CN112046492A - Vehicle speed calculation method, device, equipment and medium with direction - Google Patents
Vehicle speed calculation method, device, equipment and medium with direction Download PDFInfo
- Publication number
- CN112046492A CN112046492A CN202010777170.6A CN202010777170A CN112046492A CN 112046492 A CN112046492 A CN 112046492A CN 202010777170 A CN202010777170 A CN 202010777170A CN 112046492 A CN112046492 A CN 112046492A
- Authority
- CN
- China
- Prior art keywords
- wheel
- speed
- vehicle
- absolute value
- valid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004364 calculation method Methods 0.000 title claims abstract description 48
- 239000013598 vector Substances 0.000 claims abstract description 149
- 238000000034 method Methods 0.000 claims abstract description 31
- 230000004927 fusion Effects 0.000 claims abstract description 13
- 238000004590 computer program Methods 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
Abstract
The invention discloses a vehicle speed calculation method, a device, equipment and a medium with directions, wherein the method comprises the following steps: acquiring a wheel speed absolute value and a wheel direction acquired by a speed sensor to at least one wheel of a vehicle; respectively judging the effectiveness of the obtained wheel speed absolute value and the wheel direction of each wheel; respectively carrying out fusion calculation on the wheel speed absolute value and the wheel direction of each wheel judged to be effective to obtain a wheel speed vector of each wheel judged to be effective; and calculating a vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels which are determined to be effective. According to the invention, the wheel speed absolute value and the wheel direction of each wheel are effectively judged, so that an accurate vehicle speed vector can be obtained, the running speed and the running direction of the vehicle can be effectively judged, and necessary parameters are provided for the driving control of the whole vehicle.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle speed calculation method with a direction, a device, equipment and a medium.
Background
With the rapid development of social economy in China, the urban modernization process is accelerated, the urban population is rapidly increased, and more vehicles appear in urban road traffic. The vehicle speed is a very important parameter for vehicle drive control, and accurate calculation of the vehicle speed is relevant to the performance of the vehicle drive control.
The existing vehicle speed is generally obtained by an ABS system, and when the ABS fails, if the vehicle speed obtained by the ABS is only used as the real-time vehicle speed, uncertainty occurs in vehicle control, and great threat is generated to the safety of drivers and passengers. Further, there is also a method of calculating the vehicle speed from the motor speed, but if a power cut-off device like a clutch and/or a transmission is present in the motor-to-wheel power train, the method of calculating the vehicle speed using the motor speed during the power cut-off cannot reflect the true vehicle speed. Therefore, in order to improve the reliability of the vehicle speed determination, the vehicle control system receives a signal from the wheel speed sensor to determine the vehicle speed. Because some wheel speed sensors divide wheel speed absolute values and wheel speed direction signals into two independent signals to be sent, the speed is a vector representing the speed and the moving direction of an object at a certain instant, and the vector consists of the speed absolute value and the speed direction, and the running state of a vehicle cannot be accurately reflected only by the speed absolute value, so that the drive control of the whole vehicle can be influenced.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a method, an apparatus, a device and a medium for calculating a vehicle speed with a direction, which can effectively determine a driving speed and a driving direction of a vehicle and provide necessary parameters for driving and controlling the entire vehicle.
In order to achieve the above object, an embodiment of the present invention provides a vehicle speed calculation method with a direction, including:
acquiring a wheel speed absolute value and a wheel direction acquired by a speed sensor to at least one wheel of a vehicle;
respectively judging the effectiveness of the obtained wheel speed absolute value and the wheel direction of each wheel;
respectively carrying out fusion calculation on the wheel speed absolute value and the wheel direction of each wheel judged to be effective to obtain a wheel speed vector of each wheel judged to be effective;
and calculating a vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels which are determined to be effective.
Further, the respectively judging the validity of the wheel speed absolute value and the wheel direction of each acquired wheel specifically includes:
acquiring a wheel speed validity signal acquired by a speed sensor for each wheel, and if the wheel speed validity signal is 1, indicating that the wheel speed absolute value is valid; if the wheel speed validity signal is 0, the wheel speed absolute value is invalid;
acquiring a direction validity signal acquired by each wheel by a speed sensor, and if the direction validity signal is 1, indicating that the direction of the wheel is valid; if the direction validity signal is 0, the direction of the wheel is invalid.
Further, after the validity judgment is performed on the wheel speed absolute value and the wheel direction of each acquired wheel, the method further includes:
and if the wheel speed absolute value or the wheel direction of any one wheel is invalid, discarding the wheel speed absolute value and the wheel direction of the wheel.
Further, the respectively performing fusion calculation on the wheel speed absolute value and the wheel direction of each wheel determined to be valid to obtain a wheel speed vector of each wheel determined to be valid specifically includes:
performing alignment processing on the wheel direction of each wheel judged to be valid to obtain the final wheel direction of each wheel judged to be valid;
judging the state of the final wheel direction; wherein the states of the final wheel direction include forward, reverse, and stationary;
converting the final wheel direction into a digital signal according to the state of the final wheel direction;
and multiplying the wheel speed absolute value of each wheel judged to be valid by the digital signal corresponding to the final wheel direction to obtain a wheel speed vector of each wheel judged to be valid.
Further, the performing a calibration process on the wheel direction of each wheel determined to be valid to obtain a final wheel direction of each wheel determined to be valid specifically includes:
judging whether the wheel speed absolute value of any wheel determined to be effective is larger than a preset wheel speed amplitude limiting threshold or not according to the wheel speed absolute value and the wheel direction of the wheel;
if so, adopting the wheel direction of the wheel which is obtained last time and judged to be effective as the final wheel direction;
if not, the wheel direction of the wheel which is currently determined to be valid is used as the final wheel direction.
Further, the converting the final wheel direction into a digital signal according to the state of the final wheel direction specifically includes:
if the state of the final wheel direction is forward, converting the final wheel direction into a digital signal 1;
if the final wheel direction is in a backward state, converting the final wheel direction into a digital signal-1;
and if the state of the final wheel direction is static, converting the final wheel direction into a digital signal 0. Further, the calculating the vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels determined to be valid specifically includes:
judging the number of wheel speed vectors of the wheel which is judged to be effective;
if the number of the effective wheel speed vectors of the wheels is four, taking the average value of the four wheel speed vectors obtained by calculation as the vehicle speed vector;
if the number of the effective wheel speed vectors of the wheels is three, taking the arithmetic average value of two wheel speed vectors which are obtained by calculation and are positioned on the same axle as the vehicle speed vector;
if the number of the effective wheel speed vectors of the wheels is two, taking the arithmetic mean value of the two wheel speed vectors obtained by calculation as the vehicle speed vector;
if the number of valid wheel speed vectors of the wheel is one, the valid wheel speed vector is taken as the vehicle speed vector.
Further, the method further comprises:
if the number of valid wheel speed vectors is zero, the vehicle speed vector is invalid.
The embodiment of the invention also provides a vehicle speed calculating device with a direction, which comprises:
the acquisition module is used for acquiring a wheel speed absolute value and a wheel direction which are acquired by at least one wheel of a vehicle by a speed sensor;
the validity judgment module is used for respectively judging the validity of the acquired wheel speed absolute value and the acquired wheel direction of each wheel;
the first calculation module is used for respectively carrying out fusion calculation on the wheel speed absolute value and the wheel direction of each wheel judged to be effective to obtain a wheel speed vector of each wheel judged to be effective;
and the second calculation module is used for calculating the vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels which are judged to be valid.
The embodiment of the invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the vehicle speed calculation method with the direction when executing the computer program.
The embodiment of the invention also provides a computer-readable storage medium, which comprises a stored computer program, wherein when the computer program runs, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned vehicle speed calculation methods with the direction.
Compared with the prior art, the method, the device, the equipment and the medium for calculating the vehicle speed with the direction provided by the embodiment of the invention have the beneficial effects that: acquiring a wheel speed absolute value and a wheel direction acquired by a speed sensor for at least one wheel of a vehicle; respectively judging the effectiveness of the obtained wheel speed absolute value and the wheel direction of each wheel; respectively carrying out fusion calculation on the wheel speed absolute value and the wheel direction of each wheel judged to be effective to obtain a wheel speed vector of each wheel judged to be effective; and calculating a vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels which are determined to be effective. According to the invention, the wheel speed absolute value and the wheel direction of each wheel are effectively judged, so that an accurate vehicle speed vector can be obtained, the running speed and the running direction of the vehicle can be effectively judged, and necessary parameters are provided for the driving control of the whole vehicle.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating a method for calculating a vehicle speed of a vehicle with a direction according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the installation location of a speed sensor in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a preferred embodiment of a vehicle speed calculating device with directions according to the present invention;
fig. 4 is a schematic structural diagram of a preferred embodiment of a terminal device provided by 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.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for calculating a vehicle speed with a direction according to a preferred embodiment of the present invention. The method for calculating the speed of the vehicle with the direction comprises the following steps:
s1, obtaining the wheel speed absolute value and the wheel direction of at least one wheel of the vehicle collected by the speed sensor;
s2, respectively judging the effectiveness of the acquired wheel speed absolute value and wheel direction of each wheel;
s3, respectively carrying out fusion calculation on the wheel speed absolute value and the wheel direction of each wheel judged to be effective to obtain a wheel speed vector of each wheel judged to be effective;
and S4, calculating a vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels determined to be effective.
Specifically, at least one speed sensor installed on a vehicle wheel correspondingly acquires and obtains a wheel speed absolute value and a wheel direction of at least one wheel of the vehicle, wherein one wheel is correspondingly provided with one speed sensor, then validity judgment is respectively carried out on the wheel speed absolute value and the wheel direction of each wheel, then fusion calculation is respectively carried out on the wheel speed absolute value and the wheel direction of each wheel which are judged to be valid, a wheel speed vector of each wheel which is judged to be valid is obtained, and finally, a vehicle speed vector of the vehicle is obtained through calculation according to the wheel speed vectors of all the wheels which are judged to be valid.
For example, referring to fig. 2, fig. 2 is a schematic diagram illustrating an installation position of a speed sensor according to a preferred embodiment of the present invention. The wheel speed absolute value and the wheel direction of the left front wheel are acquired through the left front wheel speed sensor, the wheel speed absolute value and the wheel direction of the left rear wheel are acquired through the left rear wheel speed sensor, the wheel speed absolute value and the wheel direction of the right front wheel are acquired through the right front wheel speed sensor, and the wheel speed absolute value and the wheel direction of the right rear wheel are acquired through the right rear wheel speed sensor.
It should be noted that, in this embodiment, the speed sensor may be a hall sensor or a speed pulse sensor, and is not limited in this embodiment. Preferably, the collected wheel speed absolute values and wheel directions are at least from two wheel speed sensors, so that the wheel speed vector calculated according to at least two sets of wheel speed absolute values and wheel directions is more accurate and has higher fault-tolerant capability than the wheel speed vector calculated by a single wheel speed absolute value and wheel direction, and the accuracy and reliability of the vehicle speed vector of the vehicle can be further improved.
This embodiment is through the fast absolute value of the wheel of collection wheel and wheel direction to carry out validity judgement to the fast absolute value of the wheel of each wheel and wheel direction, can obtain accurate vehicle speed vector, thereby can effectively judge the speed of going and the direction of going of vehicle, provide essential parameter for whole car drive control.
In another preferred embodiment, the respectively determining the validity of the acquired wheel speed absolute value and the acquired wheel direction of each wheel specifically includes:
acquiring a wheel speed validity signal acquired by a speed sensor for each wheel, and if the wheel speed validity signal is 1, indicating that the wheel speed absolute value is valid; if the wheel speed validity signal is 0, the wheel speed absolute value is invalid;
acquiring a direction validity signal acquired by each wheel by a speed sensor, and if the direction validity signal is 1, indicating that the direction of the wheel is valid; if the direction validity signal is 0, the direction of the wheel is invalid.
Specifically, the validity of the wheel speed absolute value and the validity of the wheel direction are judged by the speed sensor according to its own algorithm, and the result is obtained in this embodiment. Acquiring a wheel speed validity signal acquired by a speed sensor for each wheel, wherein the wheel speed validity signal is a logic flag bit with 0 or 1, and appointing 1 to indicate validity, 0 to indicate invalidity, judging whether the wheel speed absolute value is valid or not according to the wheel speed validity signal, and if the wheel speed validity signal is 1, indicating that the wheel speed absolute value is valid; if the wheel speed validity signal is 0, the wheel speed absolute value is invalid; acquiring a direction validity signal acquired by each wheel by a speed sensor, wherein the direction validity signal is a logic flag bit of 0 or 1, and appointing 1 to indicate validity, 0 to indicate invalidity, and directly judging whether the wheel direction is valid or not through the direction validity signal, and if the direction validity signal is 1, indicating that the wheel direction is valid; if the direction validity signal is 0, the direction of the wheel is invalid. The accuracy of the wheel speed absolute value and the wheel direction is further improved by carrying out validity judgment on the wheel speed absolute value and the wheel direction of each wheel, so that the accuracy of the wheel speed vector is improved.
In still another preferred embodiment, after the validity determination is made on the wheel speed absolute value and the wheel direction of each of the acquired wheels, respectively, the method further includes:
and if the wheel speed absolute value or the wheel direction of any one wheel is invalid, discarding the wheel speed absolute value and the wheel direction of the wheel.
Specifically, a wheel speed absolute value and a wheel direction acquired for at least one wheel of the vehicle are acquired by a speed sensor mounted on a wheel of the vehicle, and then validity judgment is performed on the wheel speed absolute value and the wheel direction of each wheel respectively. When the wheel speed absolute value and the wheel direction of any one wheel are judged to be valid, if the wheel speed valid signal is 0 or the wheel valid signal is 0, namely one of the wheel speed absolute value and the wheel direction of the wheel is invalid, the wheel speed absolute value and the wheel direction of the wheel need to be discarded. And only when the wheel speed validity signal and the wheel validity signal are both 1, namely the wheel speed absolute value and the wheel direction of the wheel are both valid, the wheel speed absolute value and the wheel direction of the wheel are reserved, so that the calculation accuracy of the wheel speed vector is improved.
In a further preferred embodiment, the fusion calculation of the wheel speed absolute value and the wheel direction of each wheel determined to be valid respectively to obtain the wheel speed vector of each wheel determined to be valid specifically includes:
performing alignment processing on the wheel direction of each wheel judged to be valid to obtain the final wheel direction of each wheel judged to be valid;
judging the state of the final wheel direction; wherein the states of the final wheel direction include forward, reverse, and stationary;
converting the final wheel direction into a digital signal according to the state of the final wheel direction;
and multiplying the wheel speed absolute value of each wheel judged to be valid by the digital signal corresponding to the final wheel direction to obtain a wheel speed vector of each wheel judged to be valid.
Specifically, a wheel speed absolute value and a wheel direction acquired for at least one wheel of the vehicle are acquired by a speed sensor mounted on a wheel of the vehicle, and then validity judgment is performed on the wheel speed absolute value and the wheel direction of each wheel respectively. After obtaining the effective wheel speed absolute value and the wheel direction, the wheel direction of each wheel which is judged to be effective needs to be calibrated to obtain the final wheel direction, and then the state of the final wheel direction is judged; wherein the states of the final wheel direction include forward, reverse, and stationary. Then converting the final wheel direction into a digital signal according to the state of the final wheel direction; and finally, multiplying the effective absolute value of each wheel speed and the final wheel direction to obtain the wheel speed vector of each wheel which is judged to be effective.
In a further preferred embodiment, the calibrating the wheel direction of each wheel determined to be valid to obtain the final wheel direction of each wheel determined to be valid specifically includes:
judging whether the wheel speed absolute value of any wheel determined to be effective is larger than a preset wheel speed amplitude limiting threshold or not according to the wheel speed absolute value and the wheel direction of the wheel;
if so, adopting the wheel direction of the wheel which is obtained last time and judged to be effective as the final wheel direction;
if not, the wheel direction of the wheel which is currently determined to be valid is used as the final wheel direction.
Specifically, the preset wheel speed limiting threshold is a calibrated value obtained according to a large amount of experimental data. When the wheel speed absolute value of any wheel judged to be effective is judged to be larger than a preset wheel speed amplitude limiting threshold value, the wheel direction of the wheel which is obtained last time and judged to be effective is adopted as a final wheel direction; and when the wheel speed absolute value of any wheel judged to be effective and the wheel direction are judged to be smaller than a preset wheel speed amplitude limiting threshold, the wheel direction of the wheel judged to be effective at present is taken as the final wheel direction, so that the accuracy of the wheel direction is ensured.
In this embodiment, the wheel direction of the wheel that was last acquired and determined to be valid is stored in a register inside the controller, and the digital signal corresponding to the wheel direction of the wheel that was last acquired and determined to be valid defaults to 1 or 0 in the initialization state.
As a preferable scheme, the converting the final wheel direction into a digital signal according to the state of the final wheel direction specifically includes:
if the state of the final wheel direction is forward, converting the final wheel direction into a digital signal 1;
if the final wheel direction is in a backward state, converting the final wheel direction into a digital signal-1;
and if the state of the final wheel direction is static, converting the final wheel direction into a digital signal 0. Specifically, the speed is taken as a vector having magnitude and direction, where the numeral 1 is taken to indicate that the state of the final wheel direction is forward, the numeral-1 indicates that the state of the wheel direction is backward, and the numeral 0 indicates that the state of the wheel direction is stationary. And multiplying the wheel speed absolute value of each wheel determined to be valid by the digital signal corresponding to the final wheel direction to obtain a wheel speed vector of each wheel determined to be valid. If the wheel speed vector is a positive value, indicating that the wheel direction is forward; if the wheel speed vector is a negative value, indicating that the wheel direction is backward; if the wheel speed vector is zero, the wheel direction is stationary. Therefore, an accurate wheel speed vector can be obtained, and the accuracy of the vehicle speed vector is improved.
In addition, there is a special case where the state of the final wheel direction is unknown, and the actual direction of the wheel cannot be determined, and in this case, the wheel direction determined to be valid at the previous time is used as the final wheel direction.
In still another preferred embodiment, the calculating the vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels determined to be valid specifically includes:
judging the number of wheel speed vectors of the wheel which is judged to be effective;
if the number of the effective wheel speed vectors of the wheels is four, taking the arithmetic mean value of the four wheel speed vectors obtained by calculation as the vehicle speed vector;
if the number of the effective wheel speed vectors of the wheels is three, taking the arithmetic average value of two wheel speed vectors which are obtained by calculation and are positioned on the same axle as the vehicle speed vector;
if the number of the effective wheel speed vectors of the wheels is two, taking the arithmetic mean value of the two wheel speed vectors obtained by calculation as the vehicle speed vector;
if the number of valid wheel speed vectors of the wheel is one, the valid wheel speed vector is taken as the vehicle speed vector.
In yet another preferred embodiment, the method further comprises:
if the number of valid wheel speed vectors is zero, the vehicle speed vector is invalid.
Specifically, when the vehicle speed vector of the vehicle is calculated from the wheel speed vectors of all the wheels determined to be valid, the number of wheel speed vectors of the wheels determined to be valid is first determined. If the number of the effective wheel speed vectors of the wheels is four, directly calculating the arithmetic mean value of the four wheel speed vectors, and taking the mean value as the vehicle speed vector; if the number of the effective wheel speed vectors of the wheels is three, calculating the arithmetic mean value of the two effective wheel speed vectors positioned on the same axle, and taking the mean value as the vehicle speed vector so as to ensure the accuracy of the vehicle speed vector; if the number of the effective wheel speed vectors of the wheels is two, calculating the arithmetic mean value of the two wheel speed vectors, and taking the mean value as the vehicle speed vector; if the number of valid wheel speed vectors of the wheel is one, the valid wheel speed vector is taken as the vehicle speed vector. If the number of valid wheel speed vectors is zero, i.e., all wheel speed vectors are invalid, the vehicle speed vector is invalid.
For example, first, the wheel speed absolute value and the wheel direction of the left front wheel collected by the left front wheel speed sensor, the wheel speed absolute value and the wheel direction of the left rear wheel collected by the left rear wheel speed sensor, the wheel speed absolute value and the wheel direction of the right front wheel collected by the right front wheel speed sensor, and the wheel speed absolute value and the wheel direction of the right rear wheel collected by the right rear wheel speed sensor are obtained. Then, a speed sensor can also acquire a wheel speed validity signal of the left front wheel as 1 and a direction validity signal as 1, the wheel speed validity signal of the left rear wheel as 1 and the direction validity signal as 1, the wheel speed validity signal of the right front wheel as 1 and the direction validity signal as 1, the wheel speed validity signal of the right rear wheel as 0 and the direction validity signal as 1; and if the wheel speed validity signal of the right rear wheel is 0, namely the wheel speed absolute value of the right rear wheel is invalid, the wheel speed absolute value and the wheel direction of the right rear wheel are abandoned. Then, the wheel direction of the left front wheel is calibrated, if the wheel speed absolute value of the left front wheel is larger than a preset wheel speed amplitude limiting threshold value, the wheel direction of the left front wheel which is obtained and judged to be effective last time is used as the final wheel direction, if the wheel speed absolute value of the left front wheel is smaller than the preset wheel speed amplitude limiting threshold value, the wheel direction of the left front wheel which is judged to be effective currently is used as the final wheel direction, and the final wheel direction is determined for the left rear wheel and the right front wheel according to the same method; then respectively judging the states of the final wheel directions of the left front wheel, the left rear wheel and the right front wheel, and converting the final wheel directions into digital signals according to the states of the final wheel directions; and multiplying the wheel speed absolute value of the left front wheel by the digital signal corresponding to the final wheel direction of the left front wheel to obtain an effective wheel speed vector of the left front wheel, multiplying the wheel speed absolute value of the left rear wheel by the digital signal corresponding to the final wheel direction of the left rear wheel to obtain an effective wheel speed vector of the left rear wheel, and multiplying the wheel speed absolute value of the right front wheel by the digital signal corresponding to the final wheel direction of the right front wheel to obtain an effective wheel speed vector of the right front wheel. At this time, if the number of wheel speeds of the effective wheels is three, two effective wheel speed vectors located on the same axle, that is, the left front wheel speed vector and the right front wheel speed vector, are taken, and the arithmetic average value thereof is calculated, which is taken as the vehicle speed vector of the vehicle. This embodiment is through the fast absolute value of the wheel of collection wheel and wheel direction to carry out validity judgement to the fast absolute value of the wheel of each wheel and wheel direction, can obtain accurate vehicle speed vector, thereby can effectively judge the speed of going and the direction of going of vehicle, provide essential parameter for whole car drive control.
Accordingly, the present invention further provides a vehicle speed calculation apparatus with direction, which can implement all the processes of the vehicle speed calculation method with direction in the above embodiments.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a preferred embodiment of a vehicle speed calculating device with direction according to the present invention. The directional vehicle speed calculation device includes:
the acquiring module 301 is configured to acquire an absolute wheel speed value and a wheel direction, which are acquired by a speed sensor for at least one wheel of a vehicle;
the validity judging module 302 is configured to respectively judge validity of the acquired wheel speed absolute value and wheel direction of each wheel;
the first calculation module 303 is configured to perform fusion calculation on the wheel speed absolute value and the wheel direction of each wheel determined to be valid, respectively, to obtain a wheel speed vector of each wheel determined to be valid;
and a second calculating module 304, configured to calculate a vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels determined to be valid.
Preferably, the validity judging module 302 specifically includes:
the wheel speed absolute value validity judging unit is used for acquiring a wheel speed validity signal of each wheel from the speed sensor, and if the wheel speed validity signal is 1, the wheel speed absolute value is valid; if the wheel speed validity signal is 0, the wheel speed absolute value is invalid;
the wheel direction validity judging unit is used for acquiring a direction validity signal of each wheel from the speed sensor, and if the direction validity signal is 1, the wheel direction is valid; if the direction validity signal is 0, the direction of the wheel is invalid.
Preferably, the validity judging module 302 is further configured to, after respectively judging the validity of the acquired wheel speed absolute value and wheel direction of each wheel:
and if the wheel speed absolute value or the wheel direction of any one wheel is invalid, discarding the wheel speed absolute value and the wheel direction of the wheel.
Preferably, the first calculating module 303 specifically includes:
a calibration unit configured to perform a calibration process on the wheel direction of each wheel determined to be valid, to obtain a final wheel direction determined to be valid;
a state judgment unit for judging a state of a final wheel direction; wherein the states of the final wheel direction include forward, reverse, and stationary;
a conversion unit for converting the final wheel direction into a digital signal according to a state of the final wheel direction;
and the calculating unit is used for multiplying the wheel speed absolute value of each wheel determined to be valid and the digital signal corresponding to the final wheel direction to obtain a wheel speed vector of each wheel determined to be valid.
Preferably, the calibration unit is specifically configured to:
judging whether the wheel speed absolute value of any wheel determined to be effective is larger than a preset wheel speed amplitude limiting threshold or not according to the wheel speed absolute value and the wheel direction of the wheel;
if so, adopting the wheel direction of the wheel which is obtained last time and judged to be effective as the final wheel direction;
if not, the wheel direction of the wheel which is currently determined to be valid is used as the final wheel direction.
Preferably, the conversion unit is specifically configured to:
if the state of the final wheel direction is forward, converting the final wheel direction into a digital signal 1;
if the final wheel direction is in a backward state, converting the final wheel direction into a digital signal-1;
and if the state of the final wheel direction is static, converting the final wheel direction into a digital signal 0.
Preferably, the second calculating module 304 is specifically configured to:
judging the number of wheel speed vectors of the wheel which is judged to be effective;
if the number of the effective wheel speed vectors of the wheels is four, taking the arithmetic mean value of the four wheel speed vectors obtained by calculation as the vehicle speed vector;
if the number of the effective wheel speed vectors of the wheels is three, taking the arithmetic average value of two wheel speed vectors which are obtained by calculation and are positioned on the same axle as the vehicle speed vector;
if the number of the effective wheel speed vectors of the wheels is two, taking the arithmetic mean value of the two wheel speed vectors obtained by calculation as the vehicle speed vector;
if the number of valid wheel speed vectors of the wheel is one, the valid wheel speed vector is taken as the vehicle speed vector.
Preferably, the apparatus further comprises:
an invalidation module 305 for invalidating the vehicle speed vector if the number of valid wheel speed vectors for the wheels is zero.
In a specific implementation, the working principle, the control flow and the implementation technical effect of the device for calculating a vehicle speed with a direction according to the embodiment of the present invention are the same as those of the method for calculating a vehicle speed with a direction according to the embodiment described above, and are not described herein again.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a terminal device according to a preferred embodiment of the present invention. The terminal device comprises a processor 401, a memory 402 and a computer program stored in the memory 402 and configured to be executed by the processor 401, wherein the processor 401 implements the method for calculating the speed of the vehicle with the direction according to any one of the above embodiments when executing the computer program.
Preferably, the computer program can be divided into one or more modules/units (e.g. computer program 1, computer program 2,) which are stored in the memory 402 and executed by the processor 401 to accomplish the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.
The Processor 401 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc., the general purpose Processor may be a microprocessor, or the Processor 401 may be any conventional Processor, the Processor 401 is a control center of the terminal device, and various interfaces and lines are used to connect various parts of the terminal device.
The memory 402 mainly includes a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like, and the data storage area may store related data and the like. In addition, the memory 402 may be a high speed random access memory, a non-volatile memory such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like, or the memory 402 may be other volatile solid state memory devices.
It should be noted that the terminal device may include, but is not limited to, a processor and a memory, and those skilled in the art will understand that the structural diagram of fig. 4 is only an example of the terminal device and does not constitute a limitation of the terminal device, and may include more or less components than those shown, or combine some components, or different components.
The embodiment of the invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the device where the computer-readable storage medium is located is controlled to execute the method for calculating the vehicle speed with the direction according to any one of the above-mentioned embodiments.
The embodiment of the invention provides a vehicle speed calculation method, a device, equipment and a medium with directions, wherein the method comprises the steps of acquiring a wheel speed absolute value and a wheel direction acquired by a speed sensor for at least one wheel of a vehicle; respectively judging the effectiveness of the obtained wheel speed absolute value and the wheel direction of each wheel; respectively carrying out fusion calculation on the wheel speed absolute value and the wheel direction of each wheel judged to be effective to obtain a wheel speed vector of each wheel judged to be effective; and calculating a vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels which are determined to be effective. According to the invention, the wheel speed absolute value and the wheel direction of each wheel are effectively judged, so that an accurate vehicle speed vector can be obtained, the running speed and the running direction of the vehicle can be effectively judged, and necessary parameters are provided for the driving control of the whole vehicle.
It should be noted that the above-described device embodiments are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the system provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
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.
Claims (11)
1. A method for calculating a vehicle speed with a direction, comprising:
acquiring a wheel speed absolute value and a wheel direction acquired by a speed sensor to at least one wheel of a vehicle;
respectively judging the effectiveness of the obtained wheel speed absolute value and the wheel direction of each wheel;
respectively carrying out fusion calculation on the wheel speed absolute value and the wheel direction of each wheel judged to be effective to obtain a wheel speed vector of each wheel judged to be effective;
and calculating a vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels which are determined to be effective.
2. The vehicle speed calculation method of a vehicle with direction according to claim 1, characterized in that: the validity judgment is respectively carried out on the wheel speed absolute value and the wheel direction of each obtained wheel, and the method specifically comprises the following steps:
acquiring a wheel speed validity signal acquired by a speed sensor for each wheel, and if the wheel speed validity signal is 1, indicating that the wheel speed absolute value is valid; if the wheel speed validity signal is 0, the wheel speed absolute value is invalid;
acquiring a direction validity signal acquired by each wheel by a speed sensor, and if the direction validity signal is 1, indicating that the direction of the wheel is valid; if the direction validity signal is 0, the direction of the wheel is invalid.
3. The vehicle speed calculation method of a vehicle with a direction according to claim 1, wherein after said validity determination is made on the wheel speed absolute value and the wheel direction of each wheel acquired, respectively, the method further comprises:
and if the wheel speed absolute value or the wheel direction of any one wheel is invalid, discarding the wheel speed absolute value and the wheel direction of the wheel.
4. The method for calculating a vehicle speed of a vehicle with a direction according to claim 1, wherein the fusion calculation of the wheel speed absolute value and the wheel direction of each wheel determined to be valid, respectively, to obtain the wheel speed vector of each wheel determined to be valid, specifically comprises:
performing alignment processing on the wheel direction of each wheel judged to be valid to obtain the final wheel direction of each wheel judged to be valid;
judging the state of the final wheel direction; wherein the states of the final wheel direction include forward, reverse, and stationary;
converting the final wheel direction into a digital signal according to the state of the final wheel direction;
and multiplying the wheel speed absolute value of each wheel judged to be valid by the digital signal corresponding to the final wheel direction to obtain a wheel speed vector of each wheel judged to be valid.
5. The method for calculating a vehicle speed with direction according to claim 4, wherein the calibrating the wheel direction of each wheel determined to be valid to obtain the final wheel direction of each wheel determined to be valid comprises:
judging whether the wheel speed absolute value of any wheel determined to be effective is larger than a preset wheel speed amplitude limiting threshold or not according to the wheel speed absolute value and the wheel direction of the wheel;
if so, adopting the wheel direction of the wheel which is obtained last time and judged to be effective as the final wheel direction;
if not, the wheel direction of the wheel which is currently determined to be valid is used as the final wheel direction.
6. The method for calculating a vehicle speed of a vehicle with a direction according to claim 4, wherein the converting the final wheel direction into a digital signal according to the state of the final wheel direction includes:
if the state of the final wheel direction is forward, converting the final wheel direction into a digital signal 1;
if the final wheel direction is in a backward state, converting the final wheel direction into a digital signal-1;
and if the state of the final wheel direction is static, converting the final wheel direction into a digital signal 0.
7. The vehicle speed calculation method of a vehicle with direction according to any one of claims 1 to 6, wherein the calculating of the vehicle speed vector from the wheel speed vectors of all the wheels determined to be valid specifically includes:
judging the number of wheel speed vectors of the wheel which is judged to be effective;
if the number of the effective wheel speed vectors of the wheels is four, taking the arithmetic mean value of the four wheel speed vectors obtained by calculation as the vehicle speed vector;
if the number of the effective wheel speed vectors of the wheels is three, taking the arithmetic average value of two wheel speed vectors which are obtained by calculation and are positioned on the same axle as the vehicle speed vector;
if the number of the effective wheel speed vectors of the wheels is two, taking the arithmetic mean value of the two wheel speed vectors obtained by calculation as the vehicle speed vector;
if the number of valid wheel speed vectors of the wheel is one, the valid wheel speed vector is taken as the vehicle speed vector.
8. The method for calculating a vehicle speed with direction according to claim 7, characterized by further comprising:
if the number of valid wheel speed vectors is zero, the vehicle speed vector is invalid.
9. A vehicle speed calculation apparatus with direction, characterized by comprising:
the acquisition module is used for acquiring a wheel speed absolute value and a wheel direction which are acquired by at least one wheel of a vehicle by a speed sensor;
the validity judgment module is used for respectively judging the validity of the acquired wheel speed absolute value and the acquired wheel direction of each wheel;
the first calculation module is used for respectively carrying out fusion calculation on the wheel speed absolute value and the wheel direction of each wheel judged to be effective to obtain a wheel speed vector of each wheel judged to be effective;
and the second calculation module is used for calculating the vehicle speed vector of the vehicle according to the wheel speed vectors of all the wheels which are judged to be valid.
10. A terminal device characterized by comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the method for calculating a vehicle speed of a vehicle with a direction according to any one of claims 1 to 9 when executing the computer program.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program, wherein when the computer program is run, the apparatus where the computer-readable storage medium is located is controlled to execute the method for calculating a vehicle speed of a vehicle with a direction according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010777170.6A CN112046492B (en) | 2020-08-05 | 2020-08-05 | Vehicle speed calculation method, device, equipment and medium with direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010777170.6A CN112046492B (en) | 2020-08-05 | 2020-08-05 | Vehicle speed calculation method, device, equipment and medium with direction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112046492A true CN112046492A (en) | 2020-12-08 |
| CN112046492B CN112046492B (en) | 2022-08-16 |
Family
ID=73602176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010777170.6A Active CN112046492B (en) | 2020-08-05 | 2020-08-05 | Vehicle speed calculation method, device, equipment and medium with direction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112046492B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114148334A (en) * | 2021-12-13 | 2022-03-08 | 安徽江淮汽车集团股份有限公司 | Speed direction detection method for automatic transmission automobile |
| WO2023029891A1 (en) * | 2021-08-30 | 2023-03-09 | 中国第一汽车股份有限公司 | Vehicle speed estimation method and apparatus, and vehicle |
| CN114148334B (en) * | 2021-12-13 | 2024-04-19 | 安徽江淮汽车集团股份有限公司 | Speed direction detection method for automatic transmission automobile |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102539812A (en) * | 2012-02-14 | 2012-07-04 | 奇瑞汽车股份有限公司 | Method and device for acquiring speed of automobile |
| CN204989218U (en) * | 2015-08-21 | 2016-01-20 | 泛博制动部件（苏州）有限公司 | Vehicle velocity collection system |
| CN108116233A (en) * | 2016-11-29 | 2018-06-05 | 比亚迪股份有限公司 | Vehicle and its speed calculate method and apparatus |
| DE102017130659A1 (en) * | 2017-01-17 | 2018-07-19 | Denso Ten Limited | Radar device and vehicle speed correction method |
| US20190077410A1 (en) * | 2005-06-01 | 2019-03-14 | Allstate Insurance Company | Motor Vehicle Operating Data Collection and Analysis |
| CN109515195A (en) * | 2018-11-09 | 2019-03-26 | 四川南骏汽车集团有限公司 | A kind of vehicle control system of pure electric vehicle and control method |
| CN110660229A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Vehicle speed measuring method and device and vehicle |
-
2020
- 2020-08-05 CN CN202010777170.6A patent/CN112046492B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190077410A1 (en) * | 2005-06-01 | 2019-03-14 | Allstate Insurance Company | Motor Vehicle Operating Data Collection and Analysis |
| CN102539812A (en) * | 2012-02-14 | 2012-07-04 | 奇瑞汽车股份有限公司 | Method and device for acquiring speed of automobile |
| CN204989218U (en) * | 2015-08-21 | 2016-01-20 | 泛博制动部件（苏州）有限公司 | Vehicle velocity collection system |
| CN108116233A (en) * | 2016-11-29 | 2018-06-05 | 比亚迪股份有限公司 | Vehicle and its speed calculate method and apparatus |
| DE102017130659A1 (en) * | 2017-01-17 | 2018-07-19 | Denso Ten Limited | Radar device and vehicle speed correction method |
| CN110660229A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Vehicle speed measuring method and device and vehicle |
| CN109515195A (en) * | 2018-11-09 | 2019-03-26 | 四川南骏汽车集团有限公司 | A kind of vehicle control system of pure electric vehicle and control method |
Non-Patent Citations (2)
| Title |
|---|
| 洪松: "带方向性的主动式轮速传感器简析", 《中国机械》 * |
| 王慧萍: "《理论力学》", 31 January 2018, 西安电子科技大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023029891A1 (en) * | 2021-08-30 | 2023-03-09 | 中国第一汽车股份有限公司 | Vehicle speed estimation method and apparatus, and vehicle |
| CN114148334A (en) * | 2021-12-13 | 2022-03-08 | 安徽江淮汽车集团股份有限公司 | Speed direction detection method for automatic transmission automobile |
| CN114148334B (en) * | 2021-12-13 | 2024-04-19 | 安徽江淮汽车集团股份有限公司 | Speed direction detection method for automatic transmission automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112046492B (en) | 2022-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102167041B (en) | Method for determining driving state of vehicle based on acceleration sensor | |
| CN103625472B (en) | Intelligent cruise controls device and method | |
| CN110867132B (en) | Environment sensing method, device, electronic equipment and computer readable storage medium | |
| CN107512175B (en) | Pure electric vehicle speed display methods and device | |
| CN104354699A (en) | Method and device for detecting driving behavior information based on OBD (on-board diagnostic) terminal | |
| WO2019165617A1 (en) | Vehicle-mounted apparatus and vehicle collision analysis method and device | |
| CN112046492B (en) | Vehicle speed calculation method, device, equipment and medium with direction | |
| CN105523084B (en) | Method for detecting vehicle turning angle based on three-axis acceleration sensor | |
| CN111959515B (en) | Forward target selection method, device and system based on visual detection | |
| US20180286222A1 (en) | Vehicle identifying device | |
| CN108860163B (en) | Vehicle driving direction judgment method and device | |
| CN113581193A (en) | Driving scene simulation optimization method and system, electronic equipment and storage medium | |
| JP2022007678A (en) | Vehicle weight estimation device and vehicle | |
| CN115284809B (en) | Intelligent internet fleet active suspension control method and system and computer equipment | |
| CN115995163B (en) | Vehicle collision early warning method and system | |
| CN115675454B (en) | Vehicle collision recognition method, vehicle-mounted terminal, vehicle, and storage medium | |
| WO2023035234A1 (en) | Vehicle state parameter estimation method and apparatus | |
| CN114312552B (en) | Steering lamp control method, device, terminal equipment and medium | |
| CN108466609A (en) | Control method for vehicle and device | |
| CN114407587B (en) | Tire pressure monitoring method and device, electronic equipment and storage medium | |
| CN216994286U (en) | ADAS rapid acceleration pre-collision and lane departure device | |
| US20230391342A1 (en) | Road surface damage detection device, road surface damage detection method, and storage device | |
| CN116749983A (en) | Yaw rate calculation method, yaw rate calculation apparatus, yaw rate calculation device, and readable medium | |
| CN116048920A (en) | Auxiliary driving data acquisition method and device, vehicle and storage medium | |
| CN113447930A (en) | Vehicle following capability evaluation method and device, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20240222 Granted publication date: 20220816 |