CN108674417B - Vehicle speed determination method and device and pure electric vehicle - Google Patents

Vehicle speed determination method and device and pure electric vehicle Download PDF

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CN108674417B
CN108674417B CN201810286479.8A CN201810286479A CN108674417B CN 108674417 B CN108674417 B CN 108674417B CN 201810286479 A CN201810286479 A CN 201810286479A CN 108674417 B CN108674417 B CN 108674417B
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vehicle speed
vehicle
speed
output
rationality
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CN108674417A (en
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周立岩
许笑天
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Beijing Jingwei Hirain Tech Co Ltd
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Beijing Jingwei Hirain Tech Co Ltd
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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
    • 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
    • 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
    • B60W2510/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a vehicle speed determination method, a vehicle speed determination device and a pure electric vehicle, wherein the method comprises the steps of obtaining a first vehicle speed and a second vehicle speed, wherein the first vehicle speed is the vehicle speed calculated by an anti-lock braking system (ABS), and the second vehicle speed is the vehicle speed calculated according to the current motor rotating speed; determining the output vehicle speed of the vehicle according to the relation between the first vehicle speed and the set vehicle speed; when the first vehicle speed is less than or equal to the set vehicle speed, determining the second vehicle speed as the output vehicle speed of the vehicle; and when the first vehicle speed is greater than the set vehicle speed, the output vehicle speed of the vehicle is determined by mutual verification of the first vehicle speed and the second vehicle speed through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism. The output speed of the vehicle is determined through mutual verification of the first speed and the second speed and a speed arbitration and synchronization mechanism, wherein the speed rationality verification can judge the abnormality of the first speed, and the speed arbitration and synchronization mechanism can ensure the normal running function of the vehicle and better give consideration to driving smoothness and safety.

Description

Vehicle speed determination method and device and pure electric vehicle
Technical Field
The invention relates to the technical field of whole vehicle control of a new energy pure electric vehicle, in particular to a vehicle speed determining method and device and a pure electric vehicle.
Background
At present, new energy automobiles are equipped with an Antilock Brake System (ABS), so that real-time vehicle speed can be obtained through the ABS, and most of the current control strategies also adopt the vehicle speed to perform other calculations and controls.
However, for a pure electric vehicle, the real-time vehicle speed can be obtained through the motor speed in a vehicle steady running state, and especially when the ABS fails, if only the vehicle speed obtained by the ABS is used as the real-time vehicle speed, uncertainty may occur in vehicle control, which may pose a great threat to safety of driving and passengers.
Disclosure of Invention
In view of the above problems, the present invention provides a vehicle speed determining method, a vehicle speed determining device and a pure electric vehicle, which are used for overcoming the above problems, so as to ensure smoothness and safety during vehicle driving.
In order to achieve the purpose, the invention provides the following technical scheme:
a vehicle speed determination method, characterized by comprising:
acquiring a first vehicle speed and a second vehicle speed, wherein the first vehicle speed is calculated by an anti-lock brake system (ABS), and the second vehicle speed is calculated according to the rotating speed of a motor;
judging the relation between the first vehicle speed and a set vehicle speed;
when the first vehicle speed is less than or equal to the set vehicle speed, determining that the second vehicle speed is the output vehicle speed of the vehicle;
and when the first vehicle speed is greater than the set vehicle speed, the first vehicle speed and the second vehicle speed are mutually verified through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism to determine the output vehicle speed of the vehicle.
Further, the determining the second vehicle speed as the output vehicle speed of the vehicle when the first vehicle speed is less than or equal to the set vehicle speed includes:
detecting the current motor rotating speed;
when the current motor rotating speed is greater than or equal to a first rotating speed and less than or equal to a second rotating speed, determining that the output speed of the vehicle is zero;
and when the current motor rotating speed is less than the first rotating speed or greater than the second rotating speed, calculating the output speed of the vehicle by using the current motor rotating speed.
Further, the calculating the output vehicle speed of the vehicle by using the current motor speed comprises:
and calculating the output speed of the vehicle according to a preset formula, wherein v is the output speed of the vehicle, w is the current rotating speed of the motor, r is the radius of the wheel of the vehicle, and i is a final reduction ratio and a constant.
Further, when the first vehicle speed is greater than the set vehicle speed, mutually verifying the first vehicle speed and the second vehicle speed through a vehicle speed rationality verification, a vehicle speed arbitration and a synchronization mechanism to determine the output vehicle speed of the vehicle, comprising:
judging whether a rationality fault occurs according to the relation between the first vehicle speed and the second vehicle speed;
if not, determining that the first vehicle speed is the output vehicle speed of the vehicle;
if so, increasing or decreasing the first vehicle speed at the previous moment according to a preset gradient to synchronize the vehicle speed, and outputting the synchronized vehicle speed as the output vehicle speed of the vehicle;
judging whether the output speed of the vehicle is synchronized, if not, continuing to synchronize the speed;
if so, determining the second vehicle speed as the output vehicle speed of the vehicle;
judging whether the reasonability of the vehicle speed is normal or not according to the relation between the first vehicle speed and the second vehicle speed;
if not, determining that the second vehicle speed is the output vehicle speed of the vehicle;
if so, ascending or descending the second vehicle speed at the previous moment according to a preset gradient to perform vehicle speed synchronization, and outputting the synchronized vehicle speed as the output vehicle speed of the vehicle;
judging whether the output speed of the vehicle is synchronized, if not, continuing to synchronize the speed;
and if so, determining that the first vehicle speed is the output vehicle speed of the vehicle.
Further, the determining whether a rationality failure occurs according to the relationship between the first vehicle speed and the second vehicle speed includes:
calculating a vehicle speed difference value of the first vehicle speed and the second vehicle speed;
and if the vehicle speed difference is greater than the upper limit value of the rationality check and the vehicle speed difference is still greater than the upper limit value of the rationality check after a first preset time, judging that a vehicle speed rationality fault occurs.
Further, the judging whether the vehicle speed reasonableness returns to normal or not according to the relation between the first vehicle speed and the second vehicle speed comprises the following steps:
calculating a vehicle speed difference value of the first vehicle speed and the second vehicle speed;
and if the vehicle speed difference is smaller than the lower limit value of the rationality check and the vehicle speed difference is still smaller than the lower limit value of the rationality check after a second preset time, judging that the vehicle speed is restored to be normal in rationality.
Further, the determining whether the output speed of the vehicle is synchronized includes:
when the vehicle speed rationality fault is judged to occur, when the vehicle speed changing according to the preset gradient is different from the second vehicle speed by less than a preset speed tolerance value, synchronization is determined to be completed, and the second vehicle speed is used as the output vehicle speed of the vehicle to be output;
when the reasonability of the vehicle speed is judged to be recovered to be normal, when the difference between the vehicle speed changing according to the preset gradient and the first vehicle speed is smaller than a preset speed error tolerance value, the synchronization is determined to be completed, and the first vehicle speed is used as the output vehicle speed of the vehicle to be output.
The invention also discloses a vehicle speed determining device, comprising:
the system comprises an acquisition module, a calculation module and a control module, wherein the acquisition module is used for acquiring a first vehicle speed and a second vehicle speed, the first vehicle speed is calculated by an anti-lock brake system (ABS), and the second vehicle speed is calculated according to the rotating speed of a motor;
the judging module is used for judging the relation between the first vehicle speed and a set vehicle speed;
the first determining module is used for determining the second vehicle speed as the output vehicle speed of the vehicle when the first vehicle speed is less than or equal to the set vehicle speed;
and the second determination module is used for determining the output vehicle speed of the vehicle through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism on the mutual verification of the first vehicle speed and the second vehicle speed when the first vehicle speed is greater than the set vehicle speed.
Further, the second determining module includes:
the first judging unit is used for judging whether a rationality fault occurs according to the relation between the first vehicle speed and the second vehicle speed;
a first determination unit configured to determine that the first vehicle speed is an output vehicle speed of the vehicle when the rationality failure has not occurred;
the first synchronization unit is used for carrying out vehicle speed synchronization on the first vehicle speed at the previous moment according to the ascending or descending of the preset gradient when the rationality fault occurs, and outputting the synchronized vehicle speed as the output vehicle speed of the vehicle;
the second judgment unit is used for judging whether the output speed of the vehicle is synchronous or not;
a second determination unit configured to determine the second vehicle speed as an output vehicle speed of the vehicle when it is determined that synchronization is completed;
the third judging unit is used for judging whether the reasonability of the vehicle speed is normal or not according to the relation between the first vehicle speed and the second vehicle speed;
the third determining unit is used for determining the second vehicle speed as the output vehicle speed of the vehicle when the vehicle speed reasonableness does not return to normal;
the second synchronization unit is used for performing vehicle speed synchronization on the second vehicle speed at the previous moment according to the ascending or descending of the preset gradient when the vehicle speed is recovered to be normal, and outputting the synchronized vehicle speed as the output vehicle speed of the vehicle;
the fourth judging unit is used for judging whether the output speed of the vehicle is synchronized;
a fourth determination unit configured to determine that the first vehicle speed is an output vehicle speed of the vehicle when it is determined that synchronization is completed.
The invention also discloses a pure electric vehicle, which comprises: the vehicle speed determination device.
Compared with the prior art, the invention discloses a vehicle speed determination method, a vehicle speed determination device and a pure electric vehicle, wherein the vehicle speed determination method obtains a first vehicle speed and a second vehicle speed, the first vehicle speed is the vehicle speed calculated by an anti-lock braking system (ABS), and the second vehicle speed is the vehicle speed calculated according to the current motor rotating speed; determining the output vehicle speed of the vehicle according to the relation between the first vehicle speed and the set vehicle speed; when the first vehicle speed is less than or equal to the set vehicle speed, determining the second vehicle speed as the output vehicle speed of the vehicle; and when the first vehicle speed is greater than the set vehicle speed, the output vehicle speed of the vehicle is determined by mutual verification of the first vehicle speed and the second vehicle speed through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism. The output speed of the vehicle is determined through mutual verification of the first speed and the second speed, and a speed arbitration and synchronization mechanism, wherein the abnormality of the first speed is judged through speed rationality verification, the normal running function of the vehicle is ensured through the speed arbitration and synchronization mechanism, and the driving smoothness and the safety can be better considered.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart of a vehicle speed determination method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of an implementation manner of step S103 according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating an implementation manner of step S104 according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a vehicle speed rationality failure determination provided by an embodiment of the present invention;
FIG. 5 is a detailed flow chart of a vehicle speed determination method provided by an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a vehicle speed determination device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of the second determining module 604 according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a vehicle speed determining method, which specifically includes the following steps:
s101, acquiring a first vehicle speed and a second vehicle speed.
Specifically, the first vehicle speed is a vehicle speed calculated by an anti-lock brake system (ABS), and the second vehicle speed is a vehicle speed calculated according to the rotating speed of the motor. It should be noted that the vehicle control unit receives two signals through the CAN bus, one is the vehicle speed calculated by the ABS controller, and the other is the current motor rotation speed acquired by the motor controller, and the vehicle control unit CAN calculate a vehicle speed according to the current motor rotation speed, so that the vehicle control unit obtains two vehicle speeds through different approaches. Normally, these two vehicle speeds should be equal and can be used to characterize the actual vehicle speed. Generally, the vehicle speed sent by the ABS is used for other calculations of the vehicle controller, but if the vehicle speed calculated by the ABS with a fault and the vehicle speed calculated by the vehicle controller according to the current motor speed have a large difference, then the vehicle speed sent by the ABS is reused for other calculations, which may cause problems such as faults.
And S102, judging the relation between the first vehicle speed and the set vehicle speed.
Specifically, the vehicle speed from the ABS, i.e., the first vehicle speed, is used for other calculations performed by the system under normal conditions, but when the vehicle speed is relatively small, the ABS may not calculate the vehicle speed, and therefore, a set vehicle speed v may be preset0When the first vehicle speed is less than the set vehicle speed v0Then, the vehicle speed calculated according to the rotating speed of the motor is used, so that the first vehicle speed is larger than the set vehicle speed v under the normal condition0And taking the first vehicle speed as the output vehicle speed of the vehicle. The set vehicle speed can be set to about 0-3 km/h.
And S103, when the first vehicle speed is less than or equal to the set vehicle speed, determining the second vehicle speed as the output vehicle speed of the vehicle.
As shown in fig. 2, for one implementation of step S103 provided by the embodiment of the present invention, specifically, when the first vehicle speed is less than or equal to the set vehicle speed, determining the second vehicle speed as the output vehicle speed of the vehicle includes the following steps:
s201, detecting the current motor rotating speed.
S202, if the current motor rotating speed is greater than or equal to the first rotating speed and less than or equal to the second rotating speed, determining that the output speed of the vehicle is zero;
and S203, if the current motor rotating speed is less than the first rotating speed or greater than the second rotating speed, calculating the output speed of the vehicle by using the current motor rotating speed.
Specifically, when the first vehicle speed is less than or equal to the set vehicle speed, the second vehicle speed is determined as the output vehicle speed of the vehicle. At this time, if the current motor rotation speed w is at w1To-w1If so, determining that the output speed of the vehicle is 0; if the current motor rotating speed w is greater than w1Or less than-w1And then, calculating the output vehicle speed v of the vehicle by using the current motor rotating speed w, wherein the calculation formula is as follows:
v＝w·r/i；
wherein v is the output speed of the vehicle, the unit is m/s, w is the current motor rotating speed, the unit is rad/s, r is the vehicle wheel radius, the unit is m, and i is the main reduction ratio and a constant.
In particular, w1Value range of 0 to w1Less than or equal to 5rad/s, if w is set1If the current motor rotating speed is 3rad/s or-3 rad/s, the output speed of the vehicle is determined to be 0; and if the current motor rotating speed is 6rad/s or-6 rad/s, calculating the output vehicle speed v of the vehicle by using the current motor rotating speed of 6 rad/s.
And S104, when the first vehicle speed is greater than the set vehicle speed, mutually verifying the first vehicle speed and the second vehicle speed through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism to determine the output vehicle speed of the vehicle.
It should be noted that, based on the acquired first vehicle speed and the second vehicle speed, the embodiment of the present invention determines the rationality of the vehicle speed through mutual verification.
As shown in fig. 3, for one implementation of step S104 provided in the embodiment of the present invention, specifically, when the first vehicle speed is greater than the set vehicle speed, the method for mutually verifying the first vehicle speed and the second vehicle speed through the vehicle speed rationality verification, the vehicle speed arbitration and the synchronization mechanism to determine the output vehicle speed of the vehicle specifically includes the following steps:
s301, judging whether a rationality fault occurs according to the relation between the first vehicle speed and the second vehicle speed; if not, determining that the first vehicle speed is the output vehicle speed of the vehicle; if yes, go to step S302.
Specifically, whether a rationality fault occurs is judged according to the relationship between the first vehicle speed and the second vehicle speed, and the method specifically comprises the following steps:
calculating a vehicle speed difference value delta v of the first vehicle speed and the second vehicle speed; if the vehicle speed difference value delta v is larger than the upper limit value delta v of the rationality checkhAnd the vehicle speed difference value delta v is still larger than the upper limit value delta v of the rationality check after the first preset time T1hAnd judging that the vehicle speed rationality fault occurs.
In general, the plausibility check upper limit value Δ v is set to be equal to or smaller than the plausibility check upper limit value Δ vhCan be set to 3-10km/h, and Δ vh＞v0The first preset time T1 may be set to 0.5s-2 s.
S302, the first vehicle speed at the previous moment is increased or decreased according to a preset gradient to synchronize the vehicle speed, and the synchronized vehicle speed is used as the output vehicle speed of the vehicle to be output.
S303, judging whether the output speed of the vehicle is synchronized, if not, returning to the step S302 to continue the speed synchronization; and if so, determining that the second vehicle speed is the output vehicle speed of the vehicle.
Specifically, when a vehicle speed rationality fault occurs, speed switching is involved, and a vehicle speed difference between the two is large, and if the first vehicle speed is directly switched to the second vehicle speed, the vehicle is subjected to jerk, and smoothness of the vehicle is affected, so that vehicle speed synchronization processing is required.
S304, judging whether the vehicle speed reasonableness is normal or not according to the relation between the first vehicle speed and the second vehicle speed; if not, determining that the second vehicle speed is the output vehicle speed of the vehicle; if yes, go to step S305.
In the embodiment of the present invention, as long as it is determined that the rationality failure occurs, it is necessary to always perform the determination of whether the vehicle speed rationality is recovered to normal in step S304, in a specific embodiment, there is no specific sequence among step S304, step S302, and step S303, and it may be determined whether the vehicle speed rationality is recovered to normal after the synchronization of the output vehicle speed of the vehicle is completed; or judging whether the vehicle speed reasonableness is recovered to be normal or not in the process of synchronizing the processed output vehicle speed; after the output speed of the vehicle is synchronized, whether the reasonableness of the vehicle speed is normal or not may be judged.
It should be noted that, in the embodiment of the present invention, it is specifically described that the determination as to whether the vehicle speed reasonableness is restored to normal is performed after the output vehicle speed of the vehicle is synchronized.
Specifically, whether the vehicle speed reasonableness is recovered to be normal or not is judged according to the relation between the first vehicle speed and the second vehicle speed, and the method specifically comprises the following steps:
calculating a vehicle speed difference value delta v of the first vehicle speed and the second vehicle speed; if the vehicle speed difference value delta v is smaller than the lower limit value delta v of the rationality checklAnd the vehicle speed difference value is still smaller than the lower limit value delta v of the rationality check after the second preset time T2lAnd judging that the reasonability of the vehicle speed is recovered to be normal.
In general, the rationality check lower limit value Δ v is set to be equal to or smaller than the abovelMay be set to 1-3km/h and the second preset time T2 may be set to 0.5s-2 s.
And S305, ascending or descending the second vehicle speed at the previous moment according to a preset gradient to synchronize the vehicle speed, and outputting the synchronized vehicle speed as the output vehicle speed of the vehicle.
S306, judging whether the output speed of the vehicle is synchronized, if not, returning to the step 305 to continue the speed synchronization; if yes, the first vehicle speed is taken as the output vehicle speed of the vehicle.
Specifically, when the vehicle speed reasonableness returns to normal, the speed switching is also involved, and the vehicle speed difference between the two is large, and if the second vehicle speed is directly switched to the first vehicle speed, the vehicle is subjected to jerk, so that the smoothness of the vehicle is affected, and therefore the vehicle speed synchronization processing is required.
The step of determining whether the output vehicle speed of the vehicle is synchronized is specifically determined as follows:
when the vehicle speed rationality fault is judged to occur, when the difference between the vehicle speed changing according to the preset gradient and the second vehicle speed is less than the preset speed tolerance value, the completion of synchronization is determined, and the second vehicle speed is taken as the output vehicle speed of the vehicle;
and when the reasonability of the vehicle speed is judged to be recovered to be normal, determining that the synchronization is finished when the difference between the vehicle speed which changes according to the preset gradient and the first vehicle speed is less than a preset speed error tolerance value, and taking the first vehicle speed as the output vehicle speed of the vehicle.
Specifically, when the vehicle speed rationality failure is determined, in order to avoid a situation where the determination result is frequently switched between the vehicle speed rationality failure and the vehicle speed rationality is normal at a single determination point, the rationality check lower limit Δ v may be setlTo the rationality check upper limit Δ vhThe interval of (2) is used as a fault-tolerant interval. As shown in fig. 4, the principle of determining the vehicle speed rationality failure is specifically: within a certain time interval, the vehicle speed difference value delta v is checked by the rationality lower limit value delta vlChange to rationality check upper limit Δ vhThat is, in the rising process, the rationality of the output vehicle speed is normal at the superposition position of the vehicle speed rationality fault and the vehicle speed rationality, and the upper limit value Deltav is verified by the rationality at the vehicle speed difference value DeltavhChange to the rationality check lower limit value Δ vlNamely, in the descending process, the vehicle speed rationality fault is output at the position where the vehicle speed rationality fault and the vehicle speed rationality normally coincide.
In general, Δ v is a factor ofh＞v0Therefore, before the occurrence of the vehicle speed rationality fault, the vehicle speed value sent by the ABS is used as the actual vehicle speed for subsequent calculation and control; when the vehicle speed rationality fault is judged to occur, the vehicle speed value sent by the ABS is not continuously utilized, but the vehicle speed calculated by the rotating speed of the motor is used as the actual vehicle speed; and only when the reasonability of the vehicle speed is recovered to be normal, the vehicle speed value sent by the ABS can be continuously adopted by the vehicle control unit.
The vehicle speed determining method provided by the embodiment of the invention obtains a first vehicle speed and a second vehicle speed, wherein the first vehicle speed is calculated by an anti-lock brake system (ABS), and the second vehicle speed is calculated according to the current motor rotating speed; determining the output vehicle speed of the vehicle according to the relation between the first vehicle speed and the set vehicle speed; when the first vehicle speed is less than or equal to the set vehicle speed, determining the second vehicle speed as the output vehicle speed of the vehicle; and when the first vehicle speed is greater than the set vehicle speed, the output vehicle speed of the vehicle is determined by mutual verification of the first vehicle speed and the second vehicle speed through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism. The output speed of the vehicle is determined through mutual verification of the first speed and the second speed, and a speed arbitration and synchronization mechanism, wherein the abnormality of the first speed is judged through speed rationality verification, the normal running function of the vehicle is ensured through the speed arbitration and synchronization mechanism, and the driving smoothness and the safety can be better considered.
As shown in fig. 5, a specific flowchart of a vehicle speed determination method according to an embodiment of the present invention is provided.
Specifically, the ABS calculated vehicle speed is obtained through the CAN bus, the vehicle speed is calculated according to the current motor rotating speed, and the ABS calculated vehicle speed and the set vehicle speed v are judged0The relationship (2) of (c).
When the ABS calculated vehicle speed is less than or equal to the set vehicle speed v0(generally set to about 0-3 km/h), performing vehicle speed arbitration at a low speed, specifically, calculating the vehicle speed as the output vehicle speed of the vehicle by using the current motor speed, and if the current motor speed is w1(generally set to about 5 rad/s) to-w1When the vehicle speed is 0; if the current motor rotating speed is greater than w1Or less than-w1And then, calculating the vehicle speed v by using the current motor rotating speed w, wherein the calculation formula is as follows: and v is w · r/i, wherein v is the output vehicle speed of the vehicle and is expressed in m/s, w is the current motor rotating speed and is expressed in rad/s, r is the vehicle wheel radius and is expressed in m, and i is the final reduction ratio and is constant.
When the ABS calculated vehicle speed is greater than the set vehicle speed v0If the rationality fault is judged to occur, the ABS calculated vehicle speed is used as the output vehicle speed of the vehicle, if the rationality fault is judged to occur, the ABS calculated vehicle speed at the previous moment is increased or decreased according to a preset gradient to carry out vehicle speed synchronization, and the synchronized vehicle speed is used as the output vehicle speed of the vehicle to be output; under vehicle speed rationality failureJudging whether synchronization is finished or not, if synchronization is not finished, returning to continue vehicle speed synchronization, and if synchronization is finished, calculating the vehicle speed by using the current motor rotating speed as the output vehicle speed of the vehicle; after the vehicle speed rationality fault occurs, whether the vehicle speed rationality is recovered to be normal or not is judged according to the relationship between the two vehicle speeds, if the vehicle speed rationality is not recovered to be normal, the current motor rotating speed is used for calculating the vehicle speed to be used as the output vehicle speed of the vehicle, if the vehicle speed rationality is recovered to be normal, the current motor rotating speed at the moment is used for calculating the vehicle speed to be increased or decreased according to a preset gradient to carry out vehicle speed synchronization, and the synchronized vehicle speed is used as the output vehicle speed of the; and judging whether synchronization is finished or not after the reasonability of the vehicle speed is recovered to be normal, if the synchronization is finished, calculating the vehicle speed by using the ABS as the output vehicle speed of the vehicle, and if the synchronization is not finished, returning to continue the vehicle speed synchronization.
It should be noted that, the determination of whether the rationality failure occurs is determined according to the vehicle speed difference between the vehicle speed calculated by the ABS and the vehicle speed calculated by the current motor speed, and when the vehicle speed difference Δ v is greater than the upper limit value Δ v of the rationality checkh(generally set to 3-10km/h, Δ v)h＞v0) And the vehicle speed difference value delta v is still larger than the upper limit value delta v of the rationality check after the first preset time T1hAnd judging that the vehicle speed rationality fault occurs. Whether the reasonability of the vehicle speed is recovered is determined according to the vehicle speed difference between the ABS calculated vehicle speed and the current motor rotating speed, and if the vehicle speed difference delta v is smaller than the lower limit value delta v of the reasonability checkl(generally set to 1-3km/h), and the vehicle speed difference is still smaller than the lower limit value Deltav of the rationality check after the second preset time T2lAnd judging that the reasonability of the vehicle speed is recovered to be normal.
Specifically, the following is specific to determine whether the output vehicle speed of the vehicle is synchronized:
when the vehicle speed rationality fault occurs, when the vehicle speed changing according to the preset gradient reaches the speed difference with the second vehicle speed which is less than the preset speed tolerance value, the synchronization is determined to be completed, and the second vehicle speed is taken as the output vehicle speed of the vehicle;
and when the reasonability of the vehicle speed is judged to be recovered to be normal, when the difference between the vehicle speed changing according to the preset gradient and the first vehicle speed is less than a preset speed error tolerance value, the synchronization is determined to be completed, and the first vehicle speed is taken as the output vehicle speed of the vehicle.
In addition, when a vehicle speed rationality failure occurs, switching of the speeds is involved, and the difference between the vehicle speeds is large, and if the first vehicle speed is directly switched to the second vehicle speed, the vehicle is subjected to jerk, which affects the smoothness of the vehicle, and therefore, vehicle speed synchronization processing is required. Similarly, when the vehicle speed reasonableness returns to normal, the speed switching is also involved, and the vehicle speed difference between the two is large, and if the second vehicle speed is directly switched to the first vehicle speed, the vehicle is subjected to jerk, and the smoothness of the vehicle is affected, so that the vehicle speed synchronization processing is required.
Based on the same inventive concept, the embodiment of the invention also provides a vehicle speed determination device and a pure electric vehicle, and the device and the pure electric vehicle are as follows. Because the principle of solving the problems of the vehicle speed determining device and the pure electric vehicle is similar to the vehicle speed determining method, the vehicle speed determining device and the pure electric vehicle can be implemented by the vehicle speed determining method, and repeated parts are not repeated.
As shown in fig. 6, an embodiment of the present invention provides a vehicle speed determination device, specifically including: an obtaining module 601, a judging module 602, a first determining module 603 and a second determining module 604, wherein:
the acquisition module 601 is used for acquiring a first vehicle speed and a second vehicle speed, wherein the first vehicle speed is calculated by an anti-lock brake system (ABS), and the second vehicle speed is calculated according to the rotating speed of a motor; the judging module 602 is configured to judge a relationship between a first vehicle speed and a set vehicle speed; a first determining module 603, configured to determine that the second vehicle speed is an output vehicle speed of the vehicle when the first vehicle speed is less than or equal to the set vehicle speed; the second determining module 604 is configured to determine an output vehicle speed of the vehicle by mutually verifying the first vehicle speed and the second vehicle speed through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism when the first vehicle speed is greater than the set vehicle speed.
Further, as shown in fig. 7, for an implementation manner of a second determining module 604 provided in an embodiment of the present invention, the second determining module 604 specifically includes: a first judgment unit 701, a first determination unit 702, a first synchronization unit 703, a second judgment unit 704, a second determination unit 705, a third judgment unit 706, a third determination unit 707, a second synchronization unit 708, a fourth judgment unit 709, and a fourth determination unit 710, wherein:
a first determination unit 701 configured to determine whether a rationality failure has occurred according to a relationship between a first vehicle speed and a second vehicle speed; a first determination unit 702 for determining a first vehicle speed as an output vehicle speed of the vehicle when the rationality failure has not occurred; a first synchronization unit 703, configured to perform vehicle speed synchronization on a first vehicle speed at a previous time according to a preset gradient when a rationality failure occurs, and output a synchronized vehicle speed as an output vehicle speed of a vehicle; a second determination unit 704 configured to determine whether the output speed of the vehicle is synchronized; a second determination unit 705 for determining the second vehicle speed as the output vehicle speed of the vehicle when it is determined that the synchronization is completed; a third judging unit 706, configured to judge whether the vehicle speed reasonableness returns to normal according to a relationship between the first vehicle speed and the second vehicle speed; a third determination unit 707 for determining the second vehicle speed as the output vehicle speed of the vehicle when the vehicle speed rationality has not returned to normal; a second synchronization unit 708, configured to, when the vehicle speed reasonableness returns to normal, perform vehicle speed synchronization by ascending or descending a second vehicle speed at a previous time according to a preset gradient, and output a synchronized vehicle speed as an output vehicle speed of the vehicle; a fourth judging unit 709 for judging whether the output speed of the vehicle is synchronized; a fourth determination unit 710 for determining the first vehicle speed as the output vehicle speed of the vehicle when it is determined that the synchronization is completed.
The vehicle speed determining device provided by the embodiment of the invention obtains a first vehicle speed and a second vehicle speed through an obtaining module, wherein the first vehicle speed is calculated by an anti-lock brake system (ABS), and the second vehicle speed is calculated according to the current motor rotating speed; the judgment module determines the output speed of the vehicle according to the relation between the first speed and the set speed; when the first vehicle speed is less than or equal to the set vehicle speed, the first determining module determines that the second vehicle speed is the output vehicle speed of the vehicle; when the first vehicle speed is greater than the set vehicle speed, the second determining module determines the output vehicle speed of the vehicle through mutual verification of the first vehicle speed and the second vehicle speed through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism. The output speed of the vehicle is determined through mutual verification of the first speed and the second speed, and a speed arbitration and synchronization mechanism, wherein the abnormality of the first speed is judged through speed rationality verification, the normal running function of the vehicle is ensured through the speed arbitration and synchronization mechanism, and the driving smoothness and the safety can be better considered.
The embodiment of the invention also discloses a pure electric vehicle, which comprises: the vehicle speed determination device described above.
Specifically, the vehicle speed determination device includes: the device comprises an acquisition module, a judgment module, a first determination module and a second determination module, wherein: the acquisition module is used for acquiring a first vehicle speed and a second vehicle speed, wherein the first vehicle speed is calculated by an anti-lock brake system (ABS), and the second vehicle speed is calculated according to the rotating speed of the motor; the judging module is used for judging the relation between the first vehicle speed and the set vehicle speed; the first determining module is used for determining the second vehicle speed as the output vehicle speed of the vehicle when the first vehicle speed is less than or equal to the set vehicle speed; the second determining module is used for determining the output vehicle speed of the vehicle through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism when the first vehicle speed is larger than the set vehicle speed.
According to the pure electric vehicle provided by the embodiment of the invention, the output speed of the vehicle is determined through the mutual verification of the first vehicle speed and the second vehicle speed, the vehicle speed arbitration and the synchronization mechanism of the vehicle speed determination device, wherein the abnormality of the first vehicle speed is judged through the vehicle speed reasonability verification, the normal running function of the vehicle is ensured through the vehicle speed arbitration and the synchronization mechanism, and the driving smoothness and the safety can be better considered.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in an article or device that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A vehicle speed determination method, characterized by comprising:
acquiring a first vehicle speed and a second vehicle speed, wherein the first vehicle speed is calculated by an anti-lock brake system (ABS), and the second vehicle speed is calculated according to the rotating speed of a motor;
judging the relation between the first vehicle speed and a set vehicle speed;
when the first vehicle speed is less than or equal to the set vehicle speed, determining that the second vehicle speed is the output vehicle speed of the vehicle;
when the first vehicle speed is greater than the set vehicle speed, the output vehicle speed of the vehicle is determined through mutual verification of the first vehicle speed and the second vehicle speed through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism;
wherein, the mutual verification of the first vehicle speed and the second vehicle speed through the vehicle speed rationality verification, the vehicle speed arbitration and the synchronization mechanism to determine the output vehicle speed of the vehicle comprises the following steps:
judging whether a rationality fault occurs according to the relation between the first vehicle speed and the second vehicle speed;
if not, determining that the first vehicle speed is the output vehicle speed of the vehicle;
if so, increasing or decreasing the first vehicle speed at the previous moment according to a preset gradient to synchronize the vehicle speed, and outputting the synchronized vehicle speed as the output vehicle speed of the vehicle;
judging whether the output speed of the vehicle is synchronized, if not, continuing to synchronize the speed;
if so, determining the second vehicle speed as the output vehicle speed of the vehicle;
judging whether the reasonability of the vehicle speed is normal or not according to the relation between the first vehicle speed and the second vehicle speed;
if not, determining that the second vehicle speed is the output vehicle speed of the vehicle;
if so, ascending or descending the second vehicle speed at the previous moment according to a preset gradient to perform vehicle speed synchronization, and outputting the synchronized vehicle speed as the output vehicle speed of the vehicle;
judging whether the output speed of the vehicle is synchronized, if not, continuing to synchronize the speed;
and if so, determining that the first vehicle speed is the output vehicle speed of the vehicle.
2. The vehicle speed determination method according to claim 1, wherein the determining that the second vehicle speed is the output vehicle speed of the vehicle when the first vehicle speed is less than or equal to the set vehicle speed includes:
detecting the current motor rotating speed;
when the current motor rotating speed is greater than or equal to a first rotating speed and less than or equal to a second rotating speed, determining that the output speed of the vehicle is zero;
and when the current motor rotating speed is less than the first rotating speed or greater than the second rotating speed, calculating the output speed of the vehicle by using the current motor rotating speed.
3. The vehicle speed determination method of claim 2, wherein said calculating an output vehicle speed of the vehicle using the current motor speed comprises:
and calculating the output speed of the vehicle according to a preset formula, wherein v is the output speed of the vehicle, w is the current rotating speed of the motor, r is the radius of the wheel of the vehicle, and i is a final reduction ratio and a constant.
4. The vehicle speed determination method according to claim 1, wherein said determining whether a rationality failure has occurred based on a relationship between the first vehicle speed and the second vehicle speed includes:
calculating a vehicle speed difference value of the first vehicle speed and the second vehicle speed;
and if the vehicle speed difference is greater than the upper limit value of the rationality check and the vehicle speed difference is still greater than the upper limit value of the rationality check after a first preset time, judging that a vehicle speed rationality fault occurs.
5. The vehicle speed determination method according to claim 1, wherein said judging whether the vehicle speed rationality is restored to normal based on the relationship between the first vehicle speed and the second vehicle speed includes:
calculating a vehicle speed difference value of the first vehicle speed and the second vehicle speed;
and if the vehicle speed difference is smaller than the lower limit value of the rationality check and the vehicle speed difference is still smaller than the lower limit value of the rationality check after a second preset time, judging that the vehicle speed is restored to be normal in rationality.
6. The vehicle speed determination method of claim 1, wherein said determining whether the output vehicle speed of the vehicle is synchronized comprises:
when the vehicle speed rationality fault is judged to occur, when the vehicle speed changing according to the preset gradient is different from the second vehicle speed by less than a preset speed tolerance value, synchronization is determined to be completed, and the second vehicle speed is used as the output vehicle speed of the vehicle to be output;
when the reasonability of the vehicle speed is judged to be recovered to be normal, when the difference between the vehicle speed changing according to the preset gradient and the first vehicle speed is smaller than a preset speed error tolerance value, the synchronization is determined to be completed, and the first vehicle speed is used as the output vehicle speed of the vehicle to be output.
7. A vehicle speed determination device, characterized by comprising:
the system comprises an acquisition module, a calculation module and a control module, wherein the acquisition module is used for acquiring a first vehicle speed and a second vehicle speed, the first vehicle speed is calculated by an anti-lock brake system (ABS), and the second vehicle speed is calculated according to the rotating speed of a motor;
the judging module is used for judging the relation between the first vehicle speed and a set vehicle speed;
the first determining module is used for determining the second vehicle speed as the output vehicle speed of the vehicle when the first vehicle speed is less than or equal to the set vehicle speed;
the second determining module is used for determining the output vehicle speed of the vehicle through mutual verification of the first vehicle speed and the second vehicle speed through vehicle speed rationality verification, vehicle speed arbitration and a synchronization mechanism when the first vehicle speed is greater than the set vehicle speed;
wherein the second determining module comprises:
the first judging unit is used for judging whether a rationality fault occurs according to the relation between the first vehicle speed and the second vehicle speed;
a first determination unit configured to determine that the first vehicle speed is an output vehicle speed of the vehicle when the rationality failure has not occurred;
the first synchronization unit is used for carrying out vehicle speed synchronization on the first vehicle speed at the previous moment according to the ascending or descending of the preset gradient when the rationality fault occurs, and outputting the synchronized vehicle speed as the output vehicle speed of the vehicle;
the second judgment unit is used for judging whether the output speed of the vehicle is synchronous or not;
a second determination unit configured to determine the second vehicle speed as an output vehicle speed of the vehicle when it is determined that synchronization is completed;
the third judging unit is used for judging whether the reasonability of the vehicle speed is normal or not according to the relation between the first vehicle speed and the second vehicle speed;
the third determining unit is used for determining the second vehicle speed as the output vehicle speed of the vehicle when the vehicle speed reasonableness does not return to normal;
the second synchronization unit is used for performing vehicle speed synchronization on the second vehicle speed at the previous moment according to the ascending or descending of the preset gradient when the vehicle speed is recovered to be normal, and outputting the synchronized vehicle speed as the output vehicle speed of the vehicle;
the fourth judging unit is used for judging whether the output speed of the vehicle is synchronized;
a fourth determination unit configured to determine that the first vehicle speed is an output vehicle speed of the vehicle when it is determined that synchronization is completed.
8. A pure electric vehicle, comprising: the vehicle speed determination apparatus of the vehicle according to claim 7.
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CN110745139B (en) * 2019-10-17 2021-06-01 北京百度网讯科技有限公司 Vehicle speed determination method, device and storage medium
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CN111489548A (en) * 2020-02-28 2020-08-04 广东中科臻恒信息技术有限公司 Dynamic road traffic information acquisition method and system, and storage medium
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