more than described add Speed difference thresholding.

Optionally, it is complete to judge whether the vehicle enters for the current integration value and the difference according to the difference Slipping state is taken turns, including：

In the case where driving operating mode, the current integration value of the difference is more than default first integral value thresholding, or in damped condition Under the current integration value of difference when being less than the first integral value thresholding, judge that the vehicle enters full wheel slipping state；

Wherein, the first integral value thresholding is different with the value under the damped condition under the driving operating mode.

Optionally, it is described when confirming that the vehicle is introduced into full wheel slipping state, institute is determined according to the reference speed The speed of vehicle is stated, when confirming that the vehicle enters full wheel slipping state, obtains the integrated value of the longitudinal acceleration, and root The speed of the vehicle is determined according to the integrated value of the longitudinal acceleration, including：

When the vehicle is introduced into full wheel slipping state, the reference speed is subjected to low-pass filtering treatment, and will enter The speed obtained after the row low-pass filtering treatment is defined as the speed of the vehicle；Or

When judging that the vehicle enters full wheel slipping state, the longitudinal acceleration is carried out from the second moment to current The integration at moment, obtain the integrated value of the longitudinal acceleration, the car for the vehicle that second moment obtains for the last time At the time of fast；

The estimation speed of the vehicle is obtained according to the integrated value of the longitudinal acceleration and initial velocity；

The estimation speed is subjected to low-pass filtering treatment, and the speed obtained after the low-pass filtering treatment is true It is set to the speed of the vehicle；And

The integrated value of the difference is reset, restarts to carry out the fixed cycle integration to the difference；Wherein, it is again right The initial time that the difference carries out the fixed cycle integration is current time.

Optionally, when judging that the vehicle enters full wheel slipping state, the integration according to the longitudinal acceleration Value and initial velocity obtain the estimation speed of the vehicle, including：

The speed and speed correction value of the vehicle obtained according to the last time obtain the initial velocity；

The estimation speed of the vehicle is obtained according to the integrated value of the longitudinal acceleration and the initial velocity.

Optionally, the speed of the vehicle obtained according to the last time and speed correction value obtain the initial speed Degree, including：

In the case where driving operating mode, the speed of the last vehicle obtained is subtracted to the result of the speed correction value As the initial velocity；

Under damped condition, using the speed of the last vehicle obtained and the speed correction value sum as The initial velocity.

Optionally, methods described also includes：

The car is judged according to the current integration value of the wheel acceleration, the longitudinal acceleration, and the difference Whether exit full wheel slipping state；

When judging that the vehicle exits full wheel slipping state, by the speed for being defined as the vehicle with reference to wheel speed；

Reset the integrated value of the difference and the integrated value of the longitudinal acceleration.

Optionally, the current integration value according to the wheel acceleration, the longitudinal acceleration, and the difference Judge whether the vehicle exits full wheel slipping state, including：

In the case where driving operating mode, the wheel acceleration is less than the longitudinal acceleration, and the current integration value of the difference is small In default second integral value thresholding, the wheel acceleration is more than the longitudinal acceleration, and the difference under damped condition The current integration value of value is more than the second integral threshold value, judges that the vehicle exits full wheel slipping state；

Wherein, the second integral value thresholding is different with the value under the damped condition under the driving operating mode.

According to the second aspect of the embodiment of the present disclosure, there is provided a kind of determining device of speed, described device include：

Acquisition module, for obtaining N number of wheel speed signal corresponding to N number of wheel of vehicle, and the longitudinal direction of the vehicle Acceleration；

With reference to wheel speed calculation module, selected for the operating mode according to the vehicle in N number of wheel speed signal with reference to wheel Speed；

Wheel acceleration computing module, for obtaining car according to the reference wheel speed with reference to wheel speed and last acquisition Take turns acceleration；

Integration module, for the difference according to the wheel acceleration and the longitudinal acceleration, and default acceleration When spending the condition that difference threshold determination satisfaction prediction is skidded, start to carry out fixed cycle integration to the difference；

Skidding judge module, whether judge the vehicle for the current integration value according to the difference and the difference Into full wheel slipping state；

Speed determining module, for when confirming that the vehicle is introduced into full wheel slipping state, according to the reference speed Determine the speed of the vehicle；For when confirming that the vehicle enters full wheel slipping state, obtaining the longitudinal acceleration Integrated value, and determine according to the integrated value of the longitudinal acceleration speed of the vehicle.

Optionally, it is described to refer to wheel speed calculation module, it is used for：

Optionally, the integration module, including：

Skidding judging submodule, in the case where driving operating mode the difference be more than the acceleration difference threshold, it is determined that full The condition that the foot prediction is skidded；Or

The skidding judging submodule, it is additionally operable to the difference under damped condition and is less than the acceleration difference threshold When, it is determined that meeting the condition that the prediction is skidded；

Integral and calculating submodule, for when meeting the condition of the prediction skidding, starting to carry out the difference fixed week Phase integrates；

Optionally, the integral and calculating submodule, is used for：

Optionally, the skidding judge module, is used for：

Optionally, the speed determining module, including：

Speed determination sub-module, for when the vehicle is introduced into full wheel slipping state, the reference speed to be carried out Low-pass filtering treatment, and the speed obtained after the low-pass filtering treatment is defined as to the speed of the vehicle；Or

The speed determination sub-module, it is additionally operable to when judging that the vehicle enters full wheel slipping state, to the longitudinal direction Acceleration carries out the integration from the second moment to current time, obtains the integrated value of the longitudinal acceleration, second moment At the time of the speed of the vehicle obtained for the last time；

Speed computing module is estimated, the car is obtained for the integrated value according to the longitudinal acceleration and initial velocity Estimation speed；

Filtering process submodule, for the estimation speed to be carried out into low-pass filtering treatment, and the low pass filtered will be carried out The speed obtained after ripple processing is defined as the speed of the vehicle；And

Submodule is reset, for resetting the integrated value of the difference, restarts to carry out the fixed cycle to the difference Integration；Wherein, the initial time for carrying out the fixed cycle integration to the difference again is current time.

Optionally, the estimation speed computing module, including：

Initial velocity acquisition submodule, speed and speed correction value for the vehicle according to last time acquisition obtain The initial velocity；

Speed acquisition submodule is estimated, is obtained for the integrated value according to the longitudinal acceleration and the initial velocity The estimation speed of the vehicle.

Optionally, the initial velocity acquisition submodule, is used for：

Optionally, described device also includes：

Skidding judge module is exited, for according to the wheel acceleration, the longitudinal acceleration, and the difference Current integration value judges whether the vehicle exits full wheel slipping state；

Wheel speed determining module, for when judging that the vehicle exits full wheel slipping state, being determined described with reference to wheel speed For the speed of the vehicle；

Dump block, for resetting the integrated value of the difference and the integrated value of the longitudinal acceleration.

Optionally, it is described to exit skidding judge module, it is used for：

The technical scheme provided by this disclosed embodiment can include the following benefits：

By obtaining N number of wheel speed signal corresponding to N number of wheel of vehicle, and the longitudinal acceleration of the vehicle；With And select to refer to wheel speed in N number of wheel speed signal according to the operating mode of the vehicle；Further according to it is described with reference to wheel speed and on The reference wheel speed once obtained obtains wheel acceleration；Afterwards according to the wheel acceleration and the difference of the longitudinal acceleration Value, and during the condition of default acceleration difference threshold determination satisfaction prediction skidding, start to carry out fixed cycle to the difference Integration；Then judge whether the vehicle enters full wheel skidding shape according to the current integration value of the difference and the difference State；And when confirming that the vehicle is introduced into full wheel slipping state, the speed of the vehicle is determined according to the reference speed, when When confirming that the vehicle enters full wheel slipping state, the integrated value of the longitudinal acceleration is obtained, and accelerate according to the longitudinal direction The integrated value of degree determines the speed of the vehicle.Feelings of the determination method for the speed that the disclosure is provided independent of actual ground Condition, thus can solve the problem that prior art due to ground complexity and caused by calculated distortion problem, and the root in each cycle Speed after being modified according to the speed obtained to the last time is and right as initial velocity when being integrated to longitudinal acceleration The integration that longitudinal acceleration is carried out restarts in each cycle, therefore can avoid utilizing integration pair for a long time Speed is carried out the problem of estimation can produce accumulated error, improves the degree of accuracy that speed calculates.

Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.

It should be appreciated that the general description and following detailed description of the above are only exemplary and explanatory, not The disclosure can be limited.

Brief description of the drawings

Accompanying drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool Body embodiment is used to explain the disclosure together, but does not form the limitation to the disclosure.In the accompanying drawings：

Fig. 1 is a kind of flow chart of the determination method of speed according to an exemplary embodiment；

Fig. 2 is the flow chart of the determination method of another speed according to an exemplary embodiment；

Fig. 3 is a kind of block diagram of the determining device of speed according to an exemplary embodiment；

Fig. 4 is a kind of block diagram of integration module according to embodiment illustrated in fig. 3；

Fig. 5 is a kind of block diagram of speed determining module according to embodiment illustrated in fig. 3；

Fig. 6 is a kind of block diagram of estimation speed computing module according to embodiment illustrated in fig. 5；

Fig. 7 is the block diagram of the determining device of another speed according to an exemplary embodiment.

Embodiment

The embodiment of the disclosure is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched The embodiment stated is merely to illustrate and explained the disclosure, is not limited to the disclosure.

Fig. 1 is a kind of flow chart of the determination method of speed according to an exemplary embodiment, as shown in figure 1, should Evaluation method may comprise steps of：

In a step 101, corresponding N number of wheel speed signal of N number of wheel of vehicle, and the longitudinal direction acceleration of the vehicle are obtained Degree.

Wherein, corresponding N number of wheel speed signal of N number of wheel of the vehicle and longitudinal acceleration are the wheel by vehicle respectively Fast sensor and acceleration transducer collection.Illustratively, N number of wheel can be whole wheels of the vehicle, therefore N number of wheel speed Signal, it can be respectively defined as, Vr1~VrN, its N represents the wheel total number that vehicle is furnished with, and longitudinal acceleration can determine Justice is ax.

In a step 102, selected to refer to wheel speed in N number of wheel speed signal according to the operating mode of the vehicle.

Wherein, due in the control system of new-energy automobile (such as pure electric automobile or mixed electrical automobile), having back Function is presented, therefore it is damped condition that can define when being totally released gas pedal, otherwise to drive operating mode, therefore works as gas pedal When signal is more than zero, the operating mode for determining the vehicle is driving operating mode, and when accelerator pedal signal is zero, the operating mode of the vehicle determines For damped condition.I.e. the Vehicular system can consider in the preferential setting of throttle, as long as therefore have an accelerator pedal signal, just really Recognize vehicle and be in driving operating mode；Otherwise, it is at damped condition.

In addition, it can be included with reference to the method for wheel speed by operating mode selection：In the case where driving operating mode, compare all cars on vehicle The wheel speed signal of wheel, the minimum value Vrmin in N number of wheel speed signal is defined as this and refers to wheel speed；And under damped condition, compare The wheel speed signal of all wheels on vehicle, the maximum Vrmax in N number of wheel speed signal is defined as this and refers to wheel speed.

In step 103, wheel acceleration is obtained with reference to wheel speed and the last reference wheel speed obtained according to this.

Wherein, the acquisition of wheel acceleration can be obtained by the reference wheel speed of two continuous cycles, reference this moment The difference for the reference wheel speed that wheel speed and a upper cycle are obtained, divided by the acquisition cycle of the wheel speed signal are defined as wheel acceleration Degree, and optionally, the wheel acceleration can be obtained more accurately wheel acceleration by LPF, the wheel accelerates Degree can be designated as ar.

At step 104, according to wheel acceleration and the difference of longitudinal acceleration, and default acceleration difference threshold It is determined that when meeting the condition that prediction is skidded, start to carry out fixed cycle integration to the difference.

Wherein, at the time of the first moment of fixed cycle integration is when meeting the condition of prediction skidding.

In step 105, judge whether the vehicle enters full wheel according to the current integration value of the difference and the difference Slipping state.

Wherein, the current integration value of the difference is exactly that the product from above-mentioned the first moment to current time is carried out to the difference The integrated value got.

In step 106, when confirming that the vehicle is introduced into full wheel slipping state, the vehicle is determined according to reference speed Speed, when confirming that the vehicle enters full wheel slipping state, the integrated value of longitudinal acceleration is obtained, and according to longitudinal acceleration Integrated value determines the speed of the vehicle.

In addition, after the speed of the vehicle is obtained, step 101 can be carried out again to 106, so as to carry out next week The speed of phase calculates.Illustratively, the interval between each cycle can be 40ms, so as to be obtained under the conditions of smaller amount of calculation Obtain accurately longitudinal speed.

In summary, situation of the determination method for the speed that the disclosure is provided independent of actual ground, therefore can Prior art is solved the problems, such as due to ground complexity and caused by calculated distortion, improve the degree of accuracy that speed calculates.

Fig. 2 is the flow chart of the determination method of another speed according to an exemplary embodiment, as shown in Fig. 2 The determination method of the speed may comprise steps of：

In step 201, corresponding N number of wheel speed signal of N number of wheel of vehicle, and the longitudinal direction acceleration of the vehicle are obtained Degree.

In step 202, selected to refer to wheel speed in N number of wheel speed signal according to the operating mode of the vehicle.

In step 203, wheel acceleration is obtained with reference to wheel speed and the last reference wheel speed obtained according to this.

The side of step 101- steps 103 in the method and embodiment illustrated in fig. 1 of wherein above-mentioned step 201- steps 203 Method is identical, is all the acquisition by wheel speed signal and vehicle acceleration signal, the car corresponding to calculating under different working conditions Acceleration is taken turns, therefore is referred to step 101- steps 103, is repeated no more.

In step 204, according to wheel acceleration and the difference of longitudinal acceleration, and default acceleration difference threshold Judge whether wheel meets the condition that prediction is skidded.

Wherein, judge whether wheel meets the condition that prediction is skidded, need to be according to wheel acceleration and the difference of longitudinal acceleration Value, and default acceleration difference threshold are judged that this method can include：

When the difference under driving operating mode is more than acceleration difference threshold, it is determined that meeting the condition that the prediction is skidded；Or When the difference is less than acceleration difference threshold under damped condition, it is determined that meeting the condition that the prediction is skidded.

Illustratively, the acceleration difference threshold be for judge vehicle whether the threshold value that can be skidded, by by difference with The acceleration difference door contrasts, and after confirming that condition that prediction is skidded meets, judges that vehicle may start to skid, and then under continuing The operation of one step 205.If being unsatisfactory for the condition of prediction skidding, illustrate vehicle smooth ride, do not occur skidding can Can, therefore come back in the obtaining step most started, new data are waited, re-start judgement, until meeting that prediction is skidded Condition be further continued in next step.

In step 205, when meeting the condition of prediction skidding, start to carry out fixed cycle integration to the difference.Wherein, should The fixed cycle of integration be from the first moment to current time, first moment be meet it is described prediction skid condition when when Carve, and the acceleration difference threshold is different with the value under damped condition in the case where driving operating mode.

Illustratively, the threshold value of wheel acceleration ar and longitudinal acceleration ax difference, i.e., above-mentioned acceleration can be defined Degree difference threshold is A.In the case where driving operating mode, A span could be arranged to 0.5m/s²To 1m/s²Between；In damped condition Under, A span could be arranged to -0.5m/s²To -1m/s²Between.In the case where driving operating mode, work as ar-ax>During A, you can judge Meet the condition that the prediction is skidded, therefore start to carry out fixed cycle integration to ar and ax difference, and define above-mentioned ar and ax The integrated value of difference is S, you can be expressed as S=∫ (ar-ax) dt.Under damped condition, work as ar-ax<During A, it can be identified that Meet the condition that the prediction is skidded, so as to which the difference started to ar and ax carries out fixed cycle integration, can also define ar's and ax The integrated value of difference is S, can be expressed as S=∫ (ar-ax) dt.It is complete that the integrated value S of the difference can be used as subsequent step to judge Take turns the condition skidded.

In addition, it is noted that during carrying out carrying out fixed cycle integration to the difference, can also include following Step：

In the case where driving operating mode, during fixed cycle integration is carried out to the difference, it is not more than if there is the difference and adds Speed difference thresholding, then reset the integrated value of the difference, and rejudges whether difference is more than the acceleration difference threshold；Or Person is poor not less than acceleration if there is the difference during fixed cycle integration is carried out to the difference under damped condition It is worth thresholding, then resets the integrated value of the difference, and rejudge whether the difference is more than acceleration difference threshold.

It can be interpreted as, it is necessary to which the difference meets all the time in above-mentioned integral process is carried out to ar and ax difference The condition that above-mentioned prediction is skidded, immediately exits from integrating, and re-execute step 201 to 205 if condition is not satisfied.

Therefore in the case where driving operating mode, when ar and ax difference is less than or equal to A, or under damped condition, ar and ax Difference when being more than or equal to A, then illustrate that vehicle simply in a short time, receives larger interference, but be not enough to reach The state that full wheel afterwards skids, without being estimated by integration speed, therefore it can directly exit above-mentioned integration Journey, return in step 201, the data newly obtained are waited, to re-start above-mentioned judgement.If in above-mentioned integral process, begin Meet the condition that above-mentioned prediction is skidded eventually, illustrate that vehicle will skid from single-wheel really and develop into full wheel slipping state, then continue Step 206 is carried out to be judged.

In step 206, judge whether the vehicle enters full wheel and beat according to the current integration value of the difference and the difference Sliding state.

Judge whether the vehicle enters full wheel slipping state and can wrap according to the current integration value of the difference and the difference Include：In the case where driving operating mode, when the current integration value of the difference is more than default first integral value thresholding, or under damped condition, When the current integration value of the difference is less than first integral value thresholding, it is possible to determine that the vehicle enters full wheel slipping state；Wherein, should First integral value thresholding is different with the value under damped condition in the case where driving operating mode.

Wherein, judged by integrating S current integration value to ar and ax difference, to determine whether the vehicle enters Full wheel slipping state, wherein the first integral value thresholding can be defined as B.In the case where driving operating mode, B span is arranged to Between 1m/s to 2m/s, work as S>During B, it can confirm that into full wheel slipping state, carry out the operation of below step 208；Braking Under operating mode, B span could be arranged to -1m/s and arrive between -2m/s, work as S<During B, it can confirm that into full wheel skidding and turn shape State, continue the operation of step 208；Otherwise, when being unsatisfactory for the decision condition of above-mentioned full wheel slipping state, illustrate that vehicle also stops Above-mentioned prediction slipping state is stayed in the transitional period between full wheel slipping state, and and be introduced into complete slipping state, still can be with Directly utilize the reference speed obtained before to obtain the speed of vehicle, that is, carry out step 207.

In step 207, when the vehicle is introduced into full wheel slipping state, reference speed is subjected to low-pass filtering treatment, And the speed obtained after low-pass filtering treatment is defined as to the speed of the vehicle.

Wherein, when the vehicle is introduced into full wheel slipping state, illustrate not need to use longitudinal acceleration to integrate into driving The estimation of speed, after directly can carrying out low-pass filtering treatment by the reference speed obtained in step 202, obtain the car of vehicle Speed, so as to terminate whole automobile speedestimate flow.

In a step 208, when judging that the vehicle enters full wheel slipping state, longitudinal acceleration was carried out from the second moment To the integration at current time, obtain the integrated value of longitudinal acceleration, the second moment for the speed of the last vehicle obtained when Carve.

Illustratively, determined in vehicle into after full wheel slipping state, the wheel directly obtained in the wheel speed sensors of vehicle Speed, no longer with authenticity, it is necessary to by obtaining estimation speed to the integration of longitudinal acceleration, the integration obtains from the last time At the time of the speed of vehicle, stop to current time.Under application according to intact stability and dynamic Control field considers, Every 40ms can be selected to carry out the speed of a vehicle to obtain.

In step 209, the estimation speed of vehicle is obtained according to the integrated value of longitudinal acceleration and initial velocity.

It is possible, firstly, to which the speed and speed correction value of the vehicle obtained according to the last time obtain the initial velocity, driving Start building under condition, the speed for the vehicle that the last time is obtained subtracts the result of speed correction value as the initial velocity.Wherein, car Fast correction value, can be defined as DV, and DV span could be arranged to 1.5m/s to 3.5m/s.That is the acquisition side of initial velocity Method can be expressed as：V0=Vorg-DV, wherein, V0 is initial velocity, and Vorg is the speed of the last vehicle obtained.Braking Under operating mode, using the speed and the speed correction value sum of the vehicle of last time acquisition as the initial velocity, wherein, speed Correction value DV span could be arranged to -0.5m/s and arrive -1.5m/s, then the acquisition methods of initial velocity can be expressed as： Wherein, wherein V0 is initial velocity to V0=Vorg+DV, and Vorg is the speed of the last vehicle obtained.

Secondly, integrated value and initial velocity further according to longitudinal acceleration obtain the estimation speed of the vehicle, i.e., this is estimated Calculate the integrated value and the revised initial velocity sum that speed can be longitudinal acceleration.

In step 210, estimation speed is subjected to low-pass filtering treatment, and the car that will be obtained after progress low-pass filtering treatment Speed is defined as the speed of the vehicle.

In step 211, the integrated value of the difference is reset, restarts to carry out fixed cycle integration to difference；Wherein, again The initial time that the fixed cycle integration is carried out to difference is current time.

Wherein, the estimation to the speed of vehicle is completed in step 210, therefore, should be to judging what is used before Decision condition is zeroed out, to judge whether vehicle exits slipping state in the step 212.

In the step 212, judge that vehicle is according to the current integration value of wheel acceleration, longitudinal acceleration, and difference It is no to exit full wheel slipping state.

Wherein, a complete skidding flow, three phases should can be included, prediction is skidded, and full wheel is skidded and exited Full wheel skids, and after have passed through above-mentioned full wheel skidding judgement, waits vehicle gradually to stablize, meets to exit the full condition for taking turns skidding Untill.

This judges whether vehicle exits the full method for taking turns slipping state and include：In the case where driving operating mode, wheel acceleration is less than Longitudinal acceleration, and the current integration value of the difference of wheel acceleration and longitudinal acceleration is less than default second integral value thresholding When, or under damped condition, wheel acceleration is more than longitudinal acceleration, and the current integration value of the difference is more than second integral During threshold value, judge vehicle exits full wheel slipping state.Wherein, second integral value thresholding is under driving operating mode and under damped condition Value it is different.

Illustratively, it is SA to define the second integral value thresholding, and in the case where driving operating mode, SA span could be arranged to Between 0.5m/s to 1.5m/s, work as S<SA and ar<During ax, vehicle is determined to exit full wheel slipping state, and under damped condition, Between SA span could be arranged to -0.5m/s to -1.5m/s, work as S>SA and ar>During ax, vehicle is determined to exit full wheel Slipping state.The state of confirmation vehicle levels off to after stabilization, i.e., without carry out integration estimation speed, progress step 214 again.

In step 213, when judging that the vehicle exits full wheel slipping state, the car of the vehicle will be defined as with reference to wheel speed Speed.

Illustratively, the speed of the vehicle of normally travel is returned to, can with reference to wheel speed without being obtained again by integrating estimation As the speed of vehicle, there is real-time and stability；When completing a complete automobile speedestimate flow, it should to walking before The decision condition used in rapid is zeroed out, and step 214 is carried out, to start a new automobile speedestimate flow.Wherein, will join Examining wheel speed and being defined as the speed of the vehicle to include：Reference speed is subjected to low-pass filtering treatment, and LPF will be carried out The speed obtained after processing is defined as the speed of the vehicle.

In step 214, the integrated value of difference and the integrated value of longitudinal acceleration are reset.

Illustratively, important judgment basis of the integrated value of the difference as whole automobile speedestimate flow, estimate in a speed After calculation flow terminates, it should it is reset, the integrated value of longitudinal acceleration is used to calculate estimation speed, and complete integrate has been estimated After speed, it is reset, waits new data, carries out the judgement of new round flow again.Illustratively, above-mentioned steps often perform one Wheel can be a cycle, and the interval between each cycle can be 40ms, so that tiring out to the integration of longitudinal acceleration every time Up to 40ms between timing, therefore can obtain accurate longitudinal speed under the conditions of smaller amount of calculation.

In summary, the determination method for the speed that the embodiment of the present disclosure is provided, pair of N number of wheel by obtaining vehicle The N number of wheel speed signal answered, and the longitudinal acceleration of the vehicle；And according to the operating mode of the vehicle in N number of wheel speed signal Selection refers to wheel speed；Further according to this wheel acceleration is obtained with reference to wheel speed and the last reference wheel speed obtained；Basis afterwards The difference of the wheel acceleration and the longitudinal acceleration, and default acceleration difference threshold determine to meet the bar that prediction is skidded During part, start to carry out fixed cycle integration to the difference；Then the car is judged according to the current integration value of the difference and the difference Whether enter full wheel slipping state；And when confirming that the vehicle is introduced into full wheel slipping state, determined according to the reference speed The speed of the vehicle, when confirming that the vehicle enters full wheel slipping state, the integrated value of the longitudinal acceleration is obtained, and according to this The integrated value of longitudinal acceleration determines the speed of the vehicle.The determination method for the speed that the disclosure is provided is independent of practically The situation in face, can solve the problem that prior art due to ground complexity and caused by calculated distortion problem, and in each cycle According to last time obtain speed be modified after speed as initial velocity when being integrated to longitudinal acceleration, and The integration carried out to longitudinal acceleration restarts in each cycle, therefore can avoid utilizing integration for a long time The problem of estimation can produce accumulated error is carried out to speed, improves the degree of accuracy that speed calculates, and due in multiple wheels The wheel speed for filtering out a wheel carries out the calculating of speed, therefore can also avoid that four wheels are carried out to calculate the system brought Calculate pressure.

Fig. 3 is a kind of block diagram of the determining device of speed according to an exemplary embodiment, and the device 300 can be used In any described method of execution Fig. 1, Fig. 2.Referring to Fig. 3, the device 300 includes：

Acquisition module 310, for obtaining N number of wheel speed signal corresponding to N number of wheel of vehicle, and the longitudinal direction of the vehicle Acceleration.

With reference to wheel speed calculation module 320, selected for the operating mode according to the vehicle in N number of wheel speed signal with reference to wheel Speed.

Wheel acceleration computing module 330, for being obtained according to this with reference to wheel speed and the last reference wheel speed obtained Wheel acceleration.

Integration module 340, for the difference according to the wheel acceleration and the longitudinal acceleration, and default acceleration When difference threshold determines to meet the condition of prediction skidding, start to carry out fixed cycle integration to the difference.

Skidding judge module 350, judge whether the vehicle enters for the current integration value according to the difference and the difference Enter full wheel slipping state.

Speed determining module 360, it is true according to the reference speed for when confirming that the vehicle is introduced into full wheel slipping state The speed of the fixed vehicle；For when confirming that the vehicle enters full wheel slipping state, obtaining the integrated value of the longitudinal acceleration, and The speed of the vehicle is determined according to the integrated value of the longitudinal acceleration.

Optionally, the reference wheel speed calculation module 320 in the device that Fig. 3 is somebody's turn to do, is used for：

In the case where driving operating mode, the minimum value in N number of wheel speed signal is defined as this and refers to wheel speed；Under damped condition, Maximum in N number of wheel speed signal is defined as this and refers to wheel speed；Wherein, when accelerator pedal signal is more than zero, the vehicle Operating mode be the driving operating mode；When the accelerator pedal signal is zero, the operating mode of the vehicle is the damped condition.

Optionally, Fig. 4 is a kind of block diagram of integration module according to embodiment illustrated in fig. 3, referring to Fig. 4, the integration Module 340, including：

Skidding judging submodule 341, in the case where driving operating mode the difference be more than the acceleration difference threshold, it is determined that meet The condition that the prediction is skidded；Or the skidding judging submodule 341, it is additionally operable to the difference under damped condition and is less than the acceleration During difference threshold, it is determined that meeting the condition that the prediction is skidded.

Integral and calculating submodule 342, for when meeting the condition of prediction skidding, starting to carry out fixed cycle to the difference Integration；Wherein, the fixed cycle of the integration is from the first moment to current time, and first moment is to meet the bar that the prediction is skidded At the time of during part, the acceleration difference threshold is different with the value under the damped condition under the driving operating mode.

Optionally, the integral and calculating submodule 342 in the device that Fig. 4 is somebody's turn to do, is used for：

Start to carry out the difference integration from the first moment to the current time；Wherein, in the case where driving operating mode, to this During difference carries out fixed cycle integration, it is not more than the acceleration difference threshold if there is the difference, then resets the difference Integrated value, and rejudge whether the difference is more than the acceleration difference threshold；Or under damped condition, to the difference During value carries out fixed cycle integration, it is not less than the acceleration difference threshold if there is the difference, then resets the difference Integrated value, and rejudge whether the difference is more than the acceleration difference threshold.

Optionally, the skidding judge module 350 in the device described in Fig. 3, is used for：

In the case where driving operating mode, the current integration value of the difference is more than default first integral value thresholding, or under damped condition When the current integration value of the difference is less than the first integral value thresholding, judge that the vehicle enters full wheel slipping state；Wherein, this One integrated value thresholding is different with the value under the damped condition under the driving operating mode.

Optionally, Fig. 5 is a kind of block diagram of speed determining module according to embodiment illustrated in fig. 3, should referring to Fig. 5 Speed determining module 360, including：

Speed determination sub-module 361, for when the vehicle is introduced into full wheel slipping state, the reference speed being carried out low Pass filter is handled, and the speed obtained after the low-pass filtering treatment is defined as to the speed of the vehicle；Or the speed is true Stator modules 361, it is additionally operable to, when judging that the vehicle enters full wheel slipping state, carry out from the second moment the longitudinal acceleration To the integration at current time, the integrated value of the longitudinal acceleration is obtained, second moment is the last acquisition vehicle of satisfaction At the time of speed.

Speed computing module 362 is estimated, the car is obtained for the integrated value according to the longitudinal acceleration and initial velocity Estimation speed.

Filtering process submodule 363, for the estimation speed to be carried out into low-pass filtering treatment, and the LPF will be carried out The speed obtained after processing is defined as the speed of the vehicle.

Submodule 364 is reset, for resetting the integrated value of the difference, restarts to carry out the difference fixed cycle product Point；Wherein, the initial time for carrying out the fixed cycle integration to the difference again is current time.

Optionally, Fig. 6 is a kind of block diagram of estimation speed computing module according to embodiment illustrated in fig. 5, referring to figure 6, the estimation speed computing module 362, including：

Initial velocity acquisition submodule 3621, speed and speed correction value for the vehicle according to last time acquisition obtain Take the initial velocity.

Speed acquisition submodule 3622 is estimated, for according to the integrated value of the longitudinal acceleration and initial velocity acquisition The estimation speed of the vehicle.

Optionally, the initial velocity acquisition submodule 3621 in the device described in Fig. 6, is used for：

In the case where driving operating mode, the result that the speed of the vehicle of last time acquisition is subtracted to the speed correction value is used as this Initial velocity.

Under damped condition, the speed and the speed correction value sum for the vehicle that the last time is obtained are initial as this Speed.

Optionally, Fig. 7 is the block diagram of the determining device of another speed according to an exemplary embodiment, referring to figure 7, the device 300 also includes：

Skidding judge module 370 is exited, for working as according to the wheel acceleration, the longitudinal acceleration, and the difference Preceding integrated value judges whether the vehicle exits full wheel slipping state.

Wheel speed determining module 380, for when judging that the vehicle exits full wheel slipping state, this to be defined as with reference to wheel speed The speed of the vehicle.

Dump block 390, for resetting the integrated value of the difference and the integrated value of the longitudinal acceleration.

Optionally, skidding judge module 370 is exited in the device described in Fig. 7, be used for：

In the case where driving operating mode, the wheel acceleration is less than the longitudinal acceleration, and the current integration value of the difference is less than default Second integral value thresholding, the wheel acceleration is more than the longitudinal acceleration, and the current integration of the difference under damped condition Value is more than the second integral threshold value, judges that the vehicle exits full wheel slipping state；Wherein, the second integral value thresholding is in the driving It is different with the value under the damped condition under operating mode.

In summary, the determining device for the speed that the embodiment of the present disclosure is provided, pair of N number of wheel by obtaining vehicle The N number of wheel speed signal answered, and the longitudinal acceleration of the vehicle；And according to the operating mode of the vehicle in N number of wheel speed signal Selection refers to wheel speed；Further according to this wheel acceleration is obtained with reference to wheel speed and the last reference wheel speed obtained；Basis afterwards The difference of the wheel acceleration and the longitudinal acceleration, and default acceleration difference threshold determine to meet the bar that prediction is skidded During part, start to carry out fixed cycle integration to the difference；Then the car is judged according to the current integration value of the difference and the difference Whether enter full wheel slipping state；And when confirming that the vehicle is introduced into full wheel slipping state, determined according to the reference speed The speed of the vehicle, when confirming that the vehicle enters full wheel slipping state, the integrated value of the longitudinal acceleration is obtained, and according to this The integrated value of longitudinal acceleration determines the speed of the vehicle.The determination method for the speed that the disclosure is provided is independent of practically The situation in face, thus can solve the problem that prior art due to ground complexity and caused by calculated distortion problem, and in each week The speed that interim basis obtains to the last time be modified after speed as initial velocity when being integrated to longitudinal acceleration, And the integration for carrying out longitudinal acceleration restarts in each cycle, therefore can avoid utilizing for a long time Integration carries out the problem of estimation can produce accumulated error to speed, improves the degree of accuracy that speed calculates.

The preferred embodiment of the disclosure is described in detail above in association with accompanying drawing, still, the disclosure is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical scheme of the disclosure Monotropic type, these simple variants belong to the protection domain of the disclosure.

It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can The combination of energy no longer separately illustrates.

In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally Disclosed thought, it should equally be considered as disclosure disclosure of that.

Claims

1. a kind of determination method of speed, it is characterised in that methods described includes：

Determine to meet according to the wheel acceleration and the difference of the longitudinal acceleration, and default acceleration difference threshold When predicting the condition skidded, start to carry out fixed cycle integration to the difference；

When confirming that the vehicle is introduced into full wheel slipping state, the speed of the vehicle is determined according to the reference speed, when When confirming that the vehicle enters full wheel slipping state, the integrated value of the longitudinal acceleration is obtained, and accelerate according to the longitudinal direction The integrated value of degree determines the speed of the vehicle.

2. according to the method for claim 1, it is characterised in that the operating mode according to the vehicle is in N number of wheel speed Selection refers to wheel speed in signal, including：

Wherein, when accelerator pedal signal is more than zero, the operating mode of the vehicle is the driving operating mode；When the gas pedal is believed When number being zero, the operating mode of the vehicle is the damped condition.

3. according to the method for claim 1, it is characterised in that described to be accelerated according to the wheel acceleration and the longitudinal direction The difference of degree, and during the condition of default acceleration difference threshold determination satisfaction prediction skidding, start to carry out the difference Fixed cycle integrates, including：

In the case where driving operating mode, the difference is more than the acceleration difference threshold, it is determined that meeting the condition that the prediction is skidded；Or Person,

When the difference is less than the acceleration difference threshold under damped condition, it is determined that meeting the condition that the prediction is skidded；

Wherein, the fixed cycle of the integration is from the first moment to current time, and first moment is to meet that the prediction is beaten At the time of during sliding condition, the acceleration difference threshold is different with the value under the damped condition under the driving operating mode.

4. according to the method for claim 3, it is characterised in that described to start to carry out the difference fixed cycle integration, bag Include：

Wherein, it is little if there is the difference during fixed cycle integration is carried out to the difference in the case where driving operating mode In the acceleration difference threshold, then the integrated value of the difference is reset, and rejudge whether the difference is more than described add Speed difference thresholding；Or

Under damped condition, during fixed cycle integration is carried out to the difference, it is not less than institute if there is the difference Acceleration difference threshold is stated, then resets the integrated value of the difference, and rejudges whether the difference is more than the acceleration Difference threshold.

5. according to the method for claim 1, it is characterised in that the current integration value according to the difference and described Difference judges whether the vehicle enters full wheel slipping state, including：

In the case where driving operating mode, the current integration value of the difference is more than default first integral value thresholding, or the institute under damped condition When stating the current integration value of difference and being less than the first integral value thresholding, judge that the vehicle enters full wheel slipping state；

6. according to the method for claim 1, it is characterised in that described when the confirmation vehicle is introduced into full wheel slipping state When, the speed of the vehicle is determined according to the reference speed, when confirming that the vehicle enters full wheel slipping state, obtains institute The integrated value of longitudinal acceleration is stated, and the speed of the vehicle is determined according to the integrated value of the longitudinal acceleration, including：

When the vehicle is introduced into full wheel slipping state, the reference speed is subjected to low-pass filtering treatment, and institute will be carried out State the speed that the speed obtained after low-pass filtering treatment is defined as the vehicle；Or

When judging that the vehicle enters full wheel slipping state, the longitudinal acceleration is carried out from the second moment to current time Integration, obtain the integrated value of the longitudinal acceleration, second moment is the speed of the last vehicle obtained Moment；

The estimation speed is subjected to low-pass filtering treatment, and the speed obtained after the low-pass filtering treatment is defined as The speed of the vehicle；And

The integrated value of the difference is reset, restarts to carry out the fixed cycle integration to the difference；Wherein, again to described The initial time that difference carries out the fixed cycle integration is current time.

7. according to the method for claim 6, it is characterised in that when judging that the vehicle enters full wheel slipping state, institute The estimation speed that the vehicle is obtained according to the integrated value and initial velocity of the longitudinal acceleration is stated, including：

8. according to the method for claim 7, it is characterised in that it is described according to last time obtain the vehicle speed with And speed correction value obtains the initial velocity, including：

In the case where driving operating mode, using the speed of the last vehicle obtained subtract the result of the speed correction value as The initial velocity；

Under damped condition, using the speed and the speed correction value sum of the last vehicle obtained as described in Initial velocity.

9. according to the method for claim 1, it is characterised in that methods described also includes：

Judge that the vehicle is according to the current integration value of the wheel acceleration, the longitudinal acceleration, and the difference It is no to exit full wheel slipping state；

10. according to the method for claim 9, it is characterised in that it is described according to the wheel acceleration, it is described longitudinal direction accelerate Degree, and the current integration value of the difference judge whether the vehicle exits full wheel slipping state, including：

In the case where driving operating mode, the wheel acceleration is less than the longitudinal acceleration, and the current integration value of the difference is less than in advance If second integral value thresholding, under damped condition the wheel acceleration is more than the longitudinal acceleration, and the difference Current integration value is more than the second integral threshold value, judges that the vehicle exits full wheel slipping state；

11. a kind of determining device of speed, it is characterised in that described device includes：

Acquisition module, for obtaining N number of wheel speed signal corresponding to N number of wheel of vehicle, and the longitudinal direction acceleration of the vehicle Degree；

With reference to wheel speed calculation module, select in N number of wheel speed signal to refer to wheel speed for the operating mode according to the vehicle；

Wheel acceleration computing module, add for obtaining wheel according to the reference wheel speed with reference to wheel speed and last acquisition Speed；

Integration module, it is poor for the difference according to the wheel acceleration and the longitudinal acceleration, and default acceleration When being worth the condition that thresholding determination satisfaction prediction is skidded, start to carry out fixed cycle integration to the difference；

Skidding judge module, judge whether the vehicle enters for the current integration value according to the difference and the difference Full wheel slipping state；

Speed determining module, for when confirming that the vehicle is introduced into full wheel slipping state, being determined according to the reference speed The speed of the vehicle；For when confirming that the vehicle enters full wheel slipping state, obtaining the integration of the longitudinal acceleration It is worth, and the speed of the vehicle is determined according to the integrated value of the longitudinal acceleration.

12. device according to claim 11, it is characterised in that it is described to refer to wheel speed calculation module, it is used for：

13. device according to claim 11, it is characterised in that the integration module, including：

Skidding judging submodule, in the case where driving operating mode the difference be more than the acceleration difference threshold, it is determined that meeting institute State the condition that prediction is skidded；Or

The skidding judging submodule, when being additionally operable to that the difference is less than the acceleration difference threshold under damped condition, really Surely the condition that the prediction is skidded is met；

Integral and calculating submodule, for when meeting the condition of the prediction skidding, starting to carry out fixed cycle product to the difference Point；

14. device according to claim 13, it is characterised in that the integral and calculating submodule, be used for：

15. device according to claim 11, it is characterised in that the skidding judge module, be used for：

16. device according to claim 11, it is characterised in that the speed determining module, including：

Speed determination sub-module, for when the vehicle is introduced into full wheel slipping state, the reference speed to be carried out into low pass Filtering process, and the speed obtained after the low-pass filtering treatment is defined as to the speed of the vehicle；Or

The speed determination sub-module, it is additionally operable to, when judging that the vehicle enters full wheel slipping state, accelerate the longitudinal direction Degree carries out the integration from the second moment to current time, obtains the integrated value of the longitudinal acceleration, and second moment is upper At the time of the speed of the vehicle once obtained；

Speed computing module is estimated, the vehicle is obtained for the integrated value according to the longitudinal acceleration and initial velocity Estimate speed；

Filtering process submodule, for the estimation speed to be carried out into low-pass filtering treatment, and it will carry out at the LPF The speed obtained after reason is defined as the speed of the vehicle；And

Submodule is reset, for resetting the integrated value of the difference, restarts to carry out the fixed cycle integration to the difference； Wherein, the initial time for carrying out the fixed cycle integration to the difference again is current time.

17. device according to claim 16, it is characterised in that the estimation speed computing module, including：

Initial velocity acquisition submodule, for described in the speed of the vehicle according to last time acquisition and the acquisition of speed correction value Initial velocity；

Speed acquisition submodule is estimated, for described in the integrated value according to the longitudinal acceleration and initial velocity acquisition The estimation speed of vehicle.

18. device according to claim 17, it is characterised in that the initial velocity acquisition submodule, be used for：

19. device according to claim 11, it is characterised in that described device also includes：

Skidding judge module is exited, for according to the wheel acceleration, the longitudinal acceleration, and the difference is current Integrated value judges whether the vehicle exits full wheel slipping state；

Wheel speed determining module, for when judging that the vehicle exits full wheel slipping state, being defined as institute with reference to wheel speed by described State the speed of vehicle；

20. device according to claim 19, it is characterised in that it is described to exit skidding judge module, it is used for：