CN112319493A - Vehicle speed determination method and device, storage medium and vehicle - Google Patents

Vehicle speed determination method and device, storage medium and vehicle Download PDF

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Publication number
CN112319493A
CN112319493A CN202011287715.1A CN202011287715A CN112319493A CN 112319493 A CN112319493 A CN 112319493A CN 202011287715 A CN202011287715 A CN 202011287715A CN 112319493 A CN112319493 A CN 112319493A
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vehicle
speed
wheel
vehicle speed
wheels
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CN112319493B (en
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周小红
宁柯军
司翘楚
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Beijing Sankuai Online Technology Co Ltd
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Beijing Sankuai Online Technology 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
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)

Abstract

The disclosure relates to a vehicle speed determination method, a vehicle speed determination device, a storage medium and a vehicle, wherein the method comprises the following steps: acquiring braking state information of a vehicle; if the braking state information represents that the vehicle is in a braking state, acquiring the slip state information of the wheels of the vehicle; when the slip status information indicates that at least one rear wheel of the vehicle is not slipping, determining a vehicle speed of the vehicle based on a wheel speed of the non-slipping rear wheel. According to the technical scheme, when the vehicle speed is determined according to the wheel speed, the wheel speed of the rear wheel can be considered preferentially, so that the accuracy of the determined vehicle speed is improved. Meanwhile, when the vehicle speed is determined according to the wheel speed of the rear wheel, the rear wheel in a slipping state is also eliminated, so that the accuracy of the determined vehicle speed can be further improved.

Description

Vehicle speed determination method and device, storage medium and vehicle
Technical Field
The disclosure relates to the technical field of vehicles, in particular to a vehicle speed determination method, a vehicle speed determination device, a storage medium and a vehicle.
Background
The vehicle speed is an important reference factor in various control systems of the vehicle, and plays an important role in system decision. For example, in an automatic emergency braking system of a vehicle, a corresponding control strategy may be determined according to a traveling speed of the vehicle, and an associated actuator may be controlled to perform actions such as braking, warning, and the like when the corresponding control strategy is satisfied.
In a related scene, due to differences in driving conditions, the wheel speed of the vehicle may not reflect the actual vehicle speed of the vehicle, so that a difference exists between the calculated vehicle speed and the actual vehicle speed of the vehicle, and further, the decision accuracy of a related system which needs to make a decision according to the vehicle speed is reduced.
Disclosure of Invention
An object of the present disclosure is to provide a vehicle speed determination method, apparatus, storage medium, and vehicle to at least partially solve the above-mentioned related art problems.
In order to achieve the above object, according to a first aspect of an embodiment of the present disclosure, there is provided a vehicle speed determination method including:
acquiring braking state information of a vehicle;
if the braking state information represents that the vehicle is in a braking state, acquiring the slip state information of the wheels of the vehicle;
when the slip status information indicates that at least one rear wheel of the vehicle is not slipping, determining a vehicle speed of the vehicle based on a wheel speed of the non-slipping rear wheel.
Optionally, said determining a vehicle speed of said vehicle from a wheel speed of a non-slipping rear wheel comprises:
determining a vehicle speed of the vehicle based on an average of wheel speeds of non-slipping rear wheels of the vehicle.
Optionally, the method further comprises:
when the slip status information indicates that the rear wheels of the vehicle slip and at least one front wheel of the vehicle does not slip, determining a vehicle speed of the vehicle based on an average of wheel speeds of the non-slipping front wheels of the vehicle.
Optionally, the method further comprises:
acquiring acceleration information of the vehicle;
if the acceleration of the vehicle is larger than a preset threshold value, calculating the target speed of the vehicle according to a slope method;
and when the target vehicle speed is greater than the determined vehicle speed of the vehicle, taking the target vehicle speed as the vehicle speed of the vehicle.
Optionally, the method further comprises:
if the braking state information represents that the vehicle is not in a braking state, acquiring locking state information of wheels of the vehicle;
and when the locking state information represents that at least one rear wheel of the vehicle is not locked, determining the speed of the vehicle according to the wheel speed of the non-locked rear wheel.
Optionally, the determining the vehicle speed of the vehicle according to the wheel speed of the non-locked rear wheel comprises:
determining a speed of the vehicle from an average of wheel speeds of non-locked rear wheels of the vehicle.
Optionally, the method further comprises:
and when the locking state information represents that the rear wheels of the vehicle are locked and the front wheels of the vehicle are not locked, determining the speed of the vehicle according to the average value of the wheel speeds of the front wheels of the vehicle which are not locked.
According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle speed determination device including:
the first acquisition module is used for acquiring the braking state information of the vehicle;
the second acquisition module is used for acquiring the slip state information of the wheels of the vehicle when the brake state information represents that the vehicle is in a brake state;
a first determination module configured to determine a vehicle speed of the vehicle based on a wheel speed of at least one non-slipping rear wheel of the vehicle when the slip status information indicates that the non-slipping rear wheel is not slipping.
Optionally, the first determining module includes:
a first determination submodule for determining a vehicle speed of the vehicle from an average of wheel speeds of non-slipping rear wheels of the vehicle.
Optionally, the apparatus further comprises:
and the first execution module is used for determining the vehicle speed of the vehicle according to the average value of the wheel speeds of the non-slipping front wheels of the vehicle when the slipping state information represents that the rear wheels of the vehicle slip and at least one front wheel of the vehicle does not slip.
Optionally, the apparatus further comprises:
the third acquisition module is used for acquiring the acceleration information of the vehicle;
the calculation module is used for calculating the target speed of the vehicle according to a slope method when the acceleration of the vehicle is greater than a preset threshold;
and the second execution module is used for taking the target vehicle speed as the vehicle speed of the vehicle when the target vehicle speed is greater than the determined vehicle speed of the vehicle.
Optionally, the apparatus further comprises:
the fourth obtaining module is used for obtaining locking state information of wheels of the vehicle when the braking state information represents that the vehicle is not in a braking state;
and the second determining module is used for determining the speed of the vehicle according to the wheel speed of the non-locked rear wheel when the locking state information represents that at least one rear wheel of the vehicle is not locked.
Optionally, the second obtaining module includes:
and the second obtaining submodule is used for determining the speed of the vehicle according to the average value of the wheel speeds of the non-locked rear wheels of the vehicle.
Optionally, the apparatus further comprises:
and the third execution module is used for determining the speed of the vehicle according to the average value of the wheel speeds of the front wheels which are not locked of the vehicle when the locking state information represents that the rear wheels of the vehicle are locked and the front wheels of the vehicle are not locked.
According to a third aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of any one of the above-mentioned first aspects.
According to a fourth aspect of an embodiment of the present disclosure, there is provided a vehicle including the apparatus of any one of the second aspects described above.
In the above technical solution, when determining the vehicle speed, the braking state information of the vehicle may be first obtained, and when the vehicle is in the braking state, the slip state information of the wheels of the vehicle may be obtained. In this way, the vehicle speed of the vehicle may be determined from the wheel speed of the non-slipping rear wheel when the slip status information indicates that at least one rear wheel of the vehicle is not slipping. That is, the above-described technical solution may give priority to the wheel speed of the rear wheel when determining the vehicle speed from the wheel speed, thereby contributing to an improvement in the accuracy of the determined vehicle speed. Meanwhile, when the vehicle speed is determined according to the wheel speed of the rear wheel, the rear wheel in a slipping state is also eliminated, so that the accuracy of the determined vehicle speed can be further improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method for determining vehicle speed in accordance with an exemplary embodiment of the present disclosure.
FIG. 2 is a flow chart illustrating a method for determining vehicle speed in accordance with an exemplary embodiment of the present disclosure.
FIG. 3 is a flow chart illustrating a method for determining vehicle speed in accordance with an exemplary embodiment of the present disclosure.
FIG. 4 is a flow chart illustrating a method for determining vehicle speed in accordance with an exemplary embodiment of the present disclosure.
FIG. 5 is a flow chart illustrating a method for determining vehicle speed in accordance with an exemplary embodiment of the present disclosure.
FIG. 6 is a flow chart illustrating a method for determining vehicle speed in accordance with an exemplary embodiment of the present disclosure.
FIG. 7 is a block diagram of a vehicle speed determination device shown in an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Before introducing the vehicle speed determination method, device, storage medium, and vehicle of the present disclosure, an application scenario of the present disclosure is first introduced. The embodiments provided by the disclosure can be applied to vehicle speed calculation scenes of various vehicles, such as passenger vehicles, unmanned vehicles and the like.
In a related scenario, the vehicle speed may be calculated based on wheel speeds of the wheels of the vehicle, for example, when the vehicle is running normally, a maximum value of the wheel speeds of the wheels may be taken as the vehicle speed of the vehicle. In some scenarios such as vehicle braking, the wheel speeds of the wheels may not reflect the true vehicle speed of the vehicle, and therefore calculating the vehicle speed based on the method in the related art may cause a problem that the deviation of the calculated vehicle speed from the true vehicle speed is too large, thereby possibly affecting the decision accuracy of various control systems in the vehicle.
To this end, the present disclosure provides a vehicle speed determination method, with reference to the flowchart of one vehicle speed determination method shown in fig. 1, the method comprising:
s11, obtaining the braking state information of the vehicle;
s12, if the brake state information represents that the vehicle is in a brake state, acquiring the slip state information of the wheels of the vehicle;
s13, when the slip state information indicates that at least one rear wheel of the vehicle does not slip, determining the vehicle speed of the vehicle according to the wheel speed of the non-slipping rear wheel.
Specifically, in S11, the braking state information of the vehicle, such as the braking state or the non-braking state, may be determined by acquiring a brake pedal signal of the vehicle, for example.
In S12, slip state information of the wheels of the vehicle may be acquired when it is determined that the vehicle is in a braking state based on the braking state information.
For example, pulse signals sent by various wheel speed sensors in a vehicle may be collected based on an anti-lock braking system. Since the number of pulses per wheel is fixed, the wheel speed of each wheel of the vehicle can be determined by counting the collected pulse signals. Thus, the slip state of each wheel can be determined by the wheel speed of each wheel. For example, for the wheel A, B, C, D of the vehicle, in calculating whether wheel A is slipping, a formula may be used
Figure BDA0002782915950000051
And obtaining the slip coefficient of the wheel A, and if the slip coefficient of the wheel A is larger than a preset threshold value, determining that the wheel A slips. Wherein x isAIs the wheel speed, x, of the wheel AavgThe preset threshold value may be set as required, for example, may be 20% as an average value of the wheel speed of the wheel A, B, C, D. Similarly, the slip coefficient of the wheel B, C, D may be calculated separately by the above formula to determine the slip state information of each wheel of the vehicle.
Thus, in S13, if the slip status information indicates that at least one rear wheel of the vehicle is not slipping, the vehicle speed of the vehicle may be determined based on the wheel speed of the non-slipping rear wheel. For example, the vehicle speed of the vehicle may be determined based on a maximum value of the wheel speed in the non-slipping rear wheels.
For example, when the wheels C and D are rear wheels and neither of the wheels C and D slips, the vehicle speed of the vehicle may be determined based on the maximum value of the wheel speeds of the wheels C and D. For example, if the wheel speed of the wheel C is greater than the wheel speed of the wheel D, the product of the wheel speed value of the wheel C and the radius value of the wheel C may be used as the vehicle speed of the vehicle.
Of course, in some implementations, the vehicle may also have a non-slipping rear wheel, in which case the vehicle speed may be determined based on the wheel speed of the rear wheel.
By adopting the technical scheme, the braking state information of the vehicle can be firstly acquired when the vehicle speed is determined, and the slip state information of the wheels of the vehicle is acquired when the vehicle is in the braking state. In this way, the vehicle speed of the vehicle may be determined from the wheel speed of the non-slipping rear wheel when the slip status information indicates that at least one rear wheel of the vehicle is not slipping. That is, the above technical solution may give priority to the wheel speed of the rear wheel when determining the vehicle speed according to the wheel speed, and calculating the vehicle speed based on the wheel speed of the front wheel of the vehicle may cause a large error due to a vehicle body motion model and the like, so that the above technical solution is adopted to contribute to improving the accuracy of the determined vehicle speed. In addition, according to the technical scheme, when the vehicle speed is determined according to the wheel speed of the rear wheel, the rear wheel in a slipping state is eliminated, so that the accuracy of the determined vehicle speed can be further improved.
Furthermore, in one possible embodiment, the vehicle speed of the vehicle can also be calculated from the average value of the wheel speeds of the non-slipping rear wheels. In this case, the determining the vehicle speed of the vehicle based on the wheel speed of the non-slipping rear wheel includes:
determining a vehicle speed of the vehicle based on an average of wheel speeds of non-slipping rear wheels of the vehicle.
Following the above example, when the wheels C and D are rear wheels and neither wheel C or D is slipping, the vehicle speed of the vehicle may be determined based on an average of the wheel speeds of the wheels C and D. For example, the product of the average of the wheel speeds of the wheels C and D and the radius value of the wheel of the vehicle may be taken as the vehicle speed of the vehicle. In this way, determining the vehicle speed based on the average of the wheel speeds of the non-slipping rear wheels helps to improve the accuracy of the determined vehicle speed.
FIG. 2 is a flow chart of a method of determining vehicle speed, as shown in FIG. 2, in accordance with an exemplary embodiment of the present disclosure, including:
s21, obtaining the braking state information of the vehicle;
s22, if the brake state information represents that the vehicle is in a brake state, acquiring the slip state information of the wheels of the vehicle;
s23, when the slip state information represents that the rear wheel of the vehicle slips and at least one front wheel of the vehicle does not slip, determining the vehicle speed of the vehicle according to the average value of the wheel speeds of the non-slipping front wheels of the vehicle.
For the steps S21 and S22, please refer to the above description of the embodiments related to the steps S11 and S12, and for brevity of the description, the disclosure is not repeated herein.
In step S23, when the slip status information indicates that the rear wheels of the vehicle are slipping and at least one front wheel of the vehicle is not slipping, the vehicle speed of the vehicle may be determined based on an average of wheel speeds of the non-slipping front wheels of the vehicle.
Still taking the vehicle in the above embodiment as an example, if it is determined that the rear wheels C and D of the vehicle are slipping and the front wheels a and B are not slipping, the product of the average value of the wheel speeds of the wheels a and B and the radius value of the wheels of the vehicle may be taken as the vehicle speed of the vehicle. In this way, determining the vehicle speed based on the average of the wheel speeds of the non-slipping rear wheels helps to improve the accuracy of the determined vehicle speed.
Of course, in some possible embodiments, the vehicle may also include a non-slipping front wheel, in which case the vehicle speed of the vehicle may be determined based on the wheel speed of the non-slipping front wheel.
In addition, in other embodiments, when the vehicle includes a plurality of non-skid front wheels, the vehicle speed of the vehicle may also be determined according to a maximum value of wheel speeds of the plurality of non-skid front wheels, which is not limited in this disclosure.
In the above technical solution, when the vehicle speed is determined according to the wheel speed, the vehicle speed may be calculated according to the wheel speed of the non-slipping rear wheel, and when the rear wheel of the vehicle slips, the vehicle speed may be determined according to the wheel speed of the non-slipping front wheel. Due to the vehicle body motion model and the like, the error is possibly large when the vehicle speed is calculated based on the wheel speed of the front wheel of the vehicle, and therefore the accuracy of the determined vehicle speed is improved. In addition, according to the technical scheme, when the vehicle speed is determined according to the wheel speed, the rear wheels or the front wheels in a slipping state are eliminated, so that the accuracy of the determined vehicle speed can be further improved.
FIG. 3 is a flow chart of a method of vehicle speed determination, shown in an exemplary embodiment of the disclosure, and with reference to FIG. 3, the method includes:
s31, obtaining the braking state information of the vehicle;
s32, if the brake state information represents that the vehicle is in a brake state, acquiring the slip state information of the wheels of the vehicle;
s33, when the slip state information indicates that at least one rear wheel of the vehicle does not slip, determining the vehicle speed of the vehicle according to the wheel speed of the non-slipping rear wheel;
s34, acquiring the acceleration information of the vehicle;
s35, if the acceleration of the vehicle is larger than a preset threshold value, calculating the target vehicle speed of the vehicle according to a slope method;
and S36, when the target vehicle speed is larger than the determined vehicle speed of the vehicle, taking the target vehicle speed as the vehicle speed of the vehicle.
Please refer to the above description of the embodiments of steps S11, S12, and S13 for steps S31, S32, and S33, which are not repeated herein.
In step S34, acceleration information of the vehicle may be acquired. For example, the acceleration of the vehicle may be determined by an acceleration sensor. In this way, in step S35, it may be determined whether the determined acceleration is greater than a preset threshold, and the target vehicle speed of the vehicle may be calculated according to a slope method when the acceleration of the vehicle is greater than the preset threshold.
It should be noted that the preset threshold may be set according to application requirements (e.g., different vehicle speeds, different road surface types, etc.). Since the vehicle is in a braking state, acceleration greater than a preset threshold may indicate that the vehicle is decelerating at a lower acceleration, in which case the vehicle speed calculated based on the wheel speed may also differ from the actual vehicle speed. Therefore, in the present embodiment, the target vehicle speed may also be calculated based on a slope method.
The slope method is a method in which a reference vehicle speed is calculated from a speed calculation formula by selecting an initial braking speed and a vehicle deceleration during braking. In the slope method, various test data are analyzed to determine the average deceleration that can be achieved by the vehicle on various road surfaces. Therefore, the deceleration of the current vehicle can be determined by the running state (e.g., road surface type) of the current vehicle, and then the target vehicle speed of the vehicle at each time can be determined according to the determined initial braking speed, the deceleration and the speed calculation formula.
Thus, at S36, the target vehicle speed of the vehicle calculated by the slope method and the vehicle speed of the vehicle determined by the wheel speed in steps S31 to S33 may be compared, and the larger one of the two may be taken as the vehicle speed of the vehicle.
For example, in some embodiments, the target vehicle speed may be greater than the determined vehicle speed of the vehicle, and thus, the target vehicle speed may be taken as the vehicle speed of the vehicle. In other embodiments, the target vehicle speed may also be less than the determined vehicle speed of the vehicle, in which case a vehicle speed value determined based on wheel speed may be taken as the vehicle speed of the vehicle.
In addition, in some implementation scenarios, the acceleration of the vehicle may also be smaller than the preset threshold, in which case, a slope method may be used to calculate the target vehicle speed of the vehicle, and the calculated target vehicle speed may be used as the vehicle speed of the vehicle.
In this embodiment, by dividing the braking process of the vehicle, the target vehicle speed of the vehicle may be calculated by combining a slope method when the acceleration of the vehicle is greater than a preset threshold. Thus, the target vehicle speed and the vehicle speed of the vehicle determined according to the wheel speed can be compared, and the vehicle speed of the vehicle can be comprehensively determined. In this way, the vehicle speed calculation error during the vehicle braking process is reduced.
FIG. 4 is a vehicle speed determination method, as shown in FIG. 4, according to an exemplary embodiment of the present disclosure, the method including:
in S41, the braking state information of the vehicle is acquired. For example, the braking state information of the vehicle, such as the braking state or the non-braking state, may be determined by obtaining a brake pedal signal of the vehicle.
In S42, if the braking state information indicates that the vehicle is not in a braking state, acquiring locking state information of wheels of the vehicle.
For example, pulse signals sent by various wheel speed sensors in a vehicle may be collected based on an anti-lock braking system. Since the number of pulses per wheel is fixed, the wheel speed of each wheel of the vehicle can be determined by counting the collected pulse signals. In this way, the locking state of each wheel can be determined by the wheel speed of each wheel. For example, for the wheel A, B, C, D of the vehicle, the formula can be used to calculate whether the wheel A is locked or not
Figure BDA0002782915950000081
And obtaining the locking coefficient of the wheel A, and if the locking coefficient of the wheel A is larger than a preset threshold value, determining that the wheel A is locked. Wherein x isAIs the wheel speed, x, of the wheel AavgThe preset threshold value may be set as required, for example, may be 20% as an average value of the wheel speed of the wheel A, B, C, D. Similarly, the locking coefficient of the wheel B, C, D may be calculated by the above formula, respectively, to determine the locking state information of each wheel of the vehicle.
In S43, when the locking status information indicates that at least one rear wheel of the vehicle is not locked, determining a vehicle speed of the vehicle based on a wheel speed of the non-locked rear wheel.
For example, the vehicle speed of the vehicle may be determined based on a maximum value of wheel speed in the non-locked rear wheels.
For example, when the wheels C and D are rear wheels and neither of the wheels C and D is locked, the vehicle speed of the vehicle may be determined based on the maximum value of the wheel speeds of the wheels C and D. For example, if the wheel speed of the wheel C is greater than the wheel speed of the wheel D, the product of the wheel speed value of the wheel C and the radius value of the wheel C may be used as the vehicle speed of the vehicle.
Of course, in some implementations, the vehicle may also have an unbroken rear wheel, in which case the vehicle speed may be determined based on the wheel speed of the rear wheel.
By adopting the technical scheme, the braking state information of the vehicle can be firstly obtained when the vehicle speed is determined, and the locking state information of the wheels of the vehicle can be obtained when the vehicle is not in the braking state. In this way, the speed of the vehicle may be determined from the wheel speed of the non-locked rear wheel when the locking status information indicates that at least one rear wheel of the vehicle is not locked. That is, the above technical solution may give priority to the wheel speed of the rear wheel when determining the vehicle speed according to the wheel speed, and calculating the vehicle speed based on the wheel speed of the front wheel of the vehicle may cause a large error due to a vehicle body motion model and the like, so that the above technical solution is adopted to contribute to improving the accuracy of the determined vehicle speed. In addition, according to the technical scheme, when the vehicle speed is determined according to the wheel speed of the rear wheel, the rear wheel in a locking state is eliminated, so that the accuracy of the determined vehicle speed can be further improved.
Furthermore, in one possible embodiment, the vehicle speed of the vehicle can also be calculated from the average value of the wheel speeds of the non-locked rear wheels. In this case, the determining the vehicle speed of the vehicle from the wheel speed of the non-locked rear wheel includes:
determining a speed of the vehicle from an average of wheel speeds of non-locked rear wheels of the vehicle.
Following the above example, when the wheels C and D are rear wheels and neither of the wheels C and D is stuck, the vehicle speed of the vehicle may be determined based on an average of the wheel speeds of the wheels C and D. For example, the product of the average of the wheel speeds of the wheels C and D and the radius value of the wheel of the vehicle may be taken as the vehicle speed of the vehicle. In this way, determining the vehicle speed based on the average of the wheel speeds of the non-locked rear wheels helps to improve the accuracy of the determined vehicle speed.
FIG. 5 is a vehicle speed determination method, shown in an exemplary embodiment of the disclosure, and with reference to FIG. 5, the method includes:
in S51, the braking state information of the vehicle is acquired.
In S52, if the braking state information indicates that the vehicle is not in a braking state, acquiring locking state information of wheels of the vehicle.
In S53, when the locking state information indicates that the rear wheels of the vehicle are locked and the front wheels of the vehicle are not locked, determining a vehicle speed of the vehicle according to an average value of wheel speeds of the front wheels of the vehicle that are not locked.
Still taking the vehicle in the above embodiment as an example, if it is determined that the rear wheels C and D of the vehicle are locked and the front wheels a and B are not locked, the product of the average of the wheel speeds of the wheels a and B and the radius value of the wheel of the vehicle may be taken as the vehicle speed of the vehicle. In this way, determining the vehicle speed based on the average of the wheel speeds of the non-locked rear wheels helps to improve the accuracy of the determined vehicle speed.
Of course, in some possible embodiments, the vehicle may also include an unlocked front wheel, in which case the vehicle speed of the vehicle may be determined based on the wheel speed of the unlocked front wheel.
In addition, in other embodiments, when the vehicle includes a plurality of front wheels that are not locked, the vehicle speed of the vehicle may also be determined according to a maximum value of wheel speeds of the plurality of front wheels that are not locked, which is not limited by the present disclosure.
Among the above-mentioned technical scheme, when confirming the vehicle speed according to the wheel speed, can calculate the vehicle speed according to the wheel speed of the rear wheel that does not lock, then can confirm the speed according to the wheel speed of the front wheel that does not lock when the rear wheel of vehicle locks. Due to the vehicle body motion model and the like, the error is possibly large when the vehicle speed is calculated based on the wheel speed of the front wheel of the vehicle, and therefore the accuracy of the determined vehicle speed is improved. In addition, according to the technical scheme, when the vehicle speed is determined according to the wheel speed, the rear wheels or the front wheels in a locking state are eliminated, so that the accuracy of the determined vehicle speed can be further improved.
FIG. 6 is a flow chart illustrating a method of vehicle speed determination, according to an exemplary embodiment of the present disclosure, and with reference to FIG. 6, the method includes:
and obtaining a wheel speed effective zone bit. The valid zone bits of the wheel speed can reflect the state of each wheel speed sensor, and when the zone bits of a certain wheel speed sensor are not obtained, the fault of the wheel speed sensor can be determined. In this case, the vehicle speed of the vehicle can be determined from the pulse signal detected by the sensor without a fault.
For example, if one wheel speed sensor of the vehicle is faulty, the wheel speeds acquired by the sensor without fault in the drive axle and the wheel speeds acquired by the sensor without fault in the non-drive axle at the diagonal of the sensor may be averaged, and the vehicle speed of the vehicle may be determined according to the average value. If two wheel speed sensors of the vehicle have faults, the wheel speeds acquired by the two wheel speed sensors which have no faults can be averaged, and the vehicle speed of the vehicle can be determined according to the average value. If three wheel speed sensors of the vehicle fail, the vehicle speed of the vehicle may be determined based on the non-failed wheel speed sensors. In some scenarios, if all four vehicle speed sensors of the vehicle fail, the vehicle speed of the vehicle cannot be determined based on the wheel speed sensors in such a case.
In addition, when the flag bits of the four wheel speed sensors of the vehicle are all successfully acquired, the wheel speeds acquired by the four wheel speed sensors may be averaged to obtain an average wheel speed, and the vehicle speed of the vehicle may be determined based on the braking state of the vehicle.
Specifically, when the vehicle is not in a braking state, it may be determined whether the rear wheel is locked based on a wheel speed of the rear wheel of the vehicle. When none of the plurality of rear wheels is locked, the wheel speeds of the plurality of unlocked rear wheels may be averaged, and the vehicle speed of the vehicle may be determined based on the average. When there is one rear wheel that is not locked, then the vehicle speed of the vehicle may be determined based on the wheel speed of that rear wheel. Similarly, if the rear wheels of the vehicle are all locked, the vehicle speed of the vehicle may be determined based on an average of the wheel speeds of a plurality of non-locked front wheels or the wheel speed of a certain non-locked front wheel (i.e., there is one non-locked front wheel).
Of course, in some possible implementation scenarios, the four wheels of the vehicle may each be in a locked state, in which case the vehicle speed of the vehicle may be determined based on the wheel speed of either wheel (e.g., the right front wheel).
In some implementations, the vehicle may be in a braking state, in which case it may be determined whether the rear wheel is slipping based on a wheel speed of the rear wheel of the vehicle. Wherein, when none of the plurality of rear wheels slips, the wheel speeds of the plurality of non-slipping rear wheels may be averaged, and the vehicle speed of the vehicle may be determined based on the average value. When there is a rear wheel that is not slipping, the vehicle speed of the vehicle may be determined based on the wheel speed of the rear wheel. Similarly, if the rear wheels of the vehicle are slipping, the vehicle speed of the vehicle may be determined based on an average of the wheel speeds of a plurality of non-slipping front wheels or the wheel speed of a certain non-slipping front wheel (i.e., there is one non-slipping front wheel).
Of course, in some possible implementation scenarios, four wheels of the vehicle may each be in a slipping state, in which case the vehicle speed of the vehicle may be determined based on the wheel speed of either wheel (e.g., the right front wheel).
Further, after the vehicle speed of the vehicle is determined based on the wheel speed, deceleration information of the vehicle may also be acquired. For example, the deceleration of the vehicle may be determined by an acceleration sensor. Further, it may be determined whether the determined deceleration is less than a preset threshold, and when the deceleration of the vehicle is less than the preset threshold, the target vehicle speed of the vehicle may be calculated according to a slope method.
It is noted that, since the vehicle is in a braking state, a deceleration smaller than the preset threshold value may indicate that the vehicle decelerates at a lower deceleration, in which case the vehicle speed calculated based on the wheel speed may also differ from the actual vehicle speed. Therefore, in the present embodiment, the target vehicle speed may also be calculated based on a slope method.
In this way, the target vehicle speed of the vehicle calculated by the slope method and the vehicle speed of the vehicle determined by the wheel speed may be compared, and the larger one of the two may be taken as the vehicle speed of the vehicle.
For example, in some embodiments, the target vehicle speed may be greater than the determined vehicle speed of the vehicle, and thus, the target vehicle speed may be taken as the vehicle speed of the vehicle. In other embodiments, the target vehicle speed may also be less than the determined vehicle speed of the vehicle, in which case a vehicle speed value determined based on wheel speed may be taken as the vehicle speed of the vehicle.
Further, in some scenarios, the deceleration of the vehicle may also be greater than a preset threshold, in which case the target vehicle speed calculated by the slope method may be used as the vehicle speed of the vehicle.
In the embodiment, by dividing the vehicle braking process, the vehicle speed of the vehicle can be calculated in different manners when the vehicle is in different states (e.g. braking and non-braking). For example, when the acceleration of the vehicle is greater than a preset threshold, the target vehicle speed of the vehicle may be calculated in conjunction with a slope method. Thus, the target vehicle speed and the vehicle speed of the vehicle determined according to the wheel speed can be compared, and the vehicle speed of the vehicle can be comprehensively determined. In this way, the vehicle speed calculation error during the vehicle braking process is reduced.
Based on the same inventive concept, the present disclosure also provides a vehicle speed determination device, referring to a block diagram of a vehicle speed determination device shown in fig. 7, the device 700 including:
a first obtaining module 701, configured to obtain braking state information of a vehicle;
a second obtaining module 702, configured to obtain slip state information of a wheel of the vehicle when the braking state information indicates that the vehicle is in a braking state;
a first determining module 703 is configured to determine a vehicle speed of the vehicle according to a wheel speed of at least one non-slipping rear wheel of the vehicle when the slip state information indicates that the at least one rear wheel of the vehicle is not slipping.
In the above technical solution, when determining the vehicle speed, the braking state information of the vehicle may be first obtained, and when the vehicle is in the braking state, the slip state information of the wheels of the vehicle may be obtained. In this way, the vehicle speed of the vehicle may be determined from the wheel speed of the non-slipping rear wheel when the slip status information indicates that at least one rear wheel of the vehicle is not slipping. That is, the above-described technical solution prioritizes the wheel speed of the rear wheel when determining the vehicle speed from the wheel speed, thereby contributing to an improvement in the accuracy of the determined vehicle speed. Meanwhile, when the vehicle speed is determined according to the wheel speed of the rear wheel, the rear wheel in a slipping state is also eliminated, so that the accuracy of the determined vehicle speed can be further improved.
Optionally, the first determining module 703 includes:
a first determination submodule for determining a vehicle speed of the vehicle from an average of wheel speeds of non-slipping rear wheels of the vehicle.
Optionally, the apparatus 700 further comprises:
and the first execution module is used for determining the vehicle speed of the vehicle according to the average value of the wheel speeds of the non-slipping front wheels of the vehicle when the slipping state information represents that the rear wheels of the vehicle slip and at least one front wheel of the vehicle does not slip.
Optionally, the apparatus 700 further comprises:
the third acquisition module is used for acquiring the acceleration information of the vehicle;
the calculation module is used for calculating the target speed of the vehicle according to a slope method when the acceleration of the vehicle is greater than a preset threshold;
and the second execution module is used for taking the target vehicle speed as the vehicle speed of the vehicle when the target vehicle speed is greater than the determined vehicle speed of the vehicle.
Optionally, the apparatus 700 further comprises:
the fourth obtaining module is used for obtaining locking state information of wheels of the vehicle when the braking state information represents that the vehicle is not in a braking state;
and the second determining module is used for determining the speed of the vehicle according to the wheel speed of the non-locked rear wheel when the locking state information represents that at least one rear wheel of the vehicle is not locked.
Optionally, the second obtaining module 702 includes:
and the second obtaining submodule is used for determining the speed of the vehicle according to the average value of the wheel speeds of the non-locked rear wheels of the vehicle.
Optionally, the apparatus 700 further comprises:
and the third execution module is used for determining the speed of the vehicle according to the average value of the wheel speeds of the front wheels which are not locked of the vehicle when the locking state information represents that the rear wheels of the vehicle are locked and the front wheels of the vehicle are not locked.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle speed determination method provided by the present disclosure.
The present disclosure also provides a vehicle including the vehicle speed determination device described in the above embodiment.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable device, the computer program having code portions for performing the vehicle speed determination method described above when executed by the programmable device.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A vehicle speed determination method, characterized by comprising:
acquiring braking state information of a vehicle;
if the braking state information represents that the vehicle is in a braking state, acquiring the slip state information of the wheels of the vehicle;
when the slip status information indicates that at least one rear wheel of the vehicle is not slipping, determining a vehicle speed of the vehicle based on a wheel speed of the non-slipping rear wheel.
2. The method of claim 1, wherein determining the vehicle speed of the vehicle based on the wheel speed of the non-slipping rear wheel comprises:
determining a vehicle speed of the vehicle based on an average of wheel speeds of non-slipping rear wheels of the vehicle.
3. The method of claim 1, further comprising:
when the slip status information indicates that the rear wheels of the vehicle slip and at least one front wheel of the vehicle does not slip, determining a vehicle speed of the vehicle based on an average of wheel speeds of the non-slipping front wheels of the vehicle.
4. The method of any of claims 1 to 3, further comprising:
acquiring acceleration information of the vehicle;
if the acceleration of the vehicle is larger than a preset threshold value, calculating the target speed of the vehicle according to a slope method;
and when the target vehicle speed is greater than the determined vehicle speed of the vehicle, taking the target vehicle speed as the vehicle speed of the vehicle.
5. The method of claim 1, further comprising:
if the braking state information represents that the vehicle is not in a braking state, acquiring locking state information of wheels of the vehicle;
and when the locking state information represents that at least one rear wheel of the vehicle is not locked, determining the speed of the vehicle according to the wheel speed of the non-locked rear wheel.
6. The method of claim 5, wherein determining the vehicle speed of the vehicle from the wheel speed of the non-locked rear wheel comprises:
determining a speed of the vehicle from an average of wheel speeds of non-locked rear wheels of the vehicle.
7. The method of claim 5, further comprising:
and when the locking state information represents that the rear wheels of the vehicle are locked and the front wheels of the vehicle are not locked, determining the speed of the vehicle according to the average value of the wheel speeds of the front wheels of the vehicle which are not locked.
8. A vehicle speed determination device, characterized by comprising:
the first acquisition module is used for acquiring the braking state information of the vehicle;
the second acquisition module is used for acquiring the slip state information of the wheels of the vehicle when the brake state information represents that the vehicle is in a brake state;
a first determination module configured to determine a vehicle speed of the vehicle based on a wheel speed of at least one non-slipping rear wheel of the vehicle when the slip status information indicates that the non-slipping rear wheel is not slipping.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. A vehicle comprising the apparatus of claim 8.
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