CN108116234B - Vehicle and vehicle speed calculation method and device during turning braking of vehicle - Google Patents

Vehicle and vehicle speed calculation method and device during turning braking of vehicle Download PDF

Info

Publication number
CN108116234B
CN108116234B CN201611075973.7A CN201611075973A CN108116234B CN 108116234 B CN108116234 B CN 108116234B CN 201611075973 A CN201611075973 A CN 201611075973A CN 108116234 B CN108116234 B CN 108116234B
Authority
CN
China
Prior art keywords
vehicle
wheel
braking
calculating
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201611075973.7A
Other languages
Chinese (zh)
Other versions
CN108116234A (en
Inventor
姚伟
王世友
吕丹丹
杨恭强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BYD Co Ltd
Original Assignee
BYD Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BYD Co Ltd filed Critical BYD Co Ltd
Priority to CN201611075973.7A priority Critical patent/CN108116234B/en
Publication of CN108116234A publication Critical patent/CN108116234A/en
Application granted granted Critical
Publication of CN108116234B publication Critical patent/CN108116234B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B60L3/104—Indicating wheel slip ; Correction of wheel slip by indirect measurement of vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/12—Recording operating variables ; Monitoring of operating variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed

Abstract

The invention discloses a vehicle and a vehicle speed calculating method and device during turning braking of the vehicle, wherein the method comprises the following steps: when the vehicle turns, acquiring the turning direction of the vehicle; obtaining braking condition information of a vehicle, wherein the braking condition information comprises a non-braking condition, a single-wheel braking condition and a double-wheel braking condition; and calculating the speed of the vehicle according to the turning direction and the braking condition information. According to the method, the vehicle speed can be calculated more accurately when the vehicle turns and brakes.

Description

Vehicle and vehicle speed calculation method and device during turning braking of vehicle
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle speed calculating method during vehicle turning braking, a vehicle speed calculating device during vehicle turning braking and a vehicle.
Background
With the development of automobile industry and economy, the use of automobiles is more and more popular, and the traffic condition of urban roads is more and more crowded. Our requirements for stability of vehicles are also increasing to avoid traffic accidents. When the vehicle is braked in a turning way, an accurate vehicle speed needs to be obtained, so that other systems of the vehicle can perform a series of control according to the vehicle speed to enhance the stability of the vehicle in an abnormal situation or an emergency situation. At present, the vehicle speed is mostly estimated by the average value of the wheel speeds of two front wheels when the vehicle is braked in a turning way. However, the wheel speed of the brake wheel is reduced obviously when the vehicle brakes, and the fluctuation is large. And because the center of mass of the vehicle is at the center of the vehicle, the average value of the wheel speeds of the front wheels cannot completely reflect the running speed of the whole vehicle during turning and braking. Therefore, the vehicle speed measured at the time of turning braking of the vehicle is not accurate enough at present.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, an object of the present invention is to provide a vehicle speed calculation method during vehicle turning braking, which can calculate the vehicle speed more accurately during vehicle turning braking.
A second object of the present invention is to provide a vehicle speed calculation device at the time of braking for turning of a vehicle.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, a first embodiment of the present invention provides a vehicle speed calculating method during vehicle turning braking, wherein the vehicle is driven by a wheel-side motor, and one wheel-side motor is provided for each wheel of the vehicle, and the method includes the following steps: when the vehicle turns, acquiring the turning direction of the vehicle; obtaining braking condition information of the vehicle, wherein the braking condition information comprises a non-braking condition, a single-wheel braking condition and a double-wheel braking condition; and calculating the speed of the vehicle according to the turning direction and the braking condition information.
According to the vehicle speed calculating method during vehicle turning braking, the vehicle speed can be calculated more accurately during vehicle turning braking by acquiring the turning direction and braking condition information of the vehicle and calculating the vehicle speed of the vehicle according to the turning direction and braking condition information.
In order to achieve the above object, a second aspect of the present invention provides a vehicle speed calculation device for braking a vehicle during turning, wherein the vehicle is driven by wheel-side motors, and one wheel-side motor is provided for each wheel of the vehicle, the device comprising: the first acquisition module is used for acquiring the turning direction of the vehicle when the vehicle turns; the second acquisition module is used for acquiring braking condition information of the vehicle, wherein the braking condition information comprises a non-braking condition, a single-wheel braking condition and a double-wheel braking condition; and the calculation module is used for calculating the speed of the vehicle according to the turning direction and the braking condition information.
According to the vehicle speed calculating device during vehicle turning braking, the first obtaining module and the second obtaining module are used for obtaining the turning direction and the braking condition information of the vehicle respectively, the calculating module is used for calculating the vehicle speed of the vehicle according to the turning direction and the braking condition information, and the vehicle speed can be calculated accurately during vehicle turning braking.
In order to achieve the above object, a third aspect of the present invention proposes a vehicle including the vehicle speed calculation device at the time of turning braking of the vehicle proposed in the second aspect of the present invention.
According to the vehicle disclosed by the embodiment of the invention, the vehicle speed can be accurately calculated during turning braking.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flowchart of a vehicle speed calculation method at the time of braking for a turn of a vehicle according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic illustration of a vehicle turning left and in a no-brake condition according to one embodiment of the present invention;
FIG. 4 is a schematic illustration of a vehicle turning left and in a single wheel braking condition in accordance with one embodiment of the present invention;
FIG. 5 is a schematic illustration of a vehicle turning left and in a two-wheel braking condition according to one embodiment of the present invention;
FIG. 6 is a schematic illustration of a vehicle turning right and in a no-brake condition according to one embodiment of the present invention;
FIG. 7 is a schematic illustration of a vehicle turning right and in a single wheel braking condition in accordance with one embodiment of the present invention;
FIG. 8 is a schematic illustration of a vehicle turning right and in a two-wheel braking condition in accordance with one embodiment of the present invention;
FIG. 9 is a flowchart of a vehicle speed calculation method during vehicle cornering braking according to a specific embodiment of the present invention;
FIG. 10 is a block diagram schematically illustrating a vehicle speed calculating device at the time of braking for turning of a vehicle according to an embodiment of the present invention;
fig. 11 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a vehicle and a vehicle speed calculation method and apparatus at the time of turning braking thereof according to an embodiment of the present invention, with reference to the accompanying drawings.
Fig. 1 is a flowchart of a vehicle speed calculation method at the time of braking of a vehicle in turning according to an embodiment of the present invention.
As shown in FIG. 2, the left front wheel 1F L, the right front wheel 1FR, the left rear wheel 1R L and the right rear wheel 1RR can be respectively driven or braked by the corresponding wheel-side motor, and the wheel-side motor controller can control the magnitude and the direction of the driving force and the braking force of each wheel-side motor.
As shown in fig. 1, the vehicle speed calculating method at the time of vehicle turning braking according to the embodiment of the present invention includes the steps of:
and S1, acquiring the turning direction of the vehicle when the vehicle turns.
In one embodiment of the present invention, the turning direction of the vehicle may be acquired by detecting the steering wheel angle of the vehicle. As shown in fig. 2, the steering wheel angle sensor may acquire the angle of rotation of the steering wheel, and if the steering wheel angle is equal to 0, it is determined that the vehicle is not turning; if the steering wheel angle is larger than 0, judging that the vehicle turns left; and if the steering wheel angle is less than 0, judging that the vehicle turns right.
And S2, obtaining the braking condition information of the vehicle, wherein the braking condition information comprises a non-braking condition, a single-wheel braking condition and a double-wheel braking condition.
In one embodiment of the invention, the braking condition of the vehicle can be obtained by a pressure signal output by a brake pressure sensor. Specifically, if the pressure changes, the vehicle can be judged to be in a braking condition, and the vehicle can be further determined to be in a single-wheel braking condition or a double-wheel braking condition through the position where the pressure changes.
And S3, calculating the vehicle speed of the vehicle according to the turning direction and the braking condition information.
Generally, when the vehicle is not turning and is in a non-braking condition, the vehicle speed of the vehicle is in a direct proportional relationship with the wheel speed average of the four wheels, so that an ECU (Electronic Control Unit) of the vehicle can calculate the vehicle speed of the vehicle according to the wheel speed average of the four wheels.
In one embodiment of the present invention, if the vehicle turns left and is in a no-brake condition, the vehicle speed of the vehicle may be calculated from an average of wheel speeds of the left front wheel and the right rear wheel of the vehicle. As shown in fig. 3, when the vehicle turns left and no braking force is applied to any of the four wheels, the vehicle speed of the vehicle may be calculated from an average of wheel speeds of the left front wheel and the right rear wheel of the vehicle.
In one embodiment of the present invention, if the vehicle turns left and is in the single-wheel braking condition, the vehicle speed of the vehicle is calculated from an average of wheel speeds of a right front wheel and a left rear wheel of the vehicle when the braked wheel is the left front wheel or the right rear wheel, or from an average of wheel speeds of a left front wheel and a right rear wheel of the vehicle when the braked wheel is the right front wheel or the left rear wheel. As shown in fig. 4, when the vehicle turns left and the braking force Fb is applied to the front left wheel or the rear right wheel, the vehicle speed of the vehicle may be calculated from an average of wheel speeds of the front right wheel and the rear left wheel of the vehicle. When the vehicle turns left and the right front wheel or the left rear wheel is applied with the braking force Fb, the vehicle speed of the vehicle may be calculated from an average value of wheel speeds of the left front wheel and the right rear wheel of the vehicle.
In one embodiment of the present invention, if the vehicle turns left and is in a two-wheel braking condition, the vehicle speed of the vehicle is calculated from an average of wheel speeds of the left and right rear wheels of the vehicle. It should be understood that the two-wheel braking condition of the vehicle during a turn includes only the case where both wheels on the same side are simultaneously braked, that is, either the front left wheel and the rear left wheel or the front right wheel and the rear right wheel are simultaneously braked. As shown in fig. 5, when the vehicle turns left and the braking force Fb is applied to the left front wheel and the left rear wheel, or the right front wheel and the right rear wheel, the vehicle speed of the vehicle may be calculated from an average of the wheel speeds of the left rear wheel and the right rear wheel of the vehicle.
In one embodiment of the present invention, if the vehicle is turning right and in a no-brake condition, the vehicle speed of the vehicle is calculated from an average of wheel speeds of the right front wheel and the left rear wheel of the vehicle. As shown in fig. 6, when the vehicle turns right and no braking force is applied to any of the four wheels, the vehicle speed of the vehicle may be calculated from an average of wheel speeds of the right front wheel and the left rear wheel of the vehicle.
In one embodiment of the present invention, if the vehicle turns right and is in the single-wheel braking condition, the vehicle speed of the vehicle is calculated from an average of wheel speeds of a right front wheel and a left rear wheel of the vehicle when the braked wheel is the left front wheel or the right rear wheel, or from an average of wheel speeds of a left front wheel and a right rear wheel of the vehicle when the braked wheel is the right front wheel or the left rear wheel. As shown in fig. 7, when the vehicle turns right and the left front wheel or the right rear wheel is applied with the braking force Fb, the vehicle speed of the vehicle may be calculated from an average of wheel speeds of the right front wheel and the left rear wheel of the vehicle. When the vehicle turns right and the right front wheel or the left rear wheel is applied with the braking force Fb, the vehicle speed of the vehicle may be calculated from an average value of wheel speeds of the left front wheel and the right rear wheel of the vehicle.
In one embodiment of the present invention, if the vehicle turns left and is in a two-wheel braking condition, the vehicle speed of the vehicle is calculated from an average of wheel speeds of the left and right rear wheels of the vehicle. As shown in fig. 8, when the vehicle turns right and the right front wheel and the right rear wheel, or the left front wheel and the left rear wheel, are applied with the braking force Fb, the vehicle speed of the vehicle may be calculated from an average of the wheel speeds of the left rear wheel and the right rear wheel of the vehicle.
According to the vehicle speed calculating method during vehicle turning braking, the vehicle speed can be calculated more accurately during vehicle turning braking by acquiring the turning direction and braking condition information of the vehicle and calculating the vehicle speed of the vehicle according to the turning direction and braking condition information.
In one embodiment of the present invention, as shown in fig. 9, the vehicle speed calculation method at the time of turning braking of the vehicle may include the steps of:
and S901, judging whether the steering wheel angle is larger than 0. If yes, go to step S902; if not, step S907 is performed.
And S902, determining that the vehicle runs leftwards.
And S903, judging the braking condition of the wheel.
And S904, outputting the corresponding vehicle speed when the wheels are not braked.
And S905, outputting the corresponding vehicle speed during single-wheel braking.
And S906, outputting the corresponding vehicle speed during the double-wheel braking.
And S907, determining that the vehicle runs to the right.
And S908, judging the braking condition of the wheels.
And S909, outputting the corresponding vehicle speed when the wheels are not braked.
And S910, outputting the corresponding vehicle speed during single-wheel braking.
And S911, outputting the corresponding vehicle speed during double-wheel braking.
In order to realize the vehicle speed calculating method during vehicle turning braking of the embodiment, the invention also provides a vehicle speed calculating device during vehicle turning braking.
As shown in fig. 10, a vehicle speed calculation device at the time of vehicle turning braking according to an embodiment of the present invention includes: a first acquisition module 10, a second acquisition module 20 and a calculation module 30.
The first acquiring module 10 is used for acquiring the turning direction of the vehicle when the vehicle turns; the second obtaining module 20 is configured to obtain braking condition information of the vehicle, where the braking condition information includes a no-braking condition, a single-wheel braking condition, and a double-wheel braking condition; the calculating module 30 is used for calculating the vehicle speed of the vehicle according to the turning direction and the braking condition information.
In one embodiment of the present invention, as shown in fig. 2, the first obtaining module 10 may include a steering wheel angle sensor 12 disposed corresponding to a steering wheel 11, and may obtain a turning direction of the vehicle by detecting a steering wheel angle of the vehicle. Specifically, if the steering wheel angle is equal to 0, it is determined that the vehicle is not turning; if the steering wheel angle is larger than 0, judging that the vehicle turns left; and if the steering wheel angle is less than 0, judging that the vehicle turns right.
In one embodiment of the present invention, as shown in fig. 2, the second obtaining module 20 may include a brake pressure sensor 21, so that the braking condition of the vehicle may be obtained through a pressure signal output by the brake pressure sensor 21. Specifically, if the pressure changes, the vehicle can be judged to be in a braking condition, and the vehicle can be further determined to be in a single-wheel braking condition or a double-wheel braking condition through the position where the pressure changes.
Generally, when the vehicle is not turning and is in a non-braking condition, the vehicle speed of the vehicle is in a direct proportion to the mean of the wheel speeds of the four wheels, so that the calculation module 30 can calculate the vehicle speed of the vehicle according to the mean of the wheel speeds of the four wheels, wherein the calculation module 30 can be integrated into the ECU of the vehicle.
In one embodiment of the present invention, the calculation module 30 may calculate the vehicle speed of the vehicle according to an average of wheel speeds of a front left wheel and a rear right wheel of the vehicle when the vehicle turns left and is in a no-brake condition. As shown in fig. 3, when the vehicle turns left and no braking force is applied to any of the four wheels, the vehicle speed of the vehicle may be calculated from an average of wheel speeds of the left front wheel and the right rear wheel of the vehicle.
In one embodiment of the present invention, when the vehicle turns left and is in the single-wheel braking condition, the calculation module 30 may calculate the vehicle speed of the vehicle according to an average of wheel speeds of a right front wheel and a left rear wheel of the vehicle when the braked wheel is the left front wheel or the right rear wheel, or according to an average of wheel speeds of a left front wheel and a right rear wheel of the vehicle when the braked wheel is the right front wheel or the left rear wheel. As shown in fig. 4, when the vehicle turns left and the braking force Fb is applied to the front left wheel or the rear right wheel, the vehicle speed of the vehicle may be calculated from an average of wheel speeds of the front right wheel and the rear left wheel of the vehicle. When the vehicle turns left and the right front wheel or the left rear wheel is applied with the braking force Fb, the vehicle speed of the vehicle may be calculated from an average value of wheel speeds of the left front wheel and the right rear wheel of the vehicle.
In one embodiment of the present invention, the calculation module 30 may calculate the vehicle speed of the vehicle according to an average of wheel speeds of the left and right rear wheels of the vehicle when the vehicle turns left and is in a two-wheel braking condition. It should be understood that the two-wheel braking condition of the vehicle during a turn includes only the case where both wheels on the same side are simultaneously braked, that is, either the front left wheel and the rear left wheel or the front right wheel and the rear right wheel are simultaneously braked. As shown in fig. 5, when the vehicle turns left and the braking force Fb is applied to the left front wheel and the left rear wheel, or the right front wheel and the right rear wheel, the vehicle speed of the vehicle may be calculated from an average of the wheel speeds of the left rear wheel and the right rear wheel of the vehicle.
In one embodiment of the invention, the calculation module 30 may calculate the vehicle speed of the vehicle based on an average of wheel speeds of a right front wheel and a left rear wheel of the vehicle when the vehicle is turning right and in a no-brake condition. As shown in fig. 6, when the vehicle turns right and no braking force is applied to any of the four wheels, the vehicle speed of the vehicle may be calculated from an average of wheel speeds of the right front wheel and the left rear wheel of the vehicle.
In one embodiment of the present invention, when the vehicle turns right and is in the single-wheel braking condition, the calculation module 30 may calculate the vehicle speed of the vehicle according to an average of wheel speeds of the right front wheel and the left rear wheel of the vehicle when the braked wheel is the left front wheel or the right rear wheel, or according to an average of wheel speeds of the left front wheel and the right rear wheel of the vehicle when the braked wheel is the right front wheel or the left rear wheel. As shown in fig. 7, when the vehicle turns right and the left front wheel or the right rear wheel is applied with the braking force Fb, the vehicle speed of the vehicle may be calculated from an average of wheel speeds of the right front wheel and the left rear wheel of the vehicle. When the vehicle turns right and the right front wheel or the left rear wheel is applied with the braking force Fb, the vehicle speed of the vehicle may be calculated from an average value of wheel speeds of the left front wheel and the right rear wheel of the vehicle.
In one embodiment of the present invention, when the vehicle turns left and is in a two-wheel braking condition, the calculation module 30 may calculate the vehicle speed of the vehicle according to an average of the wheel speeds of the left and right rear wheels of the vehicle. As shown in fig. 8, when the vehicle turns right and the right front wheel and the right rear wheel, or the left front wheel and the left rear wheel, are applied with the braking force Fb, the vehicle speed of the vehicle may be calculated from an average of the wheel speeds of the left rear wheel and the right rear wheel of the vehicle.
According to the vehicle speed calculating device during vehicle turning braking, the first obtaining module and the second obtaining module are used for obtaining the turning direction and the braking condition information of the vehicle respectively, the calculating module is used for calculating the vehicle speed of the vehicle according to the turning direction and the braking condition information, and the vehicle speed can be calculated accurately during vehicle turning braking.
The invention further provides a vehicle corresponding to the embodiment.
As shown in fig. 11, a vehicle 200 according to an embodiment of the present invention includes the vehicle speed calculating device 100 according to the above embodiment of the present invention, and for a specific implementation, reference may be made to the above embodiment, so that redundant description is omitted here for avoiding redundancy.
According to the vehicle disclosed by the embodiment of the invention, the vehicle speed can be accurately calculated during turning braking.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (11)

1. A vehicle speed calculation method during vehicle turning braking is characterized in that the vehicle is driven by wheel-side motors, and each wheel of the vehicle is correspondingly provided with one wheel-side motor, and the method comprises the following steps:
when the vehicle turns, acquiring the turning direction of the vehicle;
obtaining braking condition information of the vehicle, wherein the braking condition information comprises a non-braking condition, a single-wheel braking condition and a double-wheel braking condition;
calculating the vehicle speed of the vehicle according to the turning direction and the braking condition information, wherein the calculating the vehicle speed of the vehicle according to the turning direction and the braking condition information comprises: if the vehicle turns left and is in a single-wheel braking working condition, calculating the vehicle speed of the vehicle according to the mean value of the wheel speeds of the right front wheel and the left rear wheel of the vehicle when the braked wheel is the left front wheel or the right rear wheel, or calculating the vehicle speed of the vehicle according to the mean value of the wheel speeds of the left front wheel and the right rear wheel of the vehicle when the braked wheel is the right front wheel or the left rear wheel; and if the vehicle turns left and is in a double-wheel braking working condition, calculating the speed of the vehicle according to the mean value of the wheel speeds of the left rear wheel and the right rear wheel of the vehicle.
2. The method of calculating a vehicle speed at the time of vehicle turning braking according to claim 1, characterized in that the turning direction of the vehicle is obtained by detecting a steering wheel angle of the vehicle.
3. The method for calculating the vehicle speed at the time of braking for a vehicle turn according to claim 1, characterized in that the braking condition of the vehicle is obtained by a pressure signal output from a brake pressure sensor.
4. The vehicle speed calculation method at the time of vehicle turning braking according to claim 1, wherein calculating the vehicle speed of the vehicle from the turning direction and the braking condition information further includes:
and if the vehicle turns left and is in a non-braking working condition, calculating the speed of the vehicle according to the mean value of the wheel speeds of the left front wheel and the right rear wheel of the vehicle.
5. The vehicle speed calculation method at the time of vehicle turning braking according to claim 1, wherein calculating the vehicle speed of the vehicle from the turning direction and the braking condition information further includes:
if the vehicle turns right and is in a non-braking working condition, calculating the speed of the vehicle according to the average value of the wheel speeds of the right front wheel and the left rear wheel of the vehicle;
if the vehicle turns right and is in a single-wheel braking working condition, calculating the vehicle speed of the vehicle according to the mean value of the wheel speeds of the right front wheel and the left rear wheel of the vehicle when the braked wheel is the left front wheel or the right rear wheel, or calculating the vehicle speed of the vehicle according to the mean value of the wheel speeds of the left front wheel and the right rear wheel of the vehicle when the braked wheel is the right front wheel or the left rear wheel;
and if the vehicle turns left and is in a double-wheel braking working condition, calculating the speed of the vehicle according to the mean value of the wheel speeds of the left rear wheel and the right rear wheel of the vehicle.
6. A vehicle speed calculation device for vehicle turning braking, wherein the vehicle is driven by a wheel-side motor, and one wheel-side motor is provided for each wheel of the vehicle, the device comprising:
the first acquisition module is used for acquiring the turning direction of the vehicle when the vehicle turns;
the second acquisition module is used for acquiring braking condition information of the vehicle, wherein the braking condition information comprises a non-braking condition, a single-wheel braking condition and a double-wheel braking condition;
the calculation module is used for calculating the speed of the vehicle according to the turning direction and the braking working condition information, wherein when the vehicle turns left and is in a single-wheel braking working condition, the calculation module is specifically used for: calculating the speed of the vehicle according to the mean value of the wheel speeds of the right front wheel and the left rear wheel of the vehicle when the braked wheel is the left front wheel or the right rear wheel, or calculating the speed of the vehicle according to the mean value of the wheel speeds of the left front wheel and the right rear wheel of the vehicle when the braked wheel is the right front wheel or the left rear wheel; when the vehicle turns left and is in a double-wheel braking condition, the calculation module is specifically configured to: and calculating the speed of the vehicle according to the mean value of the wheel speeds of the left rear wheel and the right rear wheel of the vehicle.
7. The vehicle speed calculation device at the time of vehicle turning braking according to claim 6, characterized in that the first acquisition module acquires the turning direction of the vehicle by detecting a steering wheel angle of the vehicle.
8. The vehicle speed calculation apparatus upon vehicle turning braking according to claim 6, characterized in that the second acquisition module includes a brake pressure sensor.
9. The vehicle speed calculation device at the time of vehicle turning braking according to claim 6, characterized in that the calculation module is further configured to:
and when the vehicle turns left and is in a non-braking working condition, calculating the speed of the vehicle according to the mean value of the wheel speeds of the left front wheel and the right rear wheel of the vehicle.
10. The vehicle speed calculation device at the time of vehicle turning braking according to claim 6, characterized in that the calculation module is configured to:
when the vehicle turns right and is in a non-braking working condition, calculating the speed of the vehicle according to the average value of the wheel speeds of the right front wheel and the left rear wheel of the vehicle;
when the vehicle turns right and is in a single-wheel braking working condition, calculating the vehicle speed of the vehicle according to the mean value of the wheel speeds of the right front wheel and the left rear wheel of the vehicle when the braked wheel is the left front wheel or the right rear wheel, or calculating the vehicle speed of the vehicle according to the mean value of the wheel speeds of the left front wheel and the right rear wheel of the vehicle when the braked wheel is the right front wheel or the left rear wheel;
and when the vehicle turns left and is in a double-wheel braking working condition, calculating the speed of the vehicle according to the mean value of the wheel speeds of the left rear wheel and the right rear wheel of the vehicle.
11. A vehicle characterized by comprising the vehicle speed calculation means at the time of vehicle turning braking according to any one of claims 6 to 10.
CN201611075973.7A 2016-11-29 2016-11-29 Vehicle and vehicle speed calculation method and device during turning braking of vehicle Active CN108116234B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611075973.7A CN108116234B (en) 2016-11-29 2016-11-29 Vehicle and vehicle speed calculation method and device during turning braking of vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611075973.7A CN108116234B (en) 2016-11-29 2016-11-29 Vehicle and vehicle speed calculation method and device during turning braking of vehicle

Publications (2)

Publication Number Publication Date
CN108116234A CN108116234A (en) 2018-06-05
CN108116234B true CN108116234B (en) 2020-07-10

Family

ID=62226910

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611075973.7A Active CN108116234B (en) 2016-11-29 2016-11-29 Vehicle and vehicle speed calculation method and device during turning braking of vehicle

Country Status (1)

Country Link
CN (1) CN108116234B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113353079A (en) * 2020-03-05 2021-09-07 纳恩博（常州）科技有限公司 Method and device for controlling turning posture of vehicle and vehicle

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102009654A (en) * 2010-11-12 2011-04-13 清华大学 Longitudinal speed evaluation method of full-wheel electrically-driven vehicle
CN104742888A (en) * 2015-02-06 2015-07-01 中国第一汽车股份有限公司 Full-driven vehicle reference vehicle speed real-time detection method
CN104764897A (en) * 2015-02-13 2015-07-08 盐城工学院 Automobile speed measuring device and automobile speed measuring and control method
CN105253032A (en) * 2015-09-02 2016-01-20 北京航天发射技术研究所 All wheel individual drive electric car traction control method and device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2923436B1 (en) * 2007-11-09 2010-04-09 Michelin Soc Tech SYSTEM FOR MONITORING THE BEHAVIOR OF A VEHICLE COMPRISING A DETERMINATION OF ITS SPEED IN RELATION TO THE GROUND
US8718897B2 (en) * 2010-03-29 2014-05-06 Wrightspeed, Inc. Vehicle dynamics control in electric drive vehicles
JP2011229286A (en) * 2010-04-20 2011-11-10 Nobuyoshi Muto Electric vehicle and program
KR20130133414A (en) * 2012-05-29 2013-12-09 엘에스산전 주식회사 Travel velocity compensation apparatus for railway vehicles

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102009654A (en) * 2010-11-12 2011-04-13 清华大学 Longitudinal speed evaluation method of full-wheel electrically-driven vehicle
CN104742888A (en) * 2015-02-06 2015-07-01 中国第一汽车股份有限公司 Full-driven vehicle reference vehicle speed real-time detection method
CN104764897A (en) * 2015-02-13 2015-07-08 盐城工学院 Automobile speed measuring device and automobile speed measuring and control method
CN105253032A (en) * 2015-09-02 2016-01-20 北京航天发射技术研究所 All wheel individual drive electric car traction control method and device

Also Published As

Publication number Publication date
CN108116234A (en) 2018-06-05

Similar Documents

Publication Publication Date Title
KR101675586B1 (en) Method, control device and system for determining a profile depth of a profile of a tyre
US10391823B2 (en) Method and system for determining a pressure deviation between a setpoint tire pressure and an actual tire pressure for a tire of a vehicle as well as for determining a wheel load
CN100526842C (en) Method and apparatus for judging vehicle load distribution and detecting tyre pressure decrease
US11472236B2 (en) Method, control device, and system for determining a profile depth of a profile of a tire
JPH09188114A (en) Tire identifying method and device
US8935072B2 (en) Method for determining the speed of a vehicle and vehicle
CN101346247A (en) Method and system for assisting a driver when parking or manoeuvring a motor vehicle
JP3771960B2 (en) Method for determining tire pressure reduction in a running vehicle
US9387735B2 (en) Tire pressure monitoring system of motor driven vehicle and method thereof
JP3572290B2 (en) Misalignment detection system for automotive steering system
EP3501924B1 (en) Wheel load estimation device
JP5157544B2 (en) Body speed control device
CN105555555B (en) Determine the method and system of the theoretical tire pressure of vehicle tyre and the pressure ratio of practical tire pressure
JP5370568B2 (en) Body speed control device
CN108116234B (en) Vehicle and vehicle speed calculation method and device during turning braking of vehicle
JP6198386B2 (en) Driving assistance device
JP5098674B2 (en) Body speed calculation device
Cheli Cyber tyre: A novel sensor to improve vehicle's safety
CN114644001A (en) Vehicle load prediction method and device, storage medium and vehicle
CN201824807U (en) Tire pressure monitoring alarm device
JP5126048B2 (en) Tire pressure monitoring device
CN108357500B (en) Intelligent vehicle, and tire burst safety control method and system of intelligent vehicle
CN108020239A (en) A kind of computational methods of vehicle driving mileage, computing device and automobile
JP2014532578A (en) Apparatus and method for monitoring air pressure of tires of a plurality of wheels of an automobile
TWI789952B (en) Detection system and detection method for driving behavior

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant