CN108116417A - Electric bus and automobile speedestimate method and apparatus - Google Patents
Electric bus and automobile speedestimate method and apparatus Download PDFInfo
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- CN108116417A CN108116417A CN201611087683.4A CN201611087683A CN108116417A CN 108116417 A CN108116417 A CN 108116417A CN 201611087683 A CN201611087683 A CN 201611087683A CN 108116417 A CN108116417 A CN 108116417A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
Abstract
The invention discloses a kind of electric bus and automobile speedestimate method and apparatus, the described method comprises the following steps：The wheel speed of each wheel in multiple wheels of vehicle is obtained, and obtains the vehicle body acceleration of vehicle；The vehicle body velocities of vehicle are estimated according to vehicle body acceleration；The weighting coefficient of the wheel speed of each wheel and the weighting coefficient of vehicle body velocities are adjusted according to default fuzzy rule；The actual vehicle speed of vehicle is calculated according to the weighting coefficient of the weighting coefficient of the wheel speed of each wheel after the wheel speed of each wheel, vehicle body velocities and adjusting and vehicle body velocities.This method by adjusting the weighting coefficient of the wheel speed of each wheel and vehicle body velocities according to fuzzy algorithmic approach in real time, then the actual speed of vehicle is estimated according to weighting coefficient, the wheel speed of each wheel and the vehicle body velocities after adjusting, so that the speed of estimation is more accurate, and it can adapt to more fully road conditions.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of automobile speedestimate method, a kind of automobile speedestimate device and
A kind of electric bus with the automobile speedestimate device.
Background technology
Traditional ABS (Anti-lock Braking System, anti-lock braking system) technology is to utilize wheel speed sensors
Signal determines reference speed, but various methods have the limitation in different meanings.
For two-wheel drive automobile, general reference speed determines that principle is：Under non-brake operating mode, with non-driven
It takes turns wheel speed and the product of wheel effective radius is used as with reference to speed；Under damped condition, four wheels both participate in braking, can basis
Comprehensive acceleration and wheel speed information estimation reference speed.
For four-wheel drive car, under damped condition, the evaluation method of the speed proposed earliest is maximum wheel speed
Method carries out the estimation of reference speed by choosing in four wheel speeds maximum in real time；Under non-brake operating mode, the speed of proposition
Evaluation method be minimum wheel speed method, carry out the estimation of reference speed by choosing in four wheel speeds minimum value in real time.
But above-mentioned two-wheel drive automobile and the automobile speedestimate method of four-wheel drive car are all easily subject to ABS to adjust
Influence, estimation error is larger.In addition, under some special road conditions, for example, skidding, wheel speed acceleration is seriously partial to automobile
Barycenter acceleration, there are larger estimation errors for reference speed.
The content of the invention
It is contemplated that it solves at least some of the technical problems in related technologies.
For this purpose, an object of the present invention is to provide a kind of automobile speedestimate method, by according to fuzzy algorithmic approach come in real time
The wheel speed of each wheel and the weighting coefficient of vehicle body velocities are adjusted, then according to weighting coefficient, the wheel of each wheel after adjusting
The actual speed of speed and vehicle body velocities estimation vehicle so that the speed of estimation is more accurate, and can adapt to more fully road
Condition.
It is another object of the present invention to propose a kind of automobile speedestimate device.
A further object of the present invention is to propose a kind of electric bus.
To achieve the above object, one aspect of the present invention embodiment proposes a kind of automobile speedestimate method, comprises the following steps：
The wheel speed of each wheel in multiple wheels of vehicle is obtained, and obtains the vehicle body acceleration of the vehicle；Added according to the vehicle body
Speed calculates the vehicle body velocities of the vehicle；According to default fuzzy rule to the weighting coefficient of the wheel speed of each wheel and
The weighting coefficient of the vehicle body velocities is adjusted；After the wheel speed of each wheel, the vehicle body velocities and adjusting
The weighting coefficient of the wheel speed of each wheel and the weighting coefficient of the vehicle body velocities calculate the actual vehicle speed of the vehicle.
Automobile speedestimate method according to embodiments of the present invention first, obtains the wheel of each wheel in multiple wheels of vehicle
Speed, and obtain the vehicle body acceleration of vehicle and the vehicle body velocities of vehicle are calculated according to vehicle body acceleration.Then, according to default
Fuzzy rule the weighting coefficient of wheel speed and the weighting coefficient of vehicle body velocities of each wheel are adjusted, and according to each vehicle
The weighting coefficient of the wheel speed of each wheel after the wheel speed of wheel, vehicle body velocities and adjusting and the weighting coefficient of vehicle body velocities calculate vehicle
Actual vehicle speed.This method by adjusting the weighting system of the wheel speed of each wheel and vehicle body velocities according to fuzzy algorithmic approach in real time
Then number estimates the actual speed of vehicle so that estimate according to weighting coefficient, the wheel speed of each wheel and the vehicle body velocities after adjusting
The speed of calculation is more accurate, and can adapt to more fully road conditions.
According to one embodiment of present invention, it is described according to default fuzzy rule to the wheel speed of each wheel plus
The weighting coefficient of weight coefficient and the vehicle body velocities is adjusted, including：Calculate the wheel speed of the multiple wheel and the vehicle body
The average value of speed, and obtain the maximum in the wheel speed of the multiple wheel；Judge maximum in the wheel speed with it is described
Whether the difference between average value is less than the first predetermined threshold value；If between the maximum and the average value in the wheel speed
Difference is less than first predetermined threshold value, then adjusts the weighting coefficient of the wheel speed of each wheel to default maximum weighted
Coefficient.
According to one embodiment of present invention, it is described according to default fuzzy rule to the wheel speed of each wheel plus
The weighting coefficient of weight coefficient and the vehicle body velocities is adjusted, including：The wheel speed and upper one of each wheel is judged respectively
Whether the difference between the actual vehicle speed of vehicle described in the moment is more than the second predetermined threshold value；If there is the wheel wheel speed with
Difference between the actual vehicle speed of vehicle described in last moment is more than second predetermined threshold value, then reduces the wheel speed of the wheel
Weighting coefficient；If the difference between the actual vehicle speed of vehicle described in the wheel speed of each wheel and last moment is all higher than institute
The second predetermined threshold value is stated, then reduces the weighting coefficient of the wheel speed of each wheel, and increases the weighting system of the vehicle body velocities
Number.
According to one embodiment of present invention, it is described according to default fuzzy rule to the wheel speed of each wheel plus
The weighting coefficient of weight coefficient and the vehicle body velocities is adjusted, including：The angle for obtaining each wheel in the multiple wheel adds
Speed, and it is pre- to judge whether the difference between the angular acceleration of the vehicle body acceleration and each wheel is more than the 3rd respectively
If threshold value；It is more than the described 3rd default threshold if there is the difference between the angular acceleration of the vehicle body acceleration and the wheel
Value then reduces the weighting coefficient of the wheel speed of the wheel；If the angular acceleration of the vehicle body acceleration and each wheel it
Between difference be all higher than the third predetermined threshold value, then reduce the weighting coefficient of the wheel speed of each wheel, and described in increasing
The weighting coefficient of vehicle body velocities.
According to one embodiment of present invention, it is described according to default fuzzy rule to the wheel speed of each wheel plus
The weighting coefficient of weight coefficient and the vehicle body velocities is adjusted, including：The wheel speed and upper one of each wheel is judged respectively
Whether the difference between the actual vehicle speed of vehicle described in the moment is less than the 4th predetermined threshold value, and judges the vehicle body acceleration respectively
Whether the difference between the angular acceleration of each wheel is less than the 5th predetermined threshold value；If there is the wheel speed of the wheel
Difference between the actual vehicle speed of vehicle described in last moment is less than the 4th predetermined threshold value, and the vehicle body acceleration
Difference between the angular acceleration of the wheel is less than the 5th predetermined threshold value, then increases the weighting system of the wheel speed of the wheel
Number.
According to one embodiment of present invention, the actual vehicle speed of the vehicle is calculated by the following formula：
Vref=∑ VRi*ARi, i=1,2,3,4,5,
Wherein, VrefFor the actual vehicle speed of the vehicle, VR1、VR2、VR3And VR4The wheel speed of respectively described each wheel,
AR1、AR2、AR3And AR4The weighting coefficient of the wheel speed of respectively described each wheel, VR5For the vehicle body velocities of the vehicle, AR5For
The weighting coefficient of the vehicle body velocities.
To achieve the above object, another aspect of the present invention embodiment proposes a kind of automobile speedestimate device, including：First obtains
Modulus block, for obtaining the wheel speed of each wheel in multiple wheels of vehicle；Second acquisition module, for obtaining the vehicle
Vehicle body acceleration, and according to the vehicle body velocities of the vehicle body acceleration calculating vehicle；Adjustment module, for according to default
The weighting coefficient of the wheel speed of each wheel and the weighting coefficient of the vehicle body velocities is adjusted in fuzzy rule；Calculate mould
Block, the computing module is connected respectively with first acquisition module, second acquisition module and the adjustment module, described
Computing module is for the wheel speed according to each wheel after the wheel speed of each wheel, the vehicle body velocities and adjusting
The weighting coefficient of weighting coefficient and the vehicle body velocities calculates the actual vehicle speed of the vehicle.
Automobile speedestimate device according to embodiments of the present invention first, multiple vehicles of vehicle is obtained by the first acquisition module
The wheel speed of each wheel in wheel, and pass through the second acquisition module and obtain the vehicle body acceleration of vehicle and according to vehicle body acceleration
Calculate the vehicle body velocities of vehicle.Then, adjustment module according to default fuzzy rule to the weighting coefficient of the wheel speed of each wheel
It is adjusted with the weighting coefficient of vehicle body velocities, finally, after computing module is according to the wheel speed of each wheel, vehicle body velocities and adjusting
Each wheel wheel speed weighting coefficient and vehicle body velocities weighting coefficient calculate vehicle actual vehicle speed.The device passes through root
The weighting coefficient of the wheel speed of each wheel and vehicle body velocities is adjusted in real time according to fuzzy algorithmic approach, then according to the weighting system after adjusting
The actual speed of wheel speed and vehicle body velocities the estimation vehicle of several, each wheel so that the speed of estimation is more accurate, and can
Adapt to more fully road conditions.
According to one embodiment of present invention, the adjustment module according to default fuzzy rule to each wheel
When the weighting coefficient of the weighting coefficient of wheel speed and the vehicle body velocities is adjusted, wherein, the adjustment module calculates described more
The wheel speed of a wheel and the average value of the vehicle body velocities, and obtain the maximum in the wheel speed of the multiple wheel and sentence
Whether the difference between maximum and the average value in the wheel speed of breaking is less than the first predetermined threshold value, wherein, if described
The difference between maximum and the average value in wheel speed is less than first predetermined threshold value, and the adjustment module is then by described in
The weighting coefficient of the wheel speed of each wheel is adjusted to default maximum weighted coefficient.
According to one embodiment of present invention, the adjustment module according to default fuzzy rule to each wheel
When the weighting coefficient of the weighting coefficient of wheel speed and the vehicle body velocities is adjusted, wherein, the adjustment module judges institute respectively
State each wheel wheel speed and last moment described in vehicle actual vehicle speed between difference whether be more than the second predetermined threshold value,
In, it is pre- that the difference between the actual vehicle speed of vehicle described in the wheel speed and last moment if there is the wheel is more than described second
If threshold value, the adjustment module then reduces the weighting coefficient of the wheel speed of the wheel；If the wheel speed of each wheel and upper one
Difference between the actual vehicle speed of vehicle described in moment is all higher than second predetermined threshold value, and the adjustment module then reduces described
The weighting coefficient of the wheel speed of each wheel, and increase the weighting coefficient of the vehicle body velocities.
According to one embodiment of present invention, the adjustment module according to default fuzzy rule to each wheel
When the weighting coefficient of the weighting coefficient of wheel speed and the vehicle body velocities is adjusted, wherein, the adjustment module obtains described more
The angular acceleration of each wheel in a wheel, and judge respectively the vehicle body acceleration and each wheel angular acceleration it
Between difference whether be more than third predetermined threshold value, wherein, if there is the angular acceleration of the vehicle body acceleration and the wheel
Between difference be more than the third predetermined threshold value, the adjustment module then reduces the weighting coefficient of the wheel speed of the wheel；If
Difference between the angular acceleration of the vehicle body acceleration and each wheel is all higher than the third predetermined threshold value, the tune
Section module then reduces the weighting coefficient of the wheel speed of each wheel, and increases the weighting coefficient of the vehicle body velocities.
According to one embodiment of present invention, the adjustment module according to default fuzzy rule to each wheel
When the weighting coefficient of the weighting coefficient of wheel speed and the vehicle body velocities is adjusted, wherein, the adjustment module judges institute respectively
State each wheel wheel speed and last moment described in vehicle actual vehicle speed between difference whether be less than the 4th predetermined threshold value, and
Judge whether the difference between the angular acceleration of the vehicle body acceleration and each wheel is less than the 5th predetermined threshold value respectively；
It is default that difference between the actual vehicle speed of vehicle described in wheel speed and last moment if there is the wheel is less than the described 4th
Threshold value, and the difference between the vehicle body acceleration and the angular acceleration of the wheel is less than the 5th predetermined threshold value, it is described
Adjustment module then increases the weighting coefficient of the wheel speed of the wheel.
According to one embodiment of present invention, the computing module calculates the actual vehicle of the vehicle by the following formula
Speed：
Vref=∑ VRi*ARi, i=1,2,3,4,5,
Wherein, VrefFor the actual vehicle speed of the vehicle, VR1、VR2、VR3And VR4The wheel speed of respectively described each wheel,
AR1、AR2、AR3And AR4The weighting coefficient of the wheel speed of respectively described each wheel, VR5For the vehicle body velocities of the vehicle, AR5For
The weighting coefficient of the vehicle body velocities.
In addition, the embodiment of the present invention also proposed a kind of electric bus, including above-mentioned automobile speedestimate device.
The electric bus of the embodiment of the present invention, can be according to fuzzy algorithmic approach come in real time by above-mentioned automobile speedestimate device
The wheel speed of each wheel and the weighting coefficient of vehicle body velocities are adjusted, then according to weighting coefficient, the wheel of each wheel after adjusting
The actual speed of speed and vehicle body velocities estimation vehicle so that the speed of estimation is more accurate, and can adapt to more fully road
Condition.
Description of the drawings
Fig. 1 is the flow chart of automobile speedestimate method according to embodiments of the present invention；
Fig. 2 is the block diagram of automobile speedestimate device according to embodiments of the present invention；And
Fig. 3 is the block diagram of electric bus according to embodiments of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
The automobile speedestimate method of the embodiment of the present invention, automobile speedestimate device are described and with the vehicle with reference to the accompanying drawings
The electric bus of speed estimation device.
Fig. 1 is the flow chart of automobile speedestimate method according to embodiments of the present invention.As shown in Figure 1, the automobile speedestimate method
It may include following steps：
S1, obtains the wheel speed of each wheel in multiple wheels of vehicle, and obtains the vehicle body acceleration of vehicle.
It specifically, can be real by the wheel speed sensors being mounted at wheel or be arranged in main reducing gear or speed changer
When obtain the wheel speed of each wheel in four wheels of vehicle, by being arranged on ESP (Electronic Stability
Program, body electronics systems stabilisation) in acceleration transducer obtain vehicle vehicle body acceleration.
S2 calculates the vehicle body velocities of vehicle according to vehicle body acceleration.
Specifically, the vehicle body velocities of vehicle can be carried out integrating according to vehicle body acceleration and asked for.
S3, according to default fuzzy rule to the weighting coefficient of the wheel speed of each wheel and the weighting coefficient of vehicle body velocities into
Row is adjusted.
S4, according to the weighting coefficient and vehicle of the wheel speed of each wheel after the wheel speed of each wheel, vehicle body velocities and adjusting
The weighting coefficient of body speed calculates the actual vehicle speed of vehicle.
According to one embodiment of present invention, the actual vehicle speed of vehicle can be calculated by following formula (1)：
Vref=∑ VRi*ARi, i=1,2,3,4,5 (1)
Wherein, VrefFor the actual vehicle speed of vehicle, VR1、VR2、VR3And VR4The wheel speed of respectively each wheel, AR1、AR2、AR3
And AR4The weighting coefficient of the wheel speed of respectively each wheel, VR5For the vehicle body velocities of vehicle, AR5For the weighting system of vehicle body velocities
Number.
Specifically, in normal vehicle operation, although accurate speed can be obtained using traditional wheel speed method,
But when vehicle carries out abs braking, influenced be subject to ABS adjustings, there are large errors for the speed estimated.In addition,
Under some special operation conditions, such as when vehicle is in slipping state, wheel speed acceleration is seriously partial to the barycenter acceleration of automobile, at this time
The speed estimated can also have very big error.
For this purpose, in an embodiment of the present invention, vehicle is estimated jointly according to the vehicle body velocities of the wheel speed of each wheel and vehicle
Actual vehicle speed, and according to actual condition, by default fuzzy rule to the wheel speed of each wheel and the vehicle body of vehicle
The weighting coefficient (distribution ratio) of speed is adjusted, so that the wheel speed of the smaller wheel of slip rate is used to carry out speed estimation, example
Such as, when a certain wheel of vehicle is in slipping state, the weighting coefficient of the wheel can be minimized, while increases other vehicles
The weighting coefficient of wheel so that the speed of estimation is more nearly actual value.And it is incredible in four-wheel wheel speed, it can be with
The weighting coefficient of the wheel speed of four wheels is minimized, while increases the weighting coefficient of vehicle body velocities so that the vehicle of estimation
Speed is more nearly actual value.
The default fuzzy rule in the embodiment of the present invention is described in detail with reference to specific example.
According to first embodiment of the invention, according to default fuzzy rule to the weighting coefficient of the wheel speed of each wheel
It is adjusted with the weighting coefficient of vehicle body velocities, it may include：The wheel speed of multiple wheels and the average value of vehicle body velocities are calculated, and is obtained
Take the maximum in the wheel speed of multiple wheels；It is pre- to judge whether the difference between the maximum in wheel speed and average value is less than first
If threshold value；If the difference between maximum and average value in wheel speed is less than the first predetermined threshold value, by the wheel of each wheel
The weighting coefficient of speed is adjusted to default maximum weighted coefficient.Wherein, the first predetermined threshold value and maximum weighted coefficient can be according to realities
Test examination obtains.
Specifically, the wheel speed of four wheels and the average value of vehicle body velocities are calculated firstThat is, average value Then the wheel speed of four wheels is compared, and obtains maximum wheel speed therein, it is false
If the maximum wheel speed obtained is VR1, then as maximum wheel speed VR1With average valueBetween difference very little when, illustrate four wheels
Wheel speed reliability it is all higher, the weighting coefficient of the wheel speed of four wheels can be arranged to maximum at this time, correspondingly, vehicle body
The weighting coefficient of speed will reduce, and then according to the weighting coefficient after adjusting, the reality of vehicle is calculated by above-mentioned formula (1)
Speed, the speed calculated at this time are more accurate.
Second embodiment according to the present invention, according to default fuzzy rule to the weighting coefficient of the wheel speed of each wheel
It is adjusted with the weighting coefficient of vehicle body velocities, it may include：The wheel speed of each wheel and the reality of last moment vehicle are judged respectively
Whether the difference between the speed of border is more than the second predetermined threshold value；If there is the wheel speed of wheel and the actual vehicle of last moment vehicle
Difference between speed is more than the second predetermined threshold value, then reduces the weighting coefficient of the wheel speed of the wheel；If the wheel speed of each wheel
Difference between the actual vehicle speed of last moment vehicle is all higher than the second predetermined threshold value, then reduce each wheel wheel speed plus
Weight coefficient, and increase the weighting coefficient of vehicle body velocities.Wherein, the second predetermined threshold value, increase and the weighting coefficient of reduction can roots
Test obtains according to the experiment.
That is, the actual vehicle speed V of the vehicle when last moment estimationrefIt is smaller than the wheel speed of current time wheel very
When more, illustrate that the wheel speed Reliability ratio of the wheel is relatively low, for example, the wheel is initially located in slipping state, reduce the wheel at this time
Wheel speed weighting coefficient, while increase the weighting coefficient of the wheel speed of other wheels.And the reality of the vehicle when last moment estimation
Border vehicle velocity VrefWhen wheel speed than four wheels of current time is all much smaller, illustrate that the wheel speed of four wheels is insincere, at this time four
The weighting coefficient of the wheel speed of a wheel reduces, while increases the weighting coefficient of vehicle body velocities, to ensure the speed of estimation more
Accurately.
3rd embodiment according to the present invention, according to default fuzzy rule to the weighting coefficient of the wheel speed of each wheel
It is adjusted with the weighting coefficient of vehicle body velocities, it may include：The angular acceleration of each wheel in multiple wheels is obtained, and is sentenced respectively
Whether the difference between disconnected vehicle body acceleration and the angular acceleration of each wheel is more than third predetermined threshold value；If there is vehicle body plus
Difference between speed and the angular acceleration of wheel is more than third predetermined threshold value, then reduces the weighting coefficient of the wheel speed of the wheel；
If the difference between the angular acceleration of vehicle body acceleration and each wheel is all higher than third predetermined threshold value, each wheel is reduced
Wheel speed weighting coefficient, and increase the weighting coefficient of vehicle body velocities.Wherein, third predetermined threshold value, increase and the weighting of reduction
Coefficient can be obtained by experiment test.
Specifically, after the wheel speed of each wheel is got, can corresponding vehicle be gone out according to the wheel speed calculation of each wheel
The angular acceleration of wheel, is denoted as aR1, aR2, aR3, aR4, then, by vehicle body acceleration aR5With the angular acceleration of each wheel carry out by
One compares, if the angular acceleration of certain wheel is more much smaller than current vehicle body acceleration, illustrates the confidence level of the wheel speed of the wheel
Than relatively low, for example, the wheel is in slipping state, the weighting coefficient of the wheel speed of the wheel is reduced at this time, while increases other vehicles
The weighting coefficient of the wheel speed of wheel.And if the angular acceleration of four wheels compared with current vehicle body acceleration, it is much smaller, then say
The wheel speed of bright four wheels is insincere, and the weighting coefficient of the wheel speed of four wheels reduces at this time, while increases vehicle body velocities
Weighting coefficient so that the speed of estimation is more accurate.
4th embodiment according to the present invention, according to default fuzzy rule to the weighting coefficient of the wheel speed of each wheel
It is adjusted with the weighting coefficient of vehicle body velocities, it may include：The wheel speed of each wheel and the reality of last moment vehicle are judged respectively
Whether the difference between the speed of border is less than the 4th predetermined threshold value, and judges the angular acceleration of vehicle body acceleration and each wheel respectively
Between difference whether be less than the 5th predetermined threshold value；Wheel speed if there is wheel and between the actual vehicle speed of last moment vehicle
Difference be less than the 4th predetermined threshold value, and to be less than the 5th default for the difference between vehicle body acceleration and the angular acceleration of the wheel
Threshold value then increases the weighting coefficient of the wheel speed of the wheel.Wherein, the 4th predetermined threshold value, the 5th predetermined threshold value, increased weighting system
Number and the weighting coefficient reduced can be obtained by experiment test.
Specifically, as the actual vehicle speed V of last moment vehiclerefWheel speed than certain current wheel is much smaller, and the wheel
Angular acceleration and vehicle body acceleration very close to when, illustrate that the wheel speed confidence level of the wheel is very high, increase the wheel of the wheel at this time
The weighting coefficient of speed, while reduce the weighting coefficient of the wheel speed of other wheels so that the speed of estimation is more accurate.
That is, in an embodiment of the present invention, slip rate, Ran Hougen are replaced by the wheel speed of wheel and the difference of speed
The skidding intensity of wheel is judged according to slip rate, angular acceleration, vehicle body acceleration and wheel speed, if wheel-slip is serious,
The corresponding weighting coefficient of the wheel is reduced, while increases the weighting coefficient of other wheels, and when four wheels are in skidding shape
During state, then the corresponding weighting coefficient of four wheels is reduced simultaneously, and increase the weighting coefficient of vehicle body velocities, so as to basis
Actual condition selects rational weighting coefficient so that the speed of estimation is more in line with actual conditions, and is subject to ABS to wheel speed control
The influence of system is smaller.
In conclusion automobile speedestimate method according to embodiments of the present invention, first, obtains each in multiple wheels of vehicle
The wheel speed of wheel, and obtain the vehicle body acceleration of vehicle and the vehicle body velocities of vehicle are estimated according to vehicle body acceleration.Then,
The weighting coefficient of the wheel speed of each wheel and the weighting coefficient of vehicle body velocities are adjusted according to default fuzzy rule, and root
According to the weighting coefficient of the wheel speed of each wheel after the wheel speed of each wheel, vehicle body velocities and adjusting and the weighting system of vehicle body velocities
Number calculates the actual vehicle speed of vehicle.This method by adjusting the wheel speed of each wheel and vehicle body velocities in real time according to fuzzy algorithmic approach
Weighting coefficient, then according to after adjusting weighting coefficient, the wheel speed of each wheel and vehicle body velocities estimation vehicle actual speed
Degree so that the speed of estimation is more accurate, and can adapt to more fully road conditions.
Fig. 2 is the block diagram of automobile speedestimate device according to embodiments of the present invention.As shown in Fig. 2, the automobile speedestimate
Device may include the first acquisition module 10, the second acquisition module 20, adjustment module 30 and computing module 40.
Wherein, the first acquisition module 10 is used to obtain the wheel speed of each wheel in multiple wheels of vehicle.Second obtains mould
Block 20 is used to obtain the vehicle body acceleration of vehicle, and the vehicle body velocities of vehicle are calculated according to vehicle body acceleration.Adjustment module 30 is used
In the weighting coefficient of the wheel speed of each wheel and the weighting coefficient of vehicle body velocities are adjusted according to default fuzzy rule.Meter
It calculates module 40 respectively with the first acquisition module 10, the second acquisition module 20 and adjustment module 30 to be connected, computing module 40 is used for root
According to the weighting coefficient of the wheel speed of each wheel after the wheel speed of each wheel, vehicle body velocities and adjusting and the weighting system of vehicle body velocities
Number calculates the actual vehicle speed of vehicle.
According to one embodiment of present invention, computing module 40 can calculate the actual vehicle speed of vehicle by above-mentioned formula (1).
Specifically, in normal vehicle operation, although accurate speed can be obtained using traditional wheel speed method,
But when vehicle carries out abs braking, influenced be subject to ABS adjustings, there are large errors for the speed estimated.In addition,
Under some special operation conditions, such as when vehicle is in slipping state, wheel speed acceleration seriously biases toward the barycenter acceleration of automobile, this
When the speed that estimates can also have very big error.
For this purpose, in an embodiment of the present invention, vehicle is calculated quickly jointly according to the vehicle body velocities of the wheel speed of each wheel and vehicle
Actual vehicle speed, and according to actual condition, by default fuzzy rule to the wheel speed of each wheel and the vehicle body of vehicle
The weighting coefficient (distribution ratio) of speed is adjusted, so that the wheel speed of the smaller wheel of slip rate is used to carry out speed estimation, example
Such as, when a certain wheel of vehicle is in slipping state, the weighting coefficient of the wheel can be minimized, while increases other vehicles
The weighting coefficient of wheel so that the speed of estimation is more nearly actual value.And it is incredible in four-wheel wheel speed, it can be with
The weighting coefficient of the wheel speed of four wheels is minimized, while increases the weighting coefficient of vehicle body velocities so that the vehicle of estimation
Speed is more nearly actual value.
The default fuzzy rule in the embodiment of the present invention is described in detail with reference to specific example.
According to first embodiment of the invention, adjustment module 30 according to default fuzzy rule to the wheel speed of each wheel
Weighting coefficient and the weighting coefficient of vehicle body velocities when being adjusted, wherein, adjustment module 30 calculate the wheel speeds of multiple wheels with
The average value of vehicle body velocities, and obtain the maximum in the wheel speed of multiple wheels and judge maximum in wheel speed with it is average
Whether the difference between value is less than the first predetermined threshold value, if the difference between the maximum and average value in wheel speed is less than first
Predetermined threshold value, adjustment module 30 are then adjusted the weighting coefficient of the wheel speed of each wheel to default maximum weighted coefficient.
Specifically, the wheel speed of four wheels of calculating of adjustment module 30 and the average value of vehicle body velocities are passed through firstThat is,
Average valueThen the wheel speed of four wheels is compared, and obtained therein
Maximum wheel speed, it is assumed that the maximum wheel speed of acquisition is VR1, then as maximum wheel speed VR1With average valueBetween difference very little when, say
The Reliability comparotive of the wheel speed of bright four wheels is high, and adjustment module 30 can be set the weighting coefficient of the wheel speed of four wheels at this time
For maximum, correspondingly, the weighting coefficient of vehicle body velocities will be turned down, then computing module 40 leads to according to the weighting coefficient after adjusting
The actual vehicle speed that above-mentioned formula (1) calculates vehicle is crossed, the speed calculated at this time is more accurate.
Second embodiment according to the present invention, adjustment module 30 is according to default fuzzy rule to the wheel speed of each wheel
Weighting coefficient and the weighting coefficient of vehicle body velocities when being adjusted, wherein, adjustment module 30 judges the wheel of each wheel respectively
Speed and the actual vehicle speed V of last moment vehiclerefBetween difference whether be more than the second predetermined threshold value, if there is the wheel of wheel
Speed and the actual vehicle speed V of last moment vehiclerefBetween difference be more than the second predetermined threshold value, adjustment module 30 then reduces the vehicle
The weighting coefficient of the wheel speed of wheel；If the wheel speed of each wheel and the actual vehicle speed V of last moment vehiclerefBetween difference it is equal
More than the second predetermined threshold value, adjustment module 30 then reduces the weighting coefficient of the wheel speed of each wheel, and increases adding for vehicle body velocities
Weight coefficient.
That is, when adjustment module 30 judges the actual vehicle speed V of the vehicle of last moment estimationrefCompare current time
When the wheel speed of certain wheel is much smaller, illustrate that the wheel speed Reliability ratio of the wheel is relatively low, for example, the wheel is initially located in skidding shape
State, adjustment module 30 reduces the weighting coefficient of the wheel speed of the wheel at this time, while increases the weighting coefficient of the wheel speed of other wheels.
And the actual vehicle speed V of the vehicle when last moment estimationrefWhen wheel speed than four wheels of current time is all much smaller, illustrate four
The wheel speed of a wheel is insincere, and adjustment module 30 reduces the weighting coefficient of the wheel speed of four wheels at this time, increases simultaneously
The weighting coefficient of vehicle body velocities, to ensure that the speed of estimation is more accurate.
3rd embodiment according to the present invention, adjustment module 30 is according to default fuzzy rule to the wheel speed of each wheel
Weighting coefficient and the weighting coefficient of vehicle body velocities when being adjusted, wherein, adjustment module 30 obtains each vehicle in multiple wheels
The angular acceleration of wheel, and vehicle body acceleration a is judged respectivelyR5Whether the difference between the angular acceleration of each wheel is more than the 3rd
Predetermined threshold value, if there is vehicle body acceleration aR5Difference between the angular acceleration of wheel is more than third predetermined threshold value, adjusts
Module 30 then reduces the weighting coefficient of the wheel speed of the wheel；If vehicle body acceleration aR5Between the angular acceleration of each wheel
Difference is all higher than third predetermined threshold value, and adjustment module 30 then reduces the weighting coefficient of the wheel speed of each wheel, and increases vehicle body speed
The weighting coefficient of degree.
Specifically, after the wheel speed of each wheel is got by the first acquisition module 10, adjustment module 30 can root
Go out the angular acceleration of corresponding wheel according to the wheel speed calculation of each wheel, be denoted as aR1, aR2, aR3, aR4, then, by vehicle body acceleration
aR5Compared with being carried out one by one with the angular acceleration of each wheel, if the angular acceleration of certain wheel is smaller than current vehicle body acceleration very
It is more, then illustrate that the Reliability ratio of the wheel speed of the wheel is relatively low, for example, the wheel is in slipping state, adjustment module 30 drops at this time
The weighting coefficient of the wheel speed of the low wheel, while increase the weighting coefficient of the wheel speed of other wheels.And if the angle of four wheels
Acceleration is much smaller compared with current vehicle body acceleration, then illustrates that the wheel speed of four wheels is insincere, at this time adjustment module
30 reduce the weighting coefficient of the wheel speed of four wheels, while increase the weighting coefficient of vehicle body velocities so that the speed of estimation
It is more accurate.
4th embodiment according to the present invention, adjustment module 30 is according to weighting of the fuzzy rule to the wheel speed of each wheel
When the weighting coefficient of coefficient and vehicle body velocities is adjusted, wherein, adjustment module 30 judge respectively the wheel speed of each wheel with it is upper
The actual vehicle speed V of one moment vehiclerefBetween difference whether be less than the 4th predetermined threshold value, and judge vehicle body acceleration a respectivelyR5
Whether the difference between the angular acceleration of each wheel is less than the 5th predetermined threshold value；Wheel speed and upper a period of time if there is wheel
Carve the actual vehicle speed V of vehiclerefBetween difference be less than the 4th predetermined threshold value, and the angle of vehicle body acceleration and the wheel accelerates
Difference between degree is less than the 5th predetermined threshold value, and adjustment module 30 then increases the weighting coefficient of the wheel speed of the wheel.
Specifically, when adjustment module 30 judges the actual vehicle speed V of last moment vehiclerefThan the wheel speed of certain current wheel
It is much smaller, and the angular acceleration of the wheel and vehicle body acceleration very close to when, illustrate that the wheel speed confidence level of the wheel is very high, this
When adjustment module 30 increase the wheel wheel speed weighting coefficient, while reduce the weighting coefficient of the wheel speed of other wheels so that
The speed of estimation is more accurate.
That is, in an embodiment of the present invention, slip rate, Ran Hougen are replaced by the wheel speed of wheel and the difference of speed
The skidding intensity of wheel is judged according to slip rate, angular acceleration, vehicle body acceleration and wheel speed, if wheel-slip is serious,
The corresponding weighting coefficient of the wheel is reduced, while increases the weighting coefficient of other wheels, and when four wheels are in skidding shape
During state, then the corresponding weighting coefficient of four wheels is reduced simultaneously, and increase the weighting coefficient of vehicle body velocities, so as to basis
Actual condition selects rational weighting coefficient so that the speed of estimation is more in line with actual conditions, and is subject to ABS to wheel speed control
The influence of system is smaller.
It should be noted that the details not disclosed in the automobile speedestimate device of the embodiment of the present invention, refer to the present invention
Details disclosed in the automobile speedestimate method of embodiment, specific which is not described herein again.
In conclusion automobile speedestimate device according to embodiments of the present invention, first, vehicle is obtained by the first acquisition module
Multiple wheels in each wheel wheel speed, and pass through the second acquisition module and obtain the vehicle body acceleration of vehicle and according to vehicle
Body acceleration estimates the vehicle body velocities of vehicle.Then, adjustment module according to default fuzzy rule to the wheel speed of each wheel
The weighting coefficient of weighting coefficient and vehicle body velocities is adjusted, finally, wheel speed of the computing module according to each wheel, vehicle body velocities
The actual vehicle speed of vehicle is calculated with the weighting coefficient of the wheel speed of each wheel after adjusting and the weighting coefficient of vehicle body velocities.The dress
Put the weighting coefficient by adjusting the wheel speed of each wheel and vehicle body velocities in real time according to fuzzy algorithmic approach, then according to adjusting after
Weighting coefficient, each wheel wheel speed and vehicle body velocities estimation vehicle actual speed so that the speed of estimation is more accurate,
And it can adapt to more fully road conditions.
Fig. 3 is the block diagram of electric bus according to embodiments of the present invention.As shown in figure 3, the electric bus 1000
Including above-mentioned automobile speedestimate device 100.
The electric bus of the embodiment of the present invention, can be according to fuzzy algorithmic approach come in real time by above-mentioned automobile speedestimate device
The wheel speed of each wheel and the weighting coefficient of vehicle body velocities are adjusted, then according to weighting coefficient, the wheel of each wheel after adjusting
The actual speed of speed and vehicle body velocities estimation vehicle so that the speed of estimation is more accurate, and can adapt to more fully road
Condition.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instructions such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be based on orientation shown in the drawings or
Position relationship is for only for ease of the description present invention and simplifies description rather than instruction or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, " multiple " are meant that at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features contact directly or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It is combined in an appropriate manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the different embodiments described in this specification or example and different embodiments or exemplary feature
It closes and combines.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (13)
- A kind of 1. automobile speedestimate method, which is characterized in that comprise the following steps：The wheel speed of each wheel in multiple wheels of vehicle is obtained, and obtains the vehicle body acceleration of the vehicle；The vehicle body velocities of the vehicle are calculated according to the vehicle body acceleration；According to default fuzzy rule to the weighting coefficient of the wheel speed of each wheel and the weighting coefficient of the vehicle body velocities It is adjusted；According to the weighting coefficient of the wheel speed of each wheel after the wheel speed of each wheel, the vehicle body velocities and adjusting The actual vehicle speed of the vehicle is calculated with the weighting coefficient of the vehicle body velocities.
- 2. automobile speedestimate method as described in claim 1, which is characterized in that it is described according to default fuzzy rule to described every The weighting coefficient of the weighting coefficient of the wheel speed of a wheel and the vehicle body velocities is adjusted, including：The wheel speed of the multiple wheel and the average value of the vehicle body velocities are calculated, and is obtained in the wheel speed of the multiple wheel Maximum；Judge whether the difference between the maximum in the wheel speed and the average value is less than the first predetermined threshold value；If the difference between maximum and the average value in the wheel speed is less than first predetermined threshold value, by described in The weighting coefficient of the wheel speed of each wheel is adjusted to default maximum weighted coefficient.
- 3. automobile speedestimate method as claimed in claim 1 or 2, which is characterized in that it is described according to default fuzzy rule to institute The weighting coefficient of the weighting coefficient and the vehicle body velocities of stating the wheel speed of each wheel is adjusted, including：Judge respectively each wheel wheel speed and last moment described in vehicle actual vehicle speed between difference whether be more than Second predetermined threshold value；Difference between the actual vehicle speed of vehicle described in wheel speed and last moment if there is the wheel is more than described second Predetermined threshold value then reduces the weighting coefficient of the wheel speed of the wheel；If the difference between the actual vehicle speed of vehicle described in the wheel speed of each wheel and last moment is all higher than described Two predetermined threshold values, then reduce the weighting coefficient of the wheel speed of each wheel, and increases the weighting coefficient of the vehicle body velocities.
- 4. automobile speedestimate method as claimed in claim 3, which is characterized in that it is described according to default fuzzy rule to described every The weighting coefficient of the weighting coefficient of the wheel speed of a wheel and the vehicle body velocities is adjusted, including：The angular acceleration of each wheel in the multiple wheel is obtained, and judges the vehicle body acceleration and each vehicle respectively Whether the difference between the angular acceleration of wheel is more than third predetermined threshold value；It is more than the third predetermined threshold value if there is the difference between the angular acceleration of the vehicle body acceleration and the wheel, Then reduce the weighting coefficient of the wheel speed of the wheel；If the difference between the angular acceleration of the vehicle body acceleration and each wheel is all higher than the described 3rd default threshold Value, then reduce the weighting coefficient of the wheel speed of each wheel, and increase the weighting coefficient of the vehicle body velocities.
- 5. automobile speedestimate method as claimed in claim 4, which is characterized in that it is described according to default fuzzy rule to described every The weighting coefficient of the weighting coefficient of the wheel speed of a wheel and the vehicle body velocities is adjusted, including：Judge respectively each wheel wheel speed and last moment described in vehicle actual vehicle speed between difference whether be less than 4th predetermined threshold value, and judge whether the difference between the angular acceleration of the vehicle body acceleration and each wheel is small respectively In the 5th predetermined threshold value；Difference between the actual vehicle speed of vehicle described in wheel speed and last moment if there is the wheel is less than the described 4th Predetermined threshold value, and the difference between the vehicle body acceleration and the angular acceleration of the wheel is less than the 5th predetermined threshold value, Then increase the weighting coefficient of the wheel speed of the wheel.
- 6. automobile speedestimate method as described in claim 1, which is characterized in that the reality of the vehicle is calculated by the following formula Speed：Vref=∑ VRi*ARi, i=1,2,3,4,5,Wherein, VrefFor the actual vehicle speed of the vehicle, VR1、VR2、VR3And VR4The wheel speed of respectively described each wheel, AR1、 AR2、AR3And AR4The weighting coefficient of the wheel speed of respectively described each wheel, VR5For the vehicle body velocities of the vehicle, AR5To be described The weighting coefficient of vehicle body velocities.
- 7. a kind of automobile speedestimate device, which is characterized in that including：First acquisition module, for obtaining the wheel speed of each wheel in multiple wheels of vehicle；Second acquisition module for obtaining the vehicle body acceleration of the vehicle, and calculates the vehicle according to the vehicle body acceleration Vehicle body velocities；Adjustment module, for fast to the weighting coefficient of the wheel speed of each wheel and the vehicle body according to default fuzzy rule The weighting coefficient of degree is adjusted；Computing module, the computing module respectively with first acquisition module, second acquisition module and the adjusting mould Block is connected, and the computing module is used for according to described each after the wheel speed of each wheel, the vehicle body velocities and adjusting The weighting coefficient of the weighting coefficient of the wheel speed of wheel and the vehicle body velocities calculates the actual vehicle speed of the vehicle.
- 8. automobile speedestimate device as claimed in claim 7, which is characterized in that the adjustment module is according to default fuzzy rule When the weighting coefficient of weighting coefficient and the vehicle body velocities to the wheel speed of each wheel is adjusted, wherein,The adjustment module calculates the wheel speed of the multiple wheel and the average value of the vehicle body velocities, and obtains the multiple vehicle Whether maximum in the wheel speed of wheel and the difference for judging between the maximum in the wheel speed and the average value are less than the One predetermined threshold value, wherein,If the difference between maximum and the average value in the wheel speed is less than first predetermined threshold value, the adjusting Module is then adjusted the weighting coefficient of the wheel speed of each wheel to default maximum weighted coefficient.
- 9. automobile speedestimate device as claimed in claim 7 or 8, which is characterized in that the adjustment module is according to default fuzzy When the weighting coefficient of the wheel speed of each wheel and the weighting coefficient of the vehicle body velocities is adjusted in rule, wherein,The adjustment module judge respectively each wheel wheel speed and last moment described in vehicle actual vehicle speed between Whether difference is more than the second predetermined threshold value, wherein,Difference between the actual vehicle speed of vehicle described in wheel speed and last moment if there is the wheel is more than described second Predetermined threshold value, the adjustment module then reduce the weighting coefficient of the wheel speed of the wheel；If the difference between the actual vehicle speed of vehicle described in the wheel speed of each wheel and last moment is all higher than described Two predetermined threshold values, the adjustment module then reduce the weighting coefficient of the wheel speed of each wheel, and increase the vehicle body velocities Weighting coefficient.
- 10. automobile speedestimate device as claimed in claim 9, which is characterized in that the adjustment module is according to default fuzzy rule When then the weighting coefficient of wheel speed to each wheel and the weighting coefficient of the vehicle body velocities are adjusted, wherein,The adjustment module obtains the angular acceleration of each wheel in the multiple wheel, and judges the vehicle body acceleration respectively Whether the difference between the angular acceleration of each wheel is more than third predetermined threshold value, wherein,It is more than the third predetermined threshold value if there is the difference between the angular acceleration of the vehicle body acceleration and the wheel, The adjustment module then reduces the weighting coefficient of the wheel speed of the wheel；If the difference between the angular acceleration of the vehicle body acceleration and each wheel is all higher than the described 3rd default threshold Value, the adjustment module then reduces the weighting coefficient of the wheel speed of each wheel, and increases the weighting system of the vehicle body velocities Number.
- 11. automobile speedestimate device as claimed in claim 10, which is characterized in that the adjustment module is according to default fuzzy rule When then the weighting coefficient of wheel speed to each wheel and the weighting coefficient of the vehicle body velocities are adjusted, wherein,The adjustment module judge respectively each wheel wheel speed and last moment described in vehicle actual vehicle speed between Whether difference is less than the 4th predetermined threshold value, and judges respectively between the angular acceleration of the vehicle body acceleration and each wheel Difference whether be less than the 5th predetermined threshold value；Difference between the actual vehicle speed of vehicle described in wheel speed and last moment if there is the wheel is less than the described 4th Predetermined threshold value, and the difference between the vehicle body acceleration and the angular acceleration of the wheel is less than the 5th predetermined threshold value, The adjustment module then increases the weighting coefficient of the wheel speed of the wheel.
- 12. automobile speedestimate device as claimed in claim 7, which is characterized in that the computing module is calculated by the following formula The actual vehicle speed of the vehicle：Vref=Σ VRi*ARi, i=1,2,3,4,5,Wherein, VrefFor the actual vehicle speed of the vehicle, VR1、VR2、VR3And VR4The wheel speed of respectively described each wheel, AR1、 AR2、AR3And AR4The weighting coefficient of the wheel speed of respectively described each wheel, VR5For the vehicle body velocities of the vehicle, AR5To be described The weighting coefficient of vehicle body velocities.
- 13. a kind of electric bus, which is characterized in that including the automobile speedestimate device as any one of claim 7-12.
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| CN201611087683.4A CN108116417A (en) | 2016-11-30 | 2016-11-30 | Electric bus and automobile speedestimate method and apparatus |
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| WO2024037130A1 (en) * | 2022-08-18 | 2024-02-22 | 中国第一汽车股份有限公司 | Center-of-mass velocity determination method and device |
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