CN108639060B - Vehicle speed determination method and device and vehicle - Google Patents
Vehicle speed determination method and device and vehicle Download PDFInfo
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- CN108639060B CN108639060B CN201810679381.9A CN201810679381A CN108639060B CN 108639060 B CN108639060 B CN 108639060B CN 201810679381 A CN201810679381 A CN 201810679381A CN 108639060 B CN108639060 B CN 108639060B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention provides a vehicle speed determination method, a vehicle speed determination device and an automobile, and relates to the technical field of vehicle control, wherein the method comprises the following steps: acquiring the rotating speed of a motor and the rotating speeds of a plurality of wheels of a vehicle in real time; if the currently acquired rotating speeds of the wheels are all within a first preset range, calculating a first theoretical vehicle speed according to the rotating speeds of the wheels; if the currently acquired motor rotating speed is within a second preset range, calculating a second theoretical vehicle speed according to the motor rotating speed; and determining the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed. The scheme of the invention realizes the safety check of the calculated theoretical vehicle speed, reduces the possibility of accidents caused by vehicle speed calculation errors due to component abnormity, and improves the safety and the reliability of the automobile.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle speed determining method and device and a vehicle.
Background
Along with the development of economic technology, the automobile is more and more popular, and the automobile becomes the indispensable tool of going on a journey of people, along with the increase of car quantity, traffic accident on the road is also more and more, wherein, because the phenomenon that the car leads to the accident out of control also takes place occasionally, consequently, the user is to the security and the reliability requirement of automobile more and more high.
In the prior art, the speed of a vehicle is determined by acquiring the rotating speed of each wheel and the rotating radius of the wheel according to wheel speed sensors on four wheels, and a running speed of the vehicle is determined, so that no specific safety check and fault processing flow exists at present, and when the wheel speed sensors have faults, the calculated speed of the vehicle is inconsistent with the actual speed of the vehicle, so that the vehicle is out of control, and the safety of people and vehicles is threatened.
Disclosure of Invention
The embodiment of the invention aims to provide a vehicle speed determining method, a vehicle speed determining device and a vehicle, so that the phenomenon that the vehicle speed is wrongly calculated due to the abnormality of a wheel speed sensor in the prior art, and the vehicle is out of control to threaten the safety of people and the vehicle is reduced.
In order to achieve the above object, the present invention provides a vehicle speed determination method including:
acquiring the rotating speed of a motor and the rotating speeds of a plurality of wheels of a vehicle in real time;
if the currently acquired rotating speeds of the wheels are all within a first preset range, calculating a first theoretical vehicle speed according to the rotating speeds of the wheels; if the currently acquired motor rotating speed is within a second preset range, calculating a second theoretical vehicle speed according to the motor rotating speed;
and determining the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed.
Wherein after the step of obtaining the motor speed and the plurality of wheel speeds of the vehicle in real time, the method further comprises:
if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is not in the second preset range, determining that the current output vehicle speed is a pre-stored safe vehicle speed;
if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is in the second preset range, calculating a second theoretical vehicle speed according to the rotating speed of the motor, and determining the current output vehicle speed as the second theoretical vehicle speed;
if the currently acquired rotating speeds of the wheels are all within the first preset range and the currently acquired rotating speed of the motor is not within the second preset range, calculating a first theoretical vehicle speed according to the rotating speeds of the motor, and determining the current output vehicle speed as the first theoretical vehicle speed.
Wherein the step of determining the current output vehicle speed of the vehicle from the first theoretical vehicle speed and the second theoretical vehicle speed comprises:
calculating a first difference value between a first theoretical vehicle speed obtained currently and a first theoretical vehicle speed obtained last time, and a second difference value between a second theoretical vehicle speed obtained currently and a second theoretical vehicle speed obtained last time;
and if the absolute value of the first difference is smaller than or equal to a first preset difference and the absolute value of the second difference is smaller than or equal to a second preset difference, determining the current output vehicle speed according to a third difference between the first difference and the second difference.
Wherein determining the current output vehicle speed based on a third difference between the first difference and the second difference comprises:
if the absolute value of the third difference is larger than a third preset difference, acquiring the current slip rate of the vehicle;
determining a nominal slip ratio corresponding to the currently acquired first theoretical vehicle speed according to a pre-stored corresponding relation table of the vehicle speed and the slip ratio;
and determining the current output vehicle speed according to the current slip rate and the nominal slip rate.
Wherein the step of obtaining the current slip ratio of the vehicle comprises:
respectively acquiring a difference value and an average value of wheel rotating speeds of two driving wheels of the vehicle;
and acquiring the current slip rate of the vehicle according to the ratio of the difference value of the wheel rotating speeds of the two driving wheels to the average value.
Wherein, according to the current slip ratio and the nominal slip ratio, the step of determining the current output vehicle speed comprises:
if the current slip rate is smaller than the nominal slip rate, determining that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference value;
and if the current slip ratio is larger than or equal to the nominal slip ratio, determining the current output vehicle speed as the sum of the product of the second theoretical vehicle speed and the current slip ratio which are obtained currently and the first theoretical vehicle speed which is obtained currently.
Wherein determining the current output vehicle speed based on a third difference between the first difference and the second difference comprises:
if the absolute value of the third difference is smaller than or equal to a third preset difference and larger than or equal to a fourth preset difference, determining that the current output vehicle speed is the smaller one of the currently acquired first theoretical vehicle speed and the currently acquired second theoretical vehicle speed; wherein the third preset difference is greater than the fourth preset difference;
and if the absolute value of the third difference is smaller than the fourth preset difference, determining that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference.
After the step of calculating a first difference between the currently acquired first theoretical vehicle speed and the previously acquired first theoretical vehicle speed, and a second difference between the currently acquired second theoretical vehicle speed and the previously acquired second theoretical vehicle speed, the method further includes:
if the absolute value of the first difference is larger than a first preset difference, and the absolute value of the second difference is larger than a second preset difference; determining that the current output vehicle speed is a pre-stored safe vehicle speed;
if the absolute value of the first difference is larger than the first preset difference and the absolute value of the second difference is smaller than or equal to the second preset difference, calculating a second theoretical vehicle speed according to the motor rotating speed and determining the current output vehicle speed as the second theoretical vehicle speed;
and if the absolute value of the first difference is smaller than or equal to the first preset difference and the absolute value of the second difference is larger than the second preset difference, calculating a first theoretical vehicle speed according to the motor rotating speed, and determining the current output vehicle speed as the first theoretical vehicle speed.
An embodiment of the present invention further provides a vehicle speed determining apparatus, including:
the acquisition module is used for acquiring the motor rotating speed and the rotating speeds of a plurality of wheels of the vehicle in real time;
the calculation module is used for calculating a first theoretical vehicle speed according to a plurality of wheel rotating speeds if the plurality of wheel rotating speeds obtained currently are all within a first preset range; if the currently acquired motor rotating speed is within a second preset range, calculating a second theoretical vehicle speed according to the motor rotating speed;
and the first determining module is used for determining the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed.
Wherein the apparatus further comprises:
the second determining module is used for determining the current output vehicle speed as a pre-stored safe vehicle speed if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is not in the second preset range;
the third determining module is used for calculating a second theoretical vehicle speed according to the motor rotating speed and determining the current output vehicle speed as the second theoretical vehicle speed if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is in the second preset range;
and the fourth determining module is used for calculating a first theoretical vehicle speed according to the motor rotating speed and determining that the current output vehicle speed is the first theoretical vehicle speed if the currently acquired rotating speeds of the plurality of wheels are all within the first preset range and the currently acquired rotating speed of the motor is not within the second preset range.
Wherein the first determining module comprises:
the first calculation submodule is used for calculating a first difference value between a first theoretical vehicle speed obtained currently and a first theoretical vehicle speed obtained last time, and a second difference value between a second theoretical vehicle speed obtained currently and a second theoretical vehicle speed obtained last time;
and the first determining submodule is used for determining the current output vehicle speed according to a third difference between the first difference and the second difference if the absolute value of the first difference is smaller than or equal to a first preset difference and the absolute value of the second difference is smaller than or equal to a second preset difference.
Wherein the first determination submodule includes:
the first obtaining unit is used for obtaining the current slip rate of the vehicle if the absolute value of the third difference is larger than a third preset difference;
the first determining unit is used for determining a nominal slip ratio corresponding to the currently acquired first theoretical vehicle speed according to a pre-stored corresponding relation table of the vehicle speed and the slip ratio;
and the second determining unit is used for determining the current output vehicle speed according to the current slip rate and the nominal slip rate.
Wherein the first acquisition unit includes:
a first acquisition subunit configured to acquire a difference value and an average value of wheel rotation speeds of two drive wheels of the vehicle, respectively;
and the second obtaining subunit is used for obtaining the current slip ratio of the vehicle according to the ratio of the difference value of the wheel rotating speeds of the two driving wheels to the average value.
Wherein the second determination unit includes:
the first determining subunit is configured to determine, if the current slip ratio is smaller than the nominal slip ratio, that the current output vehicle speed is a sum of an output vehicle speed obtained last time and one half of the third difference;
and the second determining subunit is used for determining the current output vehicle speed as the sum of the product of the second theoretical vehicle speed obtained currently and the current slip ratio and the first theoretical vehicle speed obtained currently if the current slip ratio is greater than or equal to the nominal slip ratio.
Wherein the first determination submodule includes:
a third determining subunit, configured to determine that the current output vehicle speed is a smaller one of the currently acquired first theoretical vehicle speed and the currently acquired second theoretical vehicle speed, if an absolute value of the third difference is smaller than or equal to a third preset difference and larger than or equal to a fourth preset difference; wherein the third preset difference is greater than the fourth preset difference;
and the fourth determining subunit is configured to determine, if the absolute value of the third difference is smaller than the fourth preset difference, that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference.
Wherein the first determining sub-module further includes:
a third determining unit, configured to determine that the absolute value of the first difference is greater than a first preset difference and the absolute value of the second difference is greater than a second preset difference; determining that the current output vehicle speed is a pre-stored safe vehicle speed;
a fourth determining unit, configured to calculate a second theoretical vehicle speed according to the motor rotation speed and determine that the current output vehicle speed is the second theoretical vehicle speed if the absolute value of the first difference is greater than the first preset difference and the absolute value of the second difference is less than or equal to the second preset difference;
and a fifth determining unit, configured to calculate a first theoretical vehicle speed according to the motor rotation speed and determine that the current output vehicle speed is the first theoretical vehicle speed if the absolute value of the first difference is smaller than or equal to the first preset difference and the absolute value of the second difference is greater than the second preset difference.
The embodiment of the invention also provides an automobile which comprises the automobile speed determining device.
An embodiment of the present invention further provides an automobile, including: a processor, a memory and a computer program stored on and executable on the memory, the computer program, when executed by the processor, implementing the steps of the vehicle speed determination method as described above.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the vehicle speed determination method are implemented as described above.
The technical scheme of the invention at least has the following beneficial effects:
according to the method, when the obtained rotation speeds of the wheels are determined to be effective, a first theoretical speed of the vehicle is calculated according to the rotation speeds of the wheels, and when the obtained rotation speed of the motor is determined to be effective, a second theoretical speed of the vehicle is determined according to the rotation speed of the motor; the current output speed of the automobile is determined by comparing the first theoretical speed with the second theoretical speed, so that the current output speed is safely checked, and the current output speed is prevented from being wrong due to the fact that the obtained rotating speeds of a plurality of wheels or rotating speeds of motors are abnormal, so that traffic accidents are caused due to the fact that the automobile is out of control, the safety and the reliability of the automobile are improved, and the driving feeling of a user is also improved.
Drawings
FIG. 1 is a schematic diagram illustrating the basic steps of a vehicle speed determination method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram showing the basic composition of a vehicle speed determining apparatus according to an embodiment of the invention;
FIG. 3 is a flowchart illustrating a vehicle speed determination method according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a vehicle speed determining method, a vehicle speed determining device and a vehicle, aiming at the problem that in the prior art, the traffic accident is caused by wrong vehicle speed calculation results due to abnormal parts or abnormal road conditions, so that the safety check of the vehicle speed calculated by the motor rotating speed and the vehicle speed calculated by the wheel rotating speed is realized, the safety and the reliability of the vehicle are improved, and the driving feeling of a user is also improved.
As shown in fig. 1, an embodiment of the present invention provides a vehicle speed determination method including:
and 11, acquiring the rotating speed of a motor and the rotating speeds of a plurality of wheels of the vehicle in real time.
And step 13, determining the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed.
According to the embodiment of the invention, the first theoretical speed is calculated through the rotating speeds of a plurality of wheels, the second theoretical speed is calculated through the rotating speed of the motor, and the final output speed of the vehicle is determined through the comparison of the first theoretical speed and the second theoretical speed, so that the situation that the vehicle is out of control, traffic accidents are caused, and the safety of people and vehicles is threatened due to the fact that the calculated speed is wrong due to the abnormality of a wheel speed sensor or the abnormality of the motor sensor is avoided.
In addition, in order to ensure that the vehicle can output a vehicle speed for safe driving when the wheel speed sensor for acquiring the wheel speeds or the motor speed sensor for acquiring the motor speeds is abnormal, the method further includes, after the step of acquiring the motor speeds and the plurality of wheel speeds of the vehicle in real time:
and if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is not in the second preset range, determining that the current output vehicle speed is a pre-stored safe vehicle speed.
In the step, when at least one wheel speed sensor is abnormal, the first theoretical vehicle speed is wrong, and meanwhile, when the second theoretical vehicle speed is abnormal, the motor rotating speed sensor is abnormal, the current output vehicle speed of the vehicle is controlled to be the safe vehicle speed stored in advance.
It should be noted that, the first preset range is a rotation speed between a minimum rotation speed and a maximum rotation speed when the wheel speed sensor normally works; the second preset range is the rotating speed between the minimum rotating speed and the maximum rotating speed when the motor sensor works normally; the sensor abnormality in the present embodiment includes at least an abnormality of the sensor itself or an abnormality of communication between the sensor and the controller.
If the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is in the second preset range, calculating a second theoretical vehicle speed according to the rotating speed of the motor, and determining the current output vehicle speed as the second theoretical vehicle speed.
In the step, when at least one wheel speed sensor is abnormal and the motor rotating speed sensor is normal, the current output speed of the vehicle is obtained according to the second theoretical speed calculated by the motor rotating speed.
If the currently acquired rotating speeds of the wheels are all within the first preset range and the currently acquired rotating speed of the motor is not within the second preset range, calculating a first theoretical vehicle speed according to the rotating speeds of the motor, and determining the current output vehicle speed as the first theoretical vehicle speed.
In the step, the current output speed of the vehicle is determined according to the first theoretical speed calculated by the wheel speeds when the wheel speed sensors are normal and the motor speed sensor is abnormal.
It should be noted that, a specific formula for calculating the first theoretical vehicle speed according to a plurality of wheel speed sensors is as follows: a first theoretical vehicle speed = (wheel speed of the left front wheel + wheel speed of the right front wheel) × K1, where K1=0.5 × Π × L wheel diameter/3.6 when the vehicle is traveling straight; when the vehicle is turning, K1= M1 × 0.5 × Π × L/3.6, where M1 is a proportionality coefficient determined according to the current steering wheel angle, and L is the diameter of the wheel. That is, in the process of calculating the first theoretical vehicle speed, if the steering wheel is detected to have a turning angle, M1 is determined according to the current steering wheel angle in a pre-stored correspondence table of steering wheel angles and proportionality coefficients, then M1 and the diameter L of the wheel are determined to calculate the coefficient K1 of the first theoretical vehicle speed, and finally the first theoretical vehicle speed is calculated according to the above formula of calculating the first theoretical vehicle speed, wherein the correspondence table of steering wheel angles and proportionality coefficients is the proportionality coefficient corresponding to each steering wheel angle determined according to a large amount of experimental data.
The specific formula for calculating the second theoretical vehicle speed according to the motor rotating speed is as follows: the second theoretical vehicle speed =0.377 x wheel rolling radius x motor speed/speed ratio; wherein the speed ratio is predetermined according to the vehicle structure.
In order to ensure that the current output vehicle speed output by the vehicle is within a reasonable range and avoid the vehicle from being out of control, the embodiment of the present invention further needs to further determine the validity of the first theoretical vehicle speed and the second theoretical vehicle speed, and therefore, the step 13 of determining the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed specifically includes the following sub-steps:
and calculating a first difference value between the currently acquired first theoretical vehicle speed and the previously acquired first theoretical vehicle speed, and a second difference value between the currently acquired second theoretical vehicle speed and the previously acquired second theoretical vehicle speed.
And if the absolute value of the first difference is smaller than or equal to a first preset difference and the absolute value of the second difference is smaller than or equal to a second preset difference, determining the current output vehicle speed according to a third difference between the first difference and the second difference.
It should be noted that, if a difference between the currently acquired first theoretical vehicle speed and the previously acquired first theoretical vehicle speed is less than or equal to the first preset difference, it is determined that the currently acquired first theoretical vehicle speed is valid; if the difference value between the currently acquired second theoretical vehicle speed and the previously acquired second theoretical vehicle speed is smaller than or equal to the second preset difference value, determining that the currently acquired second theoretical vehicle speed is valid; and if the first theoretical vehicle speed and the second theoretical vehicle speed which are obtained currently are both effective, determining the current output vehicle speed according to the difference between the first difference and the second difference.
Further, if only the currently acquired first theoretical vehicle speed is invalid, the step 13 of determining the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed further includes the following sub-steps:
and if the absolute value of the first difference is greater than the first preset difference and the absolute value of the second difference is less than or equal to the second preset difference, calculating a second theoretical vehicle speed according to the motor rotating speed, and determining the current output vehicle speed as the second theoretical vehicle speed.
If only the second theoretical vehicle speed obtained currently is invalid, the step 13 of determining the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed further includes the following substeps:
and if the absolute value of the first difference is smaller than or equal to the first preset difference and the absolute value of the second difference is larger than the second preset difference, calculating a first theoretical vehicle speed according to the motor rotating speed, and determining the current output vehicle speed as the first theoretical vehicle speed.
If the first theoretical vehicle speed and the second theoretical vehicle speed are both invalid, step 13 further includes the following sub-steps of determining the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed:
if the absolute value of the first difference is larger than a first preset difference, and the absolute value of the second difference is larger than a second preset difference; determining that the current output vehicle speed is a pre-stored safe vehicle speed.
That is to say, when the wheel rotation speed is not within the first preset range or the currently acquired first theoretical vehicle speed is invalid, further judging whether the motor rotation speed is within a second preset range or the currently acquired second theoretical vehicle speed is invalid, if the motor rotation speed is not within the second preset range or the currently acquired second theoretical vehicle speed is invalid, determining the current output vehicle speed according to a prestored safe vehicle speed, otherwise, determining the current output vehicle speed according to the currently acquired second theoretical vehicle speed; vice versa, the result of the motor side can be determined first, and then the result of the wheel side can be determined, which is not described herein again.
When the first theoretical vehicle speed and the second theoretical vehicle speed are both effective, in order to avoid a situation that the current output vehicle speed is increased and the motor speed is decreased or the motor speed is increased and the current output vehicle speed is increased according to a third difference between the first difference and the second difference, in order to avoid that the change trends of the first theoretical vehicle speed and the second theoretical vehicle speed are different, the step of determining the current output vehicle speed specifically includes the following sub-steps:
if the absolute value of the third difference is larger than a third preset difference, acquiring the current slip rate of the vehicle; determining a nominal slip ratio corresponding to the currently acquired first theoretical vehicle speed according to a pre-stored corresponding relation table of the vehicle speed and the slip ratio; and determining the current output vehicle speed according to the current slip rate and the nominal slip rate.
It should be noted that the corresponding relation table of the vehicle speed and the slip ratio is the minimum slip ratio of the vehicle in the normal running process under different vehicle speeds determined according to a large number of test results.
In this embodiment, when the absolute value of the third difference is greater than the third preset difference, it indicates that the difference between the currently acquired first theoretical vehicle speed and the currently acquired second theoretical vehicle speed is large, which may be that the vehicle is currently in a slipping state, and if the current output vehicle speed of the vehicle is still determined according to the currently acquired first theoretical vehicle speed or the currently acquired second theoretical vehicle speed, the vehicle may turn over or collide with other vehicles to cause a traffic accident.
Specifically, in this embodiment, the step of obtaining the current slip ratio of the vehicle includes:
respectively acquiring a difference value and an average value of wheel rotating speeds of two driving wheels of the vehicle; and acquiring the current slip rate of the vehicle according to the ratio of the difference value of the wheel rotating speeds of the two driving wheels to the average value.
If the vehicle is a four-wheel drive vehicle, it is necessary to obtain the slip ratio of the front wheels and the slip ratio of the rear wheels, determine whether the front wheels slip, the rear wheels slip, or all the four wheels slip, and determine the current output vehicle speed according to the slip condition of the vehicle, that is: when the front wheel slips, determining the current output speed according to the wheel rotating speed of the rear wheel; when the rear wheel slips, determining the current output speed according to the wheel rotating speed of the front wheel; and when the four wheels slip, determining the current output vehicle speed as a pre-stored safe vehicle speed.
In this embodiment, when the current slip ratio is smaller than the nominal slip ratio, it is determined that the vehicle does not slip; and when the current slip rate is greater than or equal to the nominal slip rate, confirming the vehicle slipping. According to the different situations, the step of determining the current output vehicle speed according to the current slip ratio and the nominal slip ratio specifically comprises the following steps:
if the current slip rate is smaller than the nominal slip rate, determining that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference value; and if the current slip ratio is larger than or equal to the nominal slip ratio, determining the current output vehicle speed as the sum of the product of the second theoretical vehicle speed and the current slip ratio which are obtained currently and the first theoretical vehicle speed which is obtained currently.
In this embodiment, when the vehicle is in a slipping state, in order to get out of the predicament, the rotation speed of the motor may be increased, which may result in a relatively easy accident, and therefore, the current output vehicle speed may be determined by correcting the currently acquired second theoretical vehicle speed, preferably, by multiplying the currently acquired second theoretical vehicle speed by the current slip ratio and by the sum of the first theoretical vehicle speed.
Further, when the third difference is smaller than the third preset difference, the step of determining the current output vehicle speed according to a third difference between the first difference and the second difference further includes:
if the absolute value of the third difference is smaller than or equal to a third preset difference and larger than or equal to a fourth preset difference, determining that the current output vehicle speed is the smaller one of the currently acquired first theoretical vehicle speed and the currently acquired second theoretical vehicle speed; wherein the third preset difference is greater than the fourth preset difference; and if the absolute value of the third difference is smaller than the fourth preset difference, determining that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference.
In this embodiment, when the third difference is smaller than the fourth preset difference, it is determined that the first preset vehicle speed calculated according to the wheel rotation speed is similar to the second preset vehicle speed calculated according to the motor rotation speed, the vehicle is stable in running, and the current output vehicle speed may be determined according to the previous output vehicle speed of the vehicle.
According to the vehicle speed determining method, the two theoretical vehicle speeds of the vehicle are obtained through the two paths, the current output vehicle speed of the vehicle is determined according to the two theoretical vehicle speeds, the accuracy of the current output vehicle speed is guaranteed, traffic accidents caused by hardware faults or road abnormity are avoided, and the safety and the reliability of the vehicle are improved.
As shown in fig. 3, the specific flow of the vehicle speed determination method of the present embodiment is as follows:
and S301, acquiring the motor rotating speed and the rotating speeds of a plurality of wheels of the vehicle in real time.
Step S302a, determining whether the rotation speeds of the wheels are all within a first preset range, if yes, executing steps S303 and S306, and if no, executing step S304 or S305.
Step S302b, determining whether the motor rotation speed is within a second preset range, if yes, executing steps S305 and S310, and if no, executing step S304 or S306.
Step S303, obtaining the first theoretical vehicle speed according to the wheel rotating speeds.
Step S304, judging whether the rotating speed of at least one wheel is not in the first preset range and the rotating speed of the motor is not in the second preset range; if yes, go to step S307.
Step S305, determining whether the rotation speed of at least one wheel is not within the first preset range and the rotation speed of the motor is within the second preset range, if yes, executing step S309.
Step S306, determining whether the rotation speeds of the wheels are all within the first preset range, and the rotation speed of the motor is not within the second preset range, if yes, executing step S308.
And step S307, determining the current output vehicle speed as a pre-stored safe vehicle speed.
Step S308, determining the current output vehicle speed as the first theoretical vehicle speed determined according to the currently acquired wheel rotating speeds.
Step S309, determining the current output vehicle speed as the second theoretical vehicle speed determined according to the currently acquired motor rotating speed.
And step S310, acquiring the second theoretical vehicle speed according to the motor rotating speed.
Step S311, if a first difference between the currently acquired first theoretical vehicle speed and the previously acquired first theoretical vehicle speed is greater than a first preset value, executing step S313 or step S315; if not, step S314 or step S316 is executed.
Step S312, whether a second difference between the currently acquired second theoretical vehicle speed and the second theoretical vehicle speed acquired last time is greater than a second preset value, if yes, step S313 or step S314 is executed; if not, step S315 or step S316 is executed.
Step S313, determining whether the absolute value of the first difference is greater than a first preset value and whether the absolute value of the second difference is greater than a second preset value, if yes, performing step S307.
In step S314, it is determined whether the absolute value of the first difference is smaller than or equal to a first preset value, and whether the absolute value of the second difference is greater than a second preset value, if yes, step S308 is executed.
Step S315 is to determine whether the absolute value of the first difference is greater than a first preset value, and whether the absolute value of the second difference is smaller than or equal to a second preset value, if yes, step S309 is executed.
In step S316, it is determined whether an absolute value of a third difference between the first difference and the second difference is greater than a third preset difference, if so, step S317 is executed, and if not, step S318 is executed.
And step S317, acquiring the current slip ratio of the vehicle.
Step S318, determining whether the absolute value of the third difference is greater than or equal to the fourth preset difference, if so, performing step S320, and if not, performing step S321.
Step S319, determining whether the current slip ratio is smaller than the preset slip ratio, if so, performing step S321, and if not, performing step S322.
Step S320, determining that the current output vehicle speed is the smaller one of the currently acquired first theoretical vehicle speed and the currently acquired second theoretical vehicle speed.
Step S321, determining that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference.
Step S322, determining that the current output vehicle speed is the sum of the currently acquired second theoretical vehicle speed and the current slip ratio.
Embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program (instructions), which when executed by a processor, implement the steps of:
acquiring the rotating speed of a motor and the rotating speeds of a plurality of wheels of a vehicle in real time; if the currently acquired rotating speeds of the wheels are all within a first preset range, calculating a first theoretical vehicle speed according to the rotating speeds of the wheels; if the currently acquired motor rotating speed is within a second preset range, calculating a second theoretical vehicle speed according to the motor rotating speed; and determining the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is not in the second preset range, determining that the current output vehicle speed is a pre-stored safe vehicle speed; if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is in the second preset range, calculating a second theoretical vehicle speed according to the rotating speed of the motor, and determining the current output vehicle speed as the second theoretical vehicle speed; if the currently acquired rotating speeds of the wheels are all within the first preset range and the currently acquired rotating speed of the motor is not within the second preset range, calculating a first theoretical vehicle speed according to the rotating speeds of the motor, and determining the current output vehicle speed as the first theoretical vehicle speed.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
calculating a first difference value between a first theoretical vehicle speed obtained currently and a first theoretical vehicle speed obtained last time, and a second difference value between a second theoretical vehicle speed obtained currently and a second theoretical vehicle speed obtained last time; and if the absolute value of the first difference is smaller than or equal to a first preset difference and the absolute value of the second difference is smaller than or equal to a second preset difference, determining the current output vehicle speed according to a third difference between the first difference and the second difference.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
if the absolute value of the third difference is larger than a third preset difference, acquiring the current slip rate of the vehicle; determining a nominal slip ratio corresponding to the currently acquired first theoretical vehicle speed according to a pre-stored corresponding relation table of the vehicle speed and the slip ratio; and determining the current output vehicle speed according to the current slip rate and the nominal slip rate.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
respectively acquiring a difference value and an average value of wheel rotating speeds of two driving wheels of the vehicle; and acquiring the current slip rate of the vehicle according to the ratio of the difference value of the wheel rotating speeds of the two driving wheels to the average value.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
if the current slip rate is smaller than the nominal slip rate, determining that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference value; and if the current slip ratio is larger than or equal to the nominal slip ratio, determining the current output vehicle speed as the sum of the product of the second theoretical vehicle speed and the current slip ratio which are obtained currently and the first theoretical vehicle speed which is obtained currently.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
if the absolute value of the third difference is smaller than or equal to a third preset difference and larger than or equal to a fourth preset difference, determining that the current output vehicle speed is the smaller one of the currently acquired first theoretical vehicle speed and the currently acquired second theoretical vehicle speed; wherein the third preset difference is greater than the fourth preset difference; and if the absolute value of the third difference is smaller than the fourth preset difference, determining that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
if the absolute value of the first difference is larger than a first preset difference, and the absolute value of the second difference is larger than a second preset difference; determining that the current output vehicle speed is a pre-stored safe vehicle speed; if the absolute value of the first difference is larger than the first preset difference and the absolute value of the second difference is smaller than or equal to the second preset difference, calculating a second theoretical vehicle speed according to the motor rotating speed and determining the current output vehicle speed as the second theoretical vehicle speed; and if the absolute value of the first difference is smaller than or equal to the first preset difference and the absolute value of the second difference is larger than the second preset difference, calculating a first theoretical vehicle speed according to the motor rotating speed, and determining the current output vehicle speed as the first theoretical vehicle speed.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
As shown in fig. 2, an embodiment of the present invention further provides a vehicle speed determination device, including:
the acquisition module 21 is used for acquiring the motor rotating speed and the rotating speeds of a plurality of wheels of the vehicle in real time;
the calculation module 22 is configured to calculate a first theoretical vehicle speed according to a plurality of wheel rotation speeds if the plurality of wheel rotation speeds currently acquired are all within a first preset range; if the currently acquired motor rotating speed is within a second preset range, calculating a second theoretical vehicle speed according to the motor rotating speed;
and the first determining module 23 is configured to determine the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed.
The vehicle speed determination device of the embodiment of the invention further includes:
and the second determining module is used for determining that the current output vehicle speed is a pre-stored safe vehicle speed if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is not in the second preset range.
And the third determining module is used for calculating a second theoretical vehicle speed according to the motor rotating speed and determining the current output vehicle speed as the second theoretical vehicle speed if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is in the second preset range.
And the fourth determining module is used for calculating a first theoretical vehicle speed according to the motor rotating speed and determining that the current output vehicle speed is the first theoretical vehicle speed if the currently acquired rotating speeds of the plurality of wheels are all within the first preset range and the currently acquired rotating speed of the motor is not within the second preset range.
In the vehicle speed determination device according to the embodiment of the present invention, the first determination module 23 includes:
and the first calculation submodule is used for calculating a first difference value between the currently acquired first theoretical vehicle speed and the previously acquired first theoretical vehicle speed and a second difference value between the currently acquired second theoretical vehicle speed and the previously acquired second theoretical vehicle speed.
And the first determining submodule is used for determining the current output vehicle speed according to a third difference between the first difference and the second difference if the absolute value of the first difference is smaller than or equal to a first preset difference and the absolute value of the second difference is smaller than or equal to a second preset difference.
Specifically, the first determining submodule includes:
and the first obtaining unit is used for obtaining the current slip rate of the vehicle if the absolute value of the third difference is larger than a third preset difference.
And the first determining unit is used for determining a nominal slip ratio corresponding to the currently acquired first theoretical vehicle speed according to a pre-stored corresponding relation table of the vehicle speed and the slip ratio.
And the second determining unit is used for determining the current output vehicle speed according to the current slip rate and the nominal slip rate.
More specifically, the first obtaining unit includes:
a first acquisition subunit configured to acquire a difference value and an average value of wheel rotation speeds of two drive wheels of the vehicle, respectively.
And the second obtaining subunit is used for obtaining the current slip ratio of the vehicle according to the ratio of the difference value of the wheel rotating speeds of the two driving wheels to the average value.
Specifically, the second determining unit includes:
and the first determining subunit is configured to determine, if the current slip ratio is smaller than the nominal slip ratio, that the current output vehicle speed is a sum of the output vehicle speed obtained last time and one half of the third difference.
And the second determining subunit is used for determining the current output vehicle speed as the sum of the product of the second theoretical vehicle speed obtained currently and the current slip ratio and the first theoretical vehicle speed obtained currently if the current slip ratio is greater than or equal to the nominal slip ratio.
In the vehicle speed determination device according to the embodiment of the invention, the first determination submodule further includes:
a third determining subunit, configured to determine that the current output vehicle speed is a smaller one of the currently acquired first theoretical vehicle speed and the currently acquired second theoretical vehicle speed, if an absolute value of the third difference is smaller than or equal to a third preset difference and larger than or equal to a fourth preset difference; wherein the third preset difference is greater than the fourth preset difference.
And the fourth determining subunit is configured to determine, if the absolute value of the third difference is smaller than the fourth preset difference, that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference.
In the vehicle speed determination device of the embodiment of the invention, the first determination submodule includes:
a third determining unit, configured to determine that the absolute value of the first difference is greater than a first preset difference and the absolute value of the second difference is greater than a second preset difference; determining that the current output vehicle speed is a pre-stored safe vehicle speed;
a fourth determining unit, configured to calculate a second theoretical vehicle speed according to the motor rotation speed and determine that the current output vehicle speed is the second theoretical vehicle speed if the absolute value of the first difference is greater than the first preset difference and the absolute value of the second difference is less than or equal to the second preset difference;
and a fifth determining unit, configured to calculate a first theoretical vehicle speed according to the motor rotation speed and determine that the current output vehicle speed is the first theoretical vehicle speed if the absolute value of the first difference is smaller than or equal to the first preset difference and the absolute value of the second difference is greater than the second preset difference.
According to the vehicle speed determining device, two theoretical vehicle speeds are obtained at the same time by obtaining the rotating speeds of the wheels and the rotating speed of the motor, the current output vehicle speed of the vehicle is determined according to the two theoretical vehicle speeds, the accuracy of the current output vehicle speed is effectively guaranteed, and the safety and the reliability of the vehicle and the driving feeling of a user are improved.
The embodiment of the invention also provides an automobile which comprises the automobile speed determining device.
An embodiment of the present invention further provides an automobile, including: the vehicle speed determination method comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the vehicle speed determination method embodiment can be realized, the same technical effect can be achieved, and in order to avoid repetition, the details are not repeated.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (17)
1. A vehicle speed determination method, characterized by comprising:
acquiring the rotating speed of a motor and the rotating speeds of a plurality of wheels of a vehicle in real time;
if the currently acquired rotating speeds of the wheels are all within a first preset range, calculating a first theoretical vehicle speed according to the rotating speeds of the wheels; if the currently acquired motor rotating speed is within a second preset range, calculating a second theoretical vehicle speed according to the motor rotating speed;
determining the current output speed of the vehicle according to the first theoretical speed and the second theoretical speed;
wherein the step of determining the current output vehicle speed of the vehicle from the first theoretical vehicle speed and the second theoretical vehicle speed comprises:
calculating a first difference value between a first theoretical vehicle speed obtained currently and a first theoretical vehicle speed obtained last time, and a second difference value between a second theoretical vehicle speed obtained currently and a second theoretical vehicle speed obtained last time;
and if the absolute value of the first difference is smaller than or equal to a first preset difference and the absolute value of the second difference is smaller than or equal to a second preset difference, determining the current output vehicle speed according to a third difference between the first difference and the second difference.
2. The vehicle speed determination method according to claim 1, wherein after the step of acquiring the motor rotation speed and the plurality of wheel rotation speeds of the vehicle in real time, the method further comprises:
if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is not in the second preset range, determining that the current output vehicle speed is a pre-stored safe vehicle speed;
if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is in the second preset range, calculating a second theoretical vehicle speed according to the rotating speed of the motor, and determining the current output vehicle speed as the second theoretical vehicle speed;
if the currently acquired rotating speeds of the plurality of wheels are all within the first preset range and the currently acquired rotating speed of the motor is not within the second preset range, calculating a first theoretical vehicle speed according to the rotating speeds of the plurality of wheels, and determining the current output vehicle speed as the first theoretical vehicle speed.
3. The vehicle speed determination method according to claim 1, characterized in that the step of determining the current output vehicle speed based on a third difference between the first difference and the second difference includes:
if the absolute value of the third difference is larger than a third preset difference, acquiring the current slip rate of the vehicle;
determining a nominal slip ratio corresponding to the currently acquired first theoretical vehicle speed according to a pre-stored corresponding relation table of the vehicle speed and the slip ratio;
and determining the current output vehicle speed according to the current slip rate and the nominal slip rate.
4. The vehicle speed determination method according to claim 3, characterized in that the step of obtaining the current slip ratio of the vehicle includes:
respectively acquiring a difference value and an average value of wheel rotating speeds of two driving wheels of the vehicle;
and acquiring the current slip rate of the vehicle according to the ratio of the difference value of the wheel rotating speeds of the two driving wheels to the average value.
5. The vehicle speed determination method according to claim 3, wherein the step of determining the current output vehicle speed based on the current slip ratio and the nominal slip ratio includes:
if the current slip rate is smaller than the nominal slip rate, determining that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference value;
and if the current slip ratio is larger than or equal to the nominal slip ratio, determining the current output vehicle speed as the sum of the product of the second theoretical vehicle speed and the current slip ratio which are obtained currently and the first theoretical vehicle speed which is obtained currently.
6. The vehicle speed determination method according to claim 1, characterized in that the step of determining the current output vehicle speed based on a third difference between the first difference and the second difference includes:
if the absolute value of the third difference is smaller than or equal to a third preset difference and larger than or equal to a fourth preset difference, determining that the current output vehicle speed is the smaller one of the currently acquired first theoretical vehicle speed and the currently acquired second theoretical vehicle speed; wherein the third preset difference is greater than the fourth preset difference;
and if the absolute value of the third difference is smaller than the fourth preset difference, determining that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference.
7. The vehicle speed determination method according to claim 1, characterized in that after the step of calculating a first difference between a currently acquired first theoretical vehicle speed and a previously acquired first theoretical vehicle speed, and a second difference between a currently acquired second theoretical vehicle speed and a previously acquired second theoretical vehicle speed, the method further comprises:
if the absolute value of the first difference is larger than a first preset difference, and the absolute value of the second difference is larger than a second preset difference; determining that the current output vehicle speed is a pre-stored safe vehicle speed;
if the absolute value of the first difference is larger than the first preset difference and the absolute value of the second difference is smaller than or equal to the second preset difference, calculating a second theoretical vehicle speed according to the motor rotating speed and determining the current output vehicle speed as the second theoretical vehicle speed;
and if the absolute value of the first difference is smaller than or equal to the first preset difference and the absolute value of the second difference is larger than the second preset difference, calculating a first theoretical vehicle speed according to the rotating speeds of the wheels, and determining the current output vehicle speed as the first theoretical vehicle speed.
8. A vehicle speed determination device, characterized by comprising:
the acquisition module is used for acquiring the motor rotating speed and the rotating speeds of a plurality of wheels of the vehicle in real time;
the calculation module is used for calculating a first theoretical vehicle speed according to a plurality of wheel rotating speeds if the plurality of wheel rotating speeds obtained currently are all within a first preset range; if the currently acquired motor rotating speed is within a second preset range, calculating a second theoretical vehicle speed according to the motor rotating speed;
the first determining module is used for determining the current output speed of the vehicle according to the first theoretical speed and the second theoretical speed;
wherein the first determining module comprises:
the first calculation submodule is used for calculating a first difference value between a first theoretical vehicle speed obtained currently and a first theoretical vehicle speed obtained last time, and a second difference value between a second theoretical vehicle speed obtained currently and a second theoretical vehicle speed obtained last time;
and the first determining submodule is used for determining the current output vehicle speed according to a third difference between the first difference and the second difference if the absolute value of the first difference is smaller than or equal to a first preset difference and the absolute value of the second difference is smaller than or equal to a second preset difference.
9. The vehicle speed determination device according to claim 8, characterized by further comprising:
the second determining module is used for determining the current output vehicle speed as a pre-stored safe vehicle speed if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is not in the second preset range;
the third determining module is used for calculating a second theoretical vehicle speed according to the motor rotating speed and determining the current output vehicle speed as the second theoretical vehicle speed if the currently acquired rotating speed of at least one wheel is not in the first preset range and the currently acquired rotating speed of the motor is in the second preset range;
and the fourth determining module is used for calculating a first theoretical vehicle speed according to the wheel rotating speeds and determining that the current output vehicle speed is the first theoretical vehicle speed if the currently acquired wheel rotating speeds are all within the first preset range and the currently acquired motor rotating speed is not within the second preset range.
10. The vehicle speed determination device according to claim 8, wherein the first determination submodule includes:
the first obtaining unit is used for obtaining the current slip rate of the vehicle if the absolute value of the third difference is larger than a third preset difference;
the first determining unit is used for determining a nominal slip ratio corresponding to the currently acquired first theoretical vehicle speed according to a pre-stored corresponding relation table of the vehicle speed and the slip ratio;
and the second determining unit is used for determining the current output vehicle speed according to the current slip rate and the nominal slip rate.
11. The vehicle speed determination device according to claim 10, characterized in that the first acquisition unit includes:
a first acquisition subunit configured to acquire a difference value and an average value of wheel rotation speeds of two drive wheels of the vehicle, respectively;
and the second obtaining subunit is used for obtaining the current slip ratio of the vehicle according to the ratio of the difference value of the wheel rotating speeds of the two driving wheels to the average value.
12. The vehicle speed determination device according to claim 10, characterized in that the second determination unit includes:
the first determining subunit is configured to determine, if the current slip ratio is smaller than the nominal slip ratio, that the current output vehicle speed is a sum of an output vehicle speed obtained last time and one half of the third difference;
and the second determining subunit is used for determining the current output vehicle speed as the sum of the product of the second theoretical vehicle speed obtained currently and the current slip ratio and the first theoretical vehicle speed obtained currently if the current slip ratio is greater than or equal to the nominal slip ratio.
13. The vehicle speed determination device according to claim 8, wherein the first determination submodule includes:
a third determining subunit, configured to determine that the current output vehicle speed is a smaller one of the currently acquired first theoretical vehicle speed and the currently acquired second theoretical vehicle speed, if an absolute value of the third difference is smaller than or equal to a third preset difference and larger than or equal to a fourth preset difference; wherein the third preset difference is greater than the fourth preset difference;
and the fourth determining subunit is configured to determine, if the absolute value of the third difference is smaller than the fourth preset difference, that the current output vehicle speed is the sum of the output vehicle speed obtained last time and one half of the third difference.
14. The vehicle speed determination device according to claim 8, wherein the first determination submodule further includes:
a third determining unit, configured to determine that the absolute value of the first difference is greater than a first preset difference and the absolute value of the second difference is greater than a second preset difference; determining that the current output vehicle speed is a pre-stored safe vehicle speed;
a fourth determining unit, configured to calculate a second theoretical vehicle speed according to the motor rotation speed and determine that the current output vehicle speed is the second theoretical vehicle speed if the absolute value of the first difference is greater than the first preset difference and the absolute value of the second difference is less than or equal to the second preset difference;
and a fifth determining unit, configured to calculate a first theoretical vehicle speed according to the wheel speeds if the absolute value of the first difference is smaller than or equal to the first preset difference and the absolute value of the second difference is greater than the second preset difference, and determine that the current output vehicle speed is the first theoretical vehicle speed.
15. A vehicle characterized by comprising a vehicle speed determination apparatus according to any one of claims 8 to 14.
16. An automobile, comprising: a processor, a memory and a computer program stored on and executable on the memory, the computer program, when executed by the processor, implementing the steps of the vehicle speed determination method as claimed in any one of claims 1 to 7.
17. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the vehicle speed determination method according to any one of claims 1 to 7.
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| CN110550047A (en) * | 2019-09-29 | 2019-12-10 | 潍柴西港新能源动力有限公司 | method and system for detecting credibility of vehicle speed signal |
| CN112757906B (en) * | 2020-12-30 | 2023-03-28 | 合众新能源汽车股份有限公司 | Electric vehicle driving mode control method and device |
| CN113147406B (en) * | 2021-05-31 | 2022-04-29 | 岚图汽车科技有限公司 | Method and system for processing speed fault of electric vehicle and computer storage medium |
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