CN113635908B - Vehicle and vehicle speed estimation method and device thereof - Google Patents

Vehicle and vehicle speed estimation method and device thereof Download PDF

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Publication number
CN113635908B
CN113635908B CN202111007242.XA CN202111007242A CN113635908B CN 113635908 B CN113635908 B CN 113635908B CN 202111007242 A CN202111007242 A CN 202111007242A CN 113635908 B CN113635908 B CN 113635908B
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vehicle
vehicle speed
speed
current
wheel
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CN113635908A (en
Inventor
周泽慧
王国强
刘元治
吴爱彬
孙起春
崔金龙
赵洋
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FAW Group Corp
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FAW Group Corp
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Priority to CN202111007242.XA priority Critical patent/CN113635908B/en
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Priority to PCT/CN2022/110776 priority patent/WO2023029891A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling

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

Abstract

The invention discloses a vehicle and a vehicle speed estimation method and device thereof, wherein the vehicle comprises a plurality of wheels, the vehicle speed estimation method of the vehicle comprises a plurality of vehicle speed estimation periods, and each vehicle speed estimation period comprises the following steps: acquiring wheel speeds of all wheels in a vehicle, a reference vehicle speed of a last vehicle speed estimation period and a running state of the vehicle in real time; the running state of the vehicle at least comprises the running direction of the vehicle and the communication state among devices in the vehicle; determining the current reference speed of the vehicle according to the current wheel speeds of all wheels in the vehicle and the reference speed of the previous vehicle speed estimation period; judging whether the vehicle has communication faults or not according to the communication states among devices in the vehicle; if not, taking the current reference vehicle speed as a vehicle speed value of the current estimated vehicle speed of the vehicle; determining vector parameters of the current estimated vehicle speed according to the running direction of the vehicle; and determining the current estimated vehicle speed of the vehicle according to the vehicle speed value of the current estimated vehicle speed and the vector parameter of the current estimated vehicle speed.

Description

Vehicle and vehicle speed estimation method and device thereof
Technical Field
The embodiment of the invention relates to the technical field of vehicle speed estimation, in particular to a vehicle and a vehicle speed estimation method and device thereof.
Background
The vehicle speed is a very important signal which represents a core motion state of the vehicle and influences various functions such as vehicle torque request, gear control, stability control and the like, so that the accurate and effective vehicle speed signal is not only beneficial to improving the vehicle performance, but also is important to the whole vehicle control strategy.
At present, the development of the existing vehicle speed estimation strategies mainly surrounds complex dynamics algorithms, filtering technologies and navigation positioning systems, and the methods can provide accurate vehicle speed estimation results under certain specific working conditions, but if the vehicle speed estimation algorithms are applied to mass production vehicle types, the algorithms cannot ensure that the vehicle can accurately estimate the vehicle speed in the whole life cycle due to the fact that the working conditions of users are complex and changeable, and the performance of the vehicle is influenced under certain working conditions. Some schemes adopt advanced sensors to estimate the vehicle speed, so that the production cost is increased, meanwhile, the dependence of the vehicle on the sensors is increased, and once the sensors are out of order, the control strategy of the whole vehicle falls into paralysis. Some schemes use a Kalman filter algorithm to estimate the reference vehicle speed, but long-time integration of the signals of the acceleration sensor can lead to larger deviation of the reference vehicle speed, and particularly, influence of gradient on the acceleration sensor during four-wheel slip cannot be avoided. In the scheme for estimating the vehicle speed by using the positioning system, the scheme cannot work normally in areas with weak signals of the positioning system, and the consistency requirement of large-scale mass production vehicles cannot be guaranteed.
Disclosure of Invention
The invention provides a vehicle and a vehicle speed estimation method and device thereof, which are used for accurately and real-timely estimating the vehicle speed of the vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle speed estimation method of a vehicle, the vehicle including a plurality of wheels, the vehicle speed estimation method of the vehicle including a plurality of vehicle speed estimation periods, each of the vehicle speed estimation periods including:
acquiring wheel speeds of all wheels in a vehicle, a reference vehicle speed of a last vehicle speed estimation period and a running state of the vehicle in real time; the running state of the vehicle at least comprises the running direction of the vehicle and the communication state among devices in the vehicle;
determining a current reference vehicle speed of the vehicle according to the current wheel speeds of all wheels in the vehicle and the reference vehicle speed of the last vehicle speed estimation period;
judging whether the vehicle has communication faults or not according to the communication state among all devices in the vehicle;
if not, taking the current reference vehicle speed as a vehicle speed value of the current estimated vehicle speed of the vehicle;
determining vector parameters of the current estimated vehicle speed according to the running direction of the vehicle;
and determining the current estimated vehicle speed of the vehicle according to the vehicle speed value of the current estimated vehicle speed and the vector parameter of the current estimated vehicle speed.
Optionally, the vehicle speed estimation method further includes:
if the vehicle has communication faults, acquiring the current rotating speed of a motor in the vehicle;
when the current rotating speed of the motor is in the effective rotating speed range, acquiring the current running state of the motor;
judging whether the motor has operation faults or not according to the current operation state of the motor;
if not, determining a vehicle speed value of the current estimated vehicle speed of the vehicle according to the current rotating speed of the motor.
Optionally, the vehicle speed estimation method is characterized by further comprising:
and if the current rotating speed of the motor is not in the effective rotating speed range and/or the motor has operation faults, determining the vehicle speed value of the current estimated vehicle speed of the vehicle as a preset vehicle speed value.
Optionally, determining the current reference vehicle speed of the vehicle according to the current wheel speeds of the wheels in the vehicle and the reference vehicle speed of the previous vehicle speed estimation period includes:
determining a current maximum wheel speed and a current minimum wheel speed according to the current wheel speeds of all wheels in the vehicle;
judging whether the current minimum wheel speed is larger than the reference vehicle speed of the previous vehicle speed estimation period or not;
If so, determining the current minimum wheel speed as the current reference vehicle speed of the vehicle when the current minimum wheel speed is smaller than or equal to the sum of the reference vehicle speed of the previous vehicle speed estimation period and a first vehicle speed standard quantity; or when the current minimum wheel speed is greater than the sum of the reference vehicle speed and the first vehicle speed standard quantity in the last vehicle speed estimation period, determining the sum of the reference vehicle speed and the first vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
Optionally, determining the current reference vehicle speed of the vehicle according to the current wheel speeds of the wheels in the vehicle and the reference vehicle speed of the previous vehicle speed estimation period further includes:
if the current minimum wheel speed is not less than the reference vehicle speed of the last vehicle speed estimation period, judging whether the current maximum wheel speed is less than the reference vehicle speed of the last vehicle speed estimation period;
if so, determining the current maximum wheel speed as the current reference vehicle speed of the vehicle when the sum of the reference vehicle speed and the second vehicle speed standard quantity in the previous vehicle speed estimation period is smaller than or equal to the current maximum wheel speed; or when the sum of the reference vehicle speed and the second vehicle speed standard quantity in the last vehicle speed estimation period is larger than the current maximum wheel speed, determining the sum of the reference vehicle speed and the second vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
Optionally, determining the current reference vehicle speed of the vehicle according to the current wheel speeds of the wheels in the vehicle and the reference vehicle speed of the previous vehicle speed estimation period further includes:
and if the current minimum wheel speed is not less than the reference vehicle speed of the last vehicle speed estimation period and the current maximum wheel speed is not less than the reference vehicle speed of the last vehicle speed estimation period, taking the reference vehicle speed of the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
Optionally, when the current minimum wheel speed is greater than the sum of the reference vehicle speed and the vehicle speed standard quantity in the last vehicle speed estimation period, determining the sum of the reference vehicle speed and the vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle further includes:
determining the current acceleration of each wheel according to the current wheel speed of each wheel;
judging whether the vehicle is in a slip state or not according to the acceleration of each current wheel;
if yes, determining the current minimum wheel speed as a threshold vehicle speed when the running state of the vehicle, the current maximum wheel speed, the current minimum wheel speed and the minimum acceleration of the current wheel speed meet a first preset condition;
And controlling the running state of an engine in the vehicle according to the threshold vehicle speed and the longitudinal acceleration of the vehicle so as to limit the wheel speed of each wheel.
Optionally, before controlling the running state of the engine in the vehicle according to the threshold vehicle speed to limit the wheel speed of each wheel, the method further comprises:
determining a threshold vehicle speed based on a first calculation formula when the running state of the vehicle, the current maximum wheel speed, the current minimum wheel speed and the minimum acceleration of the current wheel speed do not meet a first preset condition; the first calculation formula is as follows:
wherein vPos (t) is the threshold vehicle speed; amax is the maximum longitudinal acceleration of the vehicle; vMin1 (t-1) is the minimum wheel speed of the last vehicle speed estimation period; vMin1 (t) is the current minimum wheel speed; alpha (t-1) is the longitudinal correction acceleration measured by the acceleration sensor of the previous vehicle speed estimation period; t is the vehicle speed estimation period.
In a second aspect, an embodiment of the present invention further provides a vehicle speed estimating apparatus of a vehicle, the vehicle including a plurality of wheels, including:
the information acquisition module is used for acquiring the wheel speed of each wheel in the vehicle and the running state of the vehicle in real time according to the reference vehicle speed of the last vehicle speed estimation period; the running state of the vehicle at least comprises the running direction of the vehicle and the communication state among devices in the vehicle;
The vehicle speed determining module is used for determining the current reference vehicle speed of the vehicle according to the current wheel speeds of all wheels in the vehicle and the reference vehicle speed of the previous vehicle speed estimating period;
the fault judging module is used for judging whether the vehicle has communication faults or not according to the communication states among all devices in the vehicle;
the vehicle speed value determining module is used for taking the current reference vehicle speed as a vehicle speed value of the current estimated vehicle speed of the vehicle when the vehicle does not have communication faults;
the vector parameter determining module is used for determining vector parameters of the current estimated vehicle speed according to the running direction of the vehicle;
and the estimated vehicle speed determining module is used for determining the current estimated vehicle speed of the vehicle according to the vehicle speed value of the current estimated vehicle speed and the vector parameter of the current estimated vehicle speed.
In a third aspect, an embodiment of the present invention further provides a vehicle, including: and a vehicle controller for use in the vehicle speed estimation method described above.
According to the vehicle speed estimation method of the vehicle, the wheel speed of each wheel in the vehicle, the reference vehicle speed of the last vehicle speed estimation period and the running state of the vehicle are obtained in real time in each vehicle speed estimation period, the current reference vehicle speed of the vehicle is determined according to the current wheel speed of each wheel in the vehicle and the reference vehicle speed of the last vehicle speed estimation period, when no communication fault exists in the vehicle, the current reference vehicle speed is used as the vehicle speed value of the current estimated vehicle speed of the vehicle, after the vector parameters of the current estimated vehicle speed are determined according to the running direction of the vehicle, the current estimated vehicle speed of the vehicle is determined according to the vehicle speed value of the current estimated vehicle speed and the vector parameters of the current estimated vehicle speed, and the problem that the vehicle speed estimation method based on the positioning system cannot obtain the vehicle position when signals are weak, and therefore the vehicle speed of the vehicle cannot be estimated is solved, and the real-time and accuracy of vehicle speed estimation can be guaranteed, the running condition of the vehicle is controlled according to the estimated vehicle speed, and the stability and safety of vehicle control are facilitated.
Drawings
Fig. 1 is a flowchart of a vehicle speed estimation method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another vehicle speed estimation method provided by an embodiment of the present invention;
FIG. 3 is a flowchart of a method for determining a reference vehicle speed according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for estimating vehicle speed of yet another vehicle provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle speed estimating device of a vehicle according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The embodiment of the invention provides a vehicle speed estimation method of a vehicle, wherein the vehicle comprises a plurality of wheels, the vehicle speed estimation method of the vehicle comprises a plurality of vehicle speed estimation periods, the vehicle speed estimation method of the vehicle can provide accurate and reliable estimated vehicle speed for a whole vehicle electronic control system in real time, the method can be executed by the vehicle speed estimation device of the vehicle, which is realized by software and/or hardware, and the vehicle speed estimation device of the vehicle can be integrated in a vehicle controller.
Fig. 1 is a flowchart of a vehicle speed estimation method of a vehicle according to an embodiment of the present invention, where, as shown in fig. 1, each vehicle speed estimation period of the vehicle speed estimation method includes:
s100, acquiring wheel speeds of all wheels in a vehicle, a reference vehicle speed of a last vehicle speed estimation period and a running state of the vehicle in real time; the running state of the vehicle at least comprises the running direction of the vehicle and the communication state among devices in the vehicle.
Specifically, wheel speed sensors are uniformly and correspondingly arranged on all wheels of the vehicle, and the wheel speeds of all the wheels in the vehicle are obtained in real time through the wheel speed sensors in the running process of the vehicle; in each vehicle speed estimation period T, the reference vehicle speed vRef (T-1) determined in the previous vehicle speed estimation period can be obtained through a function calling mode; in addition, in order to ensure that the obtained wheel speed is effective, the running state of the vehicle should also be obtained in real time, wherein the running state of the vehicle may at least include the running direction of the vehicle and the communication state between devices in the vehicle.
For example, the running direction of the vehicle may be determined by integrating the rotation directions of the respective wheels, and the rotation directions of the wheels may be obtained by the wheel speed sensor, and the wheel speed sensor may represent different directions by different values, for example, if the rotation direction signal obtained by the wheel speed sensor is 0, the rotation direction of the wheel is "stopped", if the rotation direction signal obtained by the wheel speed sensor is 1, the rotation direction of the wheel is "forward", and if the rotation direction signal obtained by the wheel speed sensor is 2, the rotation direction of the wheel is "backward". For example, it may be defined that when the rotation direction signals of the respective wheels are all "forward", it is determined that the vehicle is in a forward state at this time; defining that when the rotation direction signals of all the wheels are backward, the vehicle is in a backward state at the moment; defining that when the rotation direction signals of all the wheels are stop, the vehicle is determined to be in a stop state at the moment; and when the rotation direction signals of the respective wheels are inconsistent, it is determined that the running state of the vehicle at this time is "unknown", or when the rotation direction signals of the wheels cannot be acquired when the wheel speed sensor fails or communication is interrupted, it is determined that the running state of the vehicle at this time is "unknown". When the running state of the vehicle is determined to be "unknown" based on the rotation direction signal of the wheel, the running direction of the whole vehicle may be determined by the rotation direction of the driving motor of the vehicle, for example, when the motor rotates forward, it is determined that the vehicle is in the forward running state; when the motor rotates backwards, determining that the vehicle is in a backward state; when the motor stops rotating, the vehicle is determined to be in a stopped state.
Correspondingly, the communication state between the devices in the vehicle can comprise the communication state between the wheel speed sensor and the vehicle controller, and the vehicle can comprise an Anti-lock braking system (ABS) (Anti-lock Braking System), a traction power control system TCS (Traction Control System) and an electronic stability system ESP (Electronic Stability Program), so that the communication state between the systems can be detected in real time during the running process of the vehicle.
S200, determining the current reference vehicle speed of the vehicle according to the current wheel speeds of all wheels in the vehicle and the reference vehicle speed of the last vehicle speed estimation period.
Specifically, the running state of the vehicle may be determined according to the current wheel speed of each wheel in the vehicle and the reference vehicle speed vRef (t-1) of the previous vehicle speed estimation period, and the running state may include, for example, an acceleration state, a deceleration state, or a constant speed state, and the current reference vehicle speed vRef (t) of the vehicle may be determined according to the running state of the vehicle and the current wheel speed of each wheel.
S300, judging whether the vehicle has communication faults or not according to the communication states among devices in the vehicle; if not, S400 is performed.
S400, taking the current reference vehicle speed as a vehicle speed value of the current estimated vehicle speed of the vehicle.
Specifically, if the vehicle has no communication failure, for example, there is no communication failure between the wheel speed sensor and the vehicle controller, it is indicated that the wheel speed of each wheel currently acquired is valid, that is, the reference vehicle speed vRef (t) currently determined according to the running state of the vehicle and the current wheel speed of each wheel can be used as the vehicle speed value v (t) of the current estimated vehicle speed of the vehicle, that is, v (t) =vref (t).
S500, determining vector parameters of the current estimated vehicle speed according to the running direction of the vehicle.
Specifically, if it is determined that the vehicle is currently in a forward state, it may be determined that the vector parameter c is 1; if the vehicle is determined to be in a forward and backward state currently, the vector parameter c can be determined to be-1; if it is determined that the vehicle is currently in a stopped state, the vector parameter c may be determined to be 0.
S600, determining the current estimated vehicle speed of the vehicle according to the vehicle speed value of the current estimated vehicle speed and the vector parameter of the current estimated vehicle speed.
Specifically, the product of the vehicle speed value V (t) of the current estimated vehicle speed and the vector parameter c of the current estimated vehicle speed may be determined as the current estimated vehicle speed V (t), i.e., V (t) =c×v (t).
According to the embodiment of the invention, the wheel speed of each wheel in the vehicle, the reference vehicle speed of the last vehicle speed estimation period and the running state of the vehicle are obtained in real time in each vehicle speed estimation period, the current reference vehicle speed of the vehicle is determined according to the current wheel speed of each wheel in the vehicle and the reference vehicle speed of the last vehicle speed estimation period, when the vehicle has no communication fault, the current reference vehicle speed is used as the vehicle speed value of the current estimated vehicle speed of the vehicle, after the vector parameter of the current estimated vehicle speed is determined according to the running direction of the vehicle, the current estimated vehicle speed of the vehicle is determined according to the vehicle speed value of the current estimated vehicle speed and the vector parameter of the current estimated vehicle speed, so that the problem that the vehicle speed cannot be estimated due to the fact that the vehicle speed estimation method based on the positioning system cannot be used when signals are weak is solved, and the real-time and accuracy of vehicle speed estimation can be ensured, the running situation of the vehicle can be controlled according to the estimated vehicle speed, and the stability and safety of vehicle control are facilitated.
Optionally, fig. 2 is a flowchart of another vehicle speed estimation method according to an embodiment of the present invention, and as shown in fig. 2, each vehicle speed estimation period of the vehicle speed estimation method includes:
s711, acquiring the wheel speeds of all wheels in the vehicle, the reference vehicle speed of the last vehicle speed estimation period and the running state of the vehicle in real time; the running state of the vehicle at least includes the running direction of the vehicle and the communication state between the devices in the vehicle.
S712, determining the current reference vehicle speed of the vehicle according to the current wheel speeds of all wheels in the vehicle and the reference vehicle speed of the previous vehicle speed estimation period.
S713, judging whether the vehicle has communication faults according to the communication states among devices in the vehicle; if yes, then execution S715; if not, S714 is performed.
S714, taking the current reference vehicle speed as a vehicle speed value of the current estimated vehicle speed of the vehicle.
S715, acquiring the current rotation speed of the motor in the vehicle.
S716, judging whether the current rotating speed of the motor is in an effective rotating speed range; if yes, executing S717; if not, S720 is performed.
S717, the current running state of the motor is obtained.
S718, judging whether the motor has an operation fault according to the current operation state of the motor; if yes, executing S720; if not, S719 is performed.
S719, determining a vehicle speed value of the current estimated vehicle speed according to the current rotating speed of the motor.
S720, determining a vehicle speed value of the current estimated vehicle speed of the vehicle as a preset vehicle speed value.
Specifically, after determining the current reference vehicle speed vRef (t) of the vehicle according to the current wheel speeds of the wheels in the vehicle and the reference vehicle speed vRef (t-1) of the previous vehicle speed estimation period, if it is determined that a communication fault exists in the vehicle, for example, when a wheel speed sensor fails, the wheel speed acquired through the wheel speed sensor may not be accurate, so that the reference vehicle speed cannot be used as a vehicle speed value of the current estimated vehicle speed, at this time, the rotation speed of the motor may be acquired, and whether the vehicle speed value of the current estimated vehicle speed can be determined according to the rotation speed of the motor is determined; at this time, whether the current rotation speed of the motor is in the effective rotation speed range should be determined first, if the current rotation speed of the motor is in the effective rotation speed range, whether the motor has an operation fault is judged continuously according to the current operation state of the motor, and if the motor does not have the operation fault, the vehicle speed value of the current estimated vehicle speed of the vehicle is determined according to the current rotation speed of the motor. The wheel speed of each wheel can be calculated according to the speed ratio of the rotating speed of the motor to the rotating speed of the wheel, and if the vehicle only comprises one motor, the wheel speed of each wheel calculated according to the speed ratio of the rotating speed of the motor to the rotating speed of the wheel is the same, so that the wheel speed can be used as the vehicle speed value of the current estimated vehicle speed of the vehicle; if the vehicle comprises a plurality of motors, the maximum wheel speed of the wheel speeds of the wheels calculated according to the rotation speeds of the motors is used as the vehicle speed value of the current estimated vehicle speed, so that the vehicle can be controlled more reliably under the condition that the vehicle has communication faults. When a communication fault or other reasons occur between the motor and the vehicle controller, so that the current rotation speed of the motor is not in the effective rotation speed range, or the motor is judged to have an operation fault according to the current operation state of the motor, the vehicle speed value of the current estimated vehicle speed of the vehicle is determined to be a preset vehicle speed value, and the preset vehicle speed value can be 0.
S721, determining vector parameters of the current estimated vehicle speed according to the running direction of the vehicle.
S722, determining the current estimated vehicle speed of the vehicle according to the vehicle speed value of the current estimated vehicle speed and the vector parameter of the current estimated vehicle speed.
According to the embodiment of the invention, when the communication fault of the vehicle is detected, the vehicle speed value of the current estimated vehicle speed is determined according to the effective rotating speed of the motor, and when the rotating speed of the motor is invalid and/or the motor has the fault, the vehicle speed value of the current estimated vehicle speed of the vehicle is determined to be the preset vehicle speed value, so that the real-time performance and the accuracy of vehicle speed estimation can be ensured, the running condition of the vehicle can be controlled according to the estimated vehicle speed, and the stability and the safety of vehicle control are further facilitated.
Optionally, fig. 3 is a flowchart of a reference vehicle speed determining method according to an embodiment of the present invention, as shown in fig. 3, where the reference vehicle speed determining method includes:
s311, determining the current maximum wheel speed and the current minimum wheel speed according to the current wheel speeds of all wheels in the vehicle.
Specifically, taking a vehicle including four wheels as an example, the obtained wheel speeds are ranked in each vehicle speed estimation period, and the ranking result includes a maximum wheel speed vMax1, a second large wheel speed vMax2, a minimum wheel speed vMin1, and a second small wheel speed vMin2. Since failure of the wheel speed sensor may occur, for example, if the range of the valid wheel speed is set to 0-300km/h, the wheel speed sensor will transmit a wheel speed value which is not within the valid range to the vehicle controller when the wheel speed sensor fails, and the vehicle controller may determine whether the obtained wheel speed is valid according to whether the wheel speed value is within the valid range. When the wheel speed is not invalid, the wheel speeds of the four wheels can be four different wheel speed values due to the difference of the wheel speeds or the difference of devices such as the wheel speed sensors, so that if the wheel speeds of the wheels are obtained through the wheel speed sensors of the wheels and are v1, v2, v3 and v4, and the sorting result of the four wheel speeds is that v1 is larger than or equal to v2 is larger than or equal to v3 is larger than or equal to v4, the maximum wheel speed vMax1 = v1, the second large wheel speed vMax2 = v2, the minimum wheel speed vMin1 = v4 and the second small wheel speed vMin2 = v3 are determined; when a failure wheel speed exists, three effective wheel speeds v1, v2 and v3 can be obtained through wheel speed sensors of all the wheels, if the sorting result of the three wheel speeds is that v1 is larger than or equal to v2 and larger than or equal to v3, the maximum wheel speed vMax 1=v1 is determined, the second large wheel speed vMax 2=v2 and the minimum wheel speed vMin 1=v3, the failure wheel speed is the same as the second large wheel speed vMax2, the value v2 is assigned to the second small wheel speed vMin2, namely the second small wheel speed vMin 2=v2, and the influence on the values of the maximum wheel speed and the minimum wheel speed is avoided; when two failure wheel speeds exist, two effective wheel speeds v1 and v2 can be obtained through wheel speed sensors of the wheels at the moment, if the sorting result of the two wheel speeds is that v1 is larger than or equal to v2, the maximum wheel speed vMax 1=v1 and the minimum wheel speed vMin 1=v2 are determined, the two failure wheel speeds are respectively the same as the maximum wheel speed and the minimum wheel speed and are respectively assigned to the second large wheel speed vMax2 and the second small wheel speed vMin2, namely the second large wheel speed vMax 2=v1 and the second small wheel speed vMin 2=v2, and the influence on the values of the maximum wheel speed and the minimum wheel speed is avoided; when there are three or four failed wheel speeds, the maximum wheel speed vMax 1=0, the second maximum wheel speed vMax 2=0, the minimum wheel speed vMin 1=0, and the second minimum wheel speed vMin 2=0 are determined. Through the wheel speed sorting, the invalid wheel speed signals can be removed, the obtained maximum wheel speed vMax1, the second large wheel speed vMax2, the minimum wheel speed vMin1 and the second small wheel speed vMin2 are all effective wheel speed signals, and the invalid wheel speed is ensured not to influence the sorting of the effective wheel speeds.
S312, judging whether the current minimum wheel speed is larger than the reference vehicle speed of the previous vehicle speed estimation period; if yes, then execute S313; if not, S316 is performed.
S313, judging whether the current minimum wheel speed is smaller than or equal to the sum of the reference vehicle speed and the first vehicle speed standard quantity in the previous vehicle speed estimation period; if yes, then execute S314; if not, then S315 is performed.
And S314, determining the current minimum wheel speed as the current reference vehicle speed of the vehicle.
S315, determining the sum of the reference vehicle speed and the first vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
Specifically, the currently obtained minimum wheel speed vMin1 (t) is compared with the reference vehicle speed vRef (t-1) in the previous vehicle speed estimation period, and if the currently obtained minimum wheel speed vMin1 (t) is greater than the reference vehicle speed vRef (t-1) in the previous vehicle speed estimation period, namely, vMin1 (t) > vRef (t-1), the vehicle is determined to be in an acceleration stage. It may be assumed that the speed variation of each cycle of the vehicle in the acceleration stage is a first vehicle speed standard quantity dv1, for example, the value range of the first vehicle speed standard quantity dv1 may be 0.1 to 0.15m/s, the current minimum wheel speed vMin1 (t) is compared with the sum of the reference vehicle speed vRef (t-1) of the previous vehicle speed estimation cycle and the first vehicle speed standard quantity dv1, and a smaller value between the two is taken to determine as the current reference vehicle speed vRef (t) of the vehicle, that is, whether the relation vMin1 (t) is less than or equal to vRef (t-1) +dv1 is satisfied, and if the relation is satisfied, the current minimum wheel speed vMin1 (t) is determined as the current reference vehicle speed vRef (t), that is vRef (t) =vmin 1 (t); if the relation is not established, the sum of the reference vehicle speed vRef (t-1) and the first vehicle speed standard quantity dv1 in the previous vehicle speed estimation period is determined as the current reference vehicle speed vRef (t), namely vRef (t) =vref (t-1) +dv1.
S316, judging whether the current maximum wheel speed is smaller than the reference vehicle speed of the previous vehicle speed estimation period; if yes, executing S317; if not, S320 is performed.
S317, judging whether the sum of the reference vehicle speed and the second vehicle speed standard quantity in the previous vehicle speed estimation period is smaller than or equal to the current maximum wheel speed; if yes, then execute S318; if not, the method comprises the steps of; s319 is performed.
And S318, determining the current maximum wheel speed as the current reference vehicle speed of the vehicle.
And S319, determining the sum of the reference vehicle speed of the previous vehicle speed estimation period and the second vehicle speed standard quantity as the current reference vehicle speed of the vehicle.
Specifically, if the currently obtained minimum wheel speed vMin1 (t) is not greater than the reference vehicle speed vRef (t-1) in the previous vehicle speed estimation period, whether the current maximum wheel speed vMax1 (t) is smaller than the reference vehicle speed vRef (t-1) in the previous vehicle speed estimation period is continuously judged, and if the current maximum wheel speed vMax1 (t) is determined to be smaller than the reference vehicle speed vRef (t-1) in the previous vehicle speed estimation period, namely vMax1 (t) < vRef (t-1), the vehicle is determined to be in a deceleration stage. It may be assumed that the speed variation of each cycle of the vehicle in the acceleration stage is a second vehicle speed standard quantity dv2, for example, the value range of the second vehicle speed standard quantity dv2 may be the same as that of the first vehicle speed standard quantity and is 0.1-0.15 m/s, the sum of the current maximum wheel speed vMax1 (t) and the reference vehicle speed vRef (t-1) of the previous vehicle speed estimation cycle and the second vehicle speed standard quantity dv2 is compared, and a larger value between the two is taken to determine the current reference vehicle speed vRef (t) of the vehicle, that is, whether the relation vMax1 (t) < vRef (t-1) +dv2 is satisfied, if the relation is satisfied, the sum of the reference vehicle speed vRef (t-1) of the previous vehicle speed estimation cycle and the second vehicle speed standard quantity dv2 is determined as the current reference vehicle speed vRef (t), that is, vRef (t-1) +dv2; if the relation is not established, the current maximum wheel speed vMax1 (t) is determined as the current reference vehicle speed vRef (t), that is, vRef (t) =vmax 1 (t).
S320, taking the reference vehicle speed of the previous vehicle speed estimation period as the current reference vehicle speed of the vehicle.
Specifically, if it is determined that the currently obtained minimum wheel speed vMin1 (t) is not greater than the reference vehicle speed vRef (t-1) in the previous vehicle speed estimation period, and the current maximum wheel speed vMax1 (t) is not less than the reference vehicle speed vRef (t-1) in the previous vehicle speed estimation period, the current vehicle can be considered to be in a constant speed stage, and the reference vehicle speed vRef (t-1) in the previous vehicle speed estimation period can be used as the current reference vehicle speed vRef (t) of the vehicle, that is, vRef (t) =vref (t-1), that is, the reference vehicle speed remains unchanged.
According to the embodiment of the invention, the obtained wheel speeds of all the wheels are sequenced, invalid wheel speed signals are removed in the sequencing process, the sequencing results of the wheel speeds are ensured to be effective wheel speeds, after the wheel speeds are sequenced, the running state of the vehicle is determined by comparing the maximum wheel speed and/or the minimum wheel speed which are obtained currently with the reference vehicle speed of the previous vehicle speed estimation period, and when the vehicle is in an acceleration stage, the smaller reference vehicle speed of the minimum wheel speed, the sum of the reference vehicle of the previous vehicle speed estimation period and the first vehicle speed standard quantity is selected as the reference vehicle speed of the current acceleration state; if the vehicle is in a deceleration stage, selecting the larger one of the maximum wheel speed, the reference vehicle in the last vehicle speed estimation period and the first vehicle speed standard quantity as the reference vehicle speed of the current acceleration state; or when the vehicle is in a constant speed stage, the reference vehicle speed is kept unchanged and still is the reference vehicle speed of the previous vehicle speed estimation period, so that the selected reference vehicle speed is ensured to be closer to the real vehicle speed, and the accurate stability control of the vehicle is more facilitated.
Optionally, fig. 4 is a flowchart of a vehicle speed estimation method of another vehicle according to an embodiment of the present invention, as shown in fig. 4, where the vehicle speed estimation method includes:
s811, acquiring wheel speeds of all wheels in the vehicle, a reference vehicle speed of a last vehicle speed estimation period and a running state of the vehicle in real time; the running state of the vehicle at least includes the running direction of the vehicle and the communication state between the devices in the vehicle.
S812, determining the current maximum wheel speed and the current minimum wheel speed according to the current wheel speeds of all wheels in the vehicle.
S813, judging whether the current minimum wheel speed is larger than the reference vehicle speed of the previous vehicle speed estimation period; if yes, then execution S814; if not, S822 is performed.
S814, judging whether the current minimum wheel speed is smaller than or equal to the sum of the reference vehicle speed and the vehicle speed standard quantity in the previous vehicle speed estimation period; if yes, executing S815; if not, S816 is performed.
S815, the current minimum wheel speed is determined as the current reference vehicle speed of the vehicle.
S816, determining the sum of the reference vehicle speed and the vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
S817, determining the acceleration of each current wheel according to the current wheel speed of each wheel.
S818, judging whether the vehicle is in a slip state or not according to the acceleration of each current wheel; if yes, executing S819; if not, then S820 is performed.
Specifically, when the vehicle is in an acceleration stage and the current minimum wheel speed is greater than the sum of the reference vehicle speed and the vehicle speed standard amount in the previous vehicle speed estimation period, the wheel speed is excessively large, so that the phenomenon of slip can be possibly generated, whether the wheel slips can be determined by judging whether the acceleration of each wheel is greater than a preset value, if the acceleration of a certain wheel is greater than the preset value, the wheel is determined to slip, and the preset value can be 8m/s 2 Taking the example that the vehicle comprises four wheels, when it is determined that at least three wheels slip, the vehicle is determined to be in a slip state, so that the slip phenomenon of the vehicle is recognized in advance.
S819, judging whether the running state of the vehicle, the current maximum wheel speed, the current minimum wheel speed and the minimum acceleration of the current wheel speed meet a first preset condition or not; if yes, then execute S820; if not, then S821 is performed.
S820, determining the current minimum wheel speed as a threshold vehicle speed.
Specifically, when it is determined that the vehicle is in an acceleration stage and no slip occurs, the minimum wheel speed may be used as a threshold vehicle speed to limit the wheel speed of each wheel, and the longitudinal acceleration of the vehicle is used to limit the rising gradient of the threshold vehicle speed in the next period, so as to control the rising speed of the wheel speed of each wheel, and avoid the too fast slip of the rising speed of the wheel speed. When the vehicle is in the slip state, whether the running state, the current maximum wheel speed, the current minimum wheel speed and the minimum acceleration of the current wheel speed of the vehicle meet a first preset condition is determined, wherein the first preset condition comprises the following 3 elements: 1) The longitudinal acceleration ay of the vehicle obtained by the acceleration sensor is greater than 5m/s 2 Or a lateral acceleration ax of greater than 5m/s 2 Or the accelerator pedal is not depressed, and the maximum wheel acceleration is less than 2m/s 2 And the minimum wheel acceleration is greater than-4 m/s 2 The method comprises the steps of carrying out a first treatment on the surface of the 2) The estimated longitudinal acceleration obtained by differentiating the current reference vehicle speed vRef (t) is greater than-1 m/s 2 And the absolute value of the difference between the estimated longitudinal acceleration and the vehicle longitudinal acceleration ay (t) obtained by the acceleration sensor is less than 3m/s 2 The method comprises the steps of carrying out a first treatment on the surface of the 3) When running in a straight line, the difference between the maximum wheel speed vMax1 (t) and the minimum wheel speed vMin1 (t) is not more than 0.5m/s,when steering, the difference between the maximum wheel speed vMax1 (t) and the minimum wheel speed vMin1 (t) is not more than 1m/s. It will be appreciated that the above values may be set by themselves according to the specific circumstances, and that the embodiments of the present invention are merely illustrative. When all the elements in the first preset condition are satisfied at the same time, it can be considered that the vehicle is in a controllable range although slipping occurs, the minimum wheel speed can be used as a threshold vehicle speed to limit the wheel speed of each wheel, and the rising gradient of the threshold vehicle speed in the next period is limited through the longitudinal acceleration ay (t) of the vehicle, so that the rising speed of the wheel speed of each wheel is controlled. Since the vehicle is rotated at a higher wheel speed and the longitudinal acceleration ay (T) of the vehicle is smaller, the change speed of each wheel speed should be controlled by using the smaller longitudinal acceleration ay (T), and in order to make the vehicle deviate from the slip state more quickly, the minimum wheel speed vMin1 (T) is used as the threshold vehicle speed vPos (T) to limit the wheel speed of each wheel, and if the time of one vehicle speed estimation period is assumed to be T, each wheel speed of the next vehicle speed estimation period can be limited within vMin1 (T) +ay (T) ×t, so that the wheel speed rising speed of each wheel can be controlled.
S821, determining a threshold vehicle speed based on a first calculation formula.
The first calculation formula is as follows:
wherein vPos (t) is a threshold vehicle speed, and the unit is km/h; amax is the maximum longitudinal acceleration of the vehicle in m/s 2 The method comprises the steps of carrying out a first treatment on the surface of the vMin1 (t-1) is the minimum wheel speed of the last vehicle speed estimation period, and the unit is km/h; vMin1 (t) is the current minimum wheel speed, and the unit is km/h; alpha (t-1) is the longitudinal correction acceleration measured by the acceleration sensor of the previous vehicle speed estimation period, and the unit is m/s 2 The method comprises the steps of carrying out a first treatment on the surface of the T is the vehicle speed estimation period, in s. The longitudinal correction acceleration α (t-1) is obtained as follows: first calculate the average longitudinal acceleration of each wheel within 2sThis average acceleration->The difference deltaa (t-1) between the vehicle longitudinal acceleration ay (t-1) measured by the acceleration sensor is the influence of the gradient on the acceleration sensor, but when the wheel slips, the road gradient calculated by the method is inaccurate, so the gradient calculation deltaa is accurate when the following conditions are met: when the brake pedal is not depressed, the ABS is not interposed, the difference between the maximum wheel speed and the minimum wheel speed is less than or equal to 0.7m/s, and no wheel slip is caused, and the conditions are satisfied at the same time, the longitudinal acceleration signal measured by the calculated gradient correction acceleration sensor, namely alpha (t-1) =ay (t-1) - [ delta ] a (t-1), is allowed to be utilized.
S822, controlling the running state of an engine in the vehicle according to the threshold vehicle speed and the longitudinal acceleration of the vehicle so as to limit the wheel speed of each wheel.
Specifically, if it is determined that the running state of the vehicle, the current maximum wheel speed, the current minimum wheel speed and the minimum acceleration of the current wheel speed do not meet the first preset condition, it is considered that the vehicle is slipping and has a large degree of slipping at this time, the minimum wheel speed is used as a threshold vehicle speed for limiting the wheel speeds of the respective wheels, so that the threshold vehicle speed is determined based on the first calculation formula, and the wheel speeds of the respective wheels are controlled according to the threshold vehicle speed vPos (t) and the longitudinal acceleration ay (t) of the vehicle. Similarly, if the time of one vehicle speed estimation period is assumed to be T, the wheel speeds of the next vehicle speed estimation period may be limited to vPos (T) +ay (T), so that the wheel speed rising speeds of the wheels may be controlled.
S823, judging whether the current maximum wheel speed is smaller than the reference vehicle speed of the previous vehicle speed estimation period; if yes, then execute S824; if not, S827 is performed.
S824, judging whether the sum of the reference vehicle speed and the second vehicle speed standard quantity in the previous vehicle speed estimation period is smaller than or equal to the current maximum wheel speed; if yes, then execute S826; if not, S825 is performed.
S825, the current maximum wheel speed is determined as the current reference vehicle speed of the vehicle.
S826, determining the sum of the reference vehicle speed and the second vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
Specifically, since the front maximum wheel speed is smaller than the reference vehicle speed of the last vehicle speed estimation period, it can be determined that the vehicle is in a deceleration stage, if it is determined that the maximum wheel speed is smaller than the sum of the reference vehicle speed of the last vehicle speed estimation period and the second vehicle speed standard amount during the deceleration stage, it should also be determined whether the wheel lock occurs at this time, that is, the wheels do not rotate during the running of the vehicle, at this time, ABS intervenes, and the maximum wheel speed vMax1 (t) is determined as the threshold vehicle speed vPos (t) to control the wheel speed increase of each wheel, and in order to increase the wheel speed within a reasonable range, it is also necessary to limit the rising gradient of the threshold vehicle speed in the next period by the longitudinal acceleration ay (t) of the vehicle, thereby controlling the wheel speed rising speed of each wheel. And if the maximum wheel speed is determined to be larger than the sum of the reference vehicle speed and the second vehicle speed in the previous vehicle speed estimation period in the deceleration stage, determining the maximum wheel speed vMax1 (t) as the threshold vehicle speed vPos (t) to control the wheel speed of each wheel to increase, and limiting the rising gradient of the threshold vehicle speed vPos (t) in the next period through the maximum longitudinal acceleration amax of the vehicle so as to control the rising speed of the wheel speed of each wheel.
S827, taking the reference vehicle speed of the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
S828, judging whether the vehicle has communication faults or not according to the communication states among devices in the vehicle; if yes, then execution S830; if not, S829 is performed.
S829, the current reference vehicle speed is used as the vehicle speed value of the current estimated vehicle speed of the vehicle.
S830, acquiring the current rotation speed of a motor in the vehicle.
S831, judging whether the current rotating speed of the motor is in an effective rotating speed range; if yes, executing S832; if not, then S834 is performed.
S832, acquiring the current running state of the motor.
S833, judging whether the motor has an operation fault according to the current operation state of the motor; if yes, then execute S835; if not, then S834 is performed.
S834, determining a vehicle speed value of the current estimated vehicle speed of the vehicle according to the current rotating speed of the motor.
S835, determining a vehicle speed value of the current estimated vehicle speed of the vehicle as a preset vehicle speed value.
S836 determines a vector parameter of the current estimated vehicle speed according to the traveling direction of the vehicle.
S837, determining the current estimated vehicle speed of the vehicle according to the vehicle speed value of the current estimated vehicle speed and the vector parameter of the current estimated vehicle speed.
According to the vehicle speed estimation method provided by the embodiment of the invention, the threshold vehicle speed is determined according to the running state of the vehicle in each vehicle speed period, and the wheel speeds of the wheels are controlled by using different parameters as the threshold vehicle speed and matching with different accelerations according to the running state of the vehicle, so that the wheel speeds of the wheels are changed in a normal range, and the stability control of the vehicle is realized.
Based on the same inventive concept, the embodiment of the invention also provides a vehicle speed estimation device of a vehicle, which can provide accurate and reliable estimated vehicle speed for a whole vehicle electronic control system in real time, and the vehicle speed estimation device of the vehicle can be used for executing the vehicle speed estimation method of the vehicle, which is provided by the embodiment of the invention, and can be realized by software and/or hardware, and can be integrated in a vehicle controller.
Optionally, fig. 5 is a schematic structural diagram of a vehicle speed estimating device of a vehicle according to an embodiment of the present invention, where the vehicle includes a plurality of wheels, and as shown in fig. 5, the vehicle speed estimating device includes: an information acquisition module 100 for acquiring the wheel speed of each wheel in the vehicle and the running state of the vehicle with reference vehicle speed in the last vehicle speed estimation period in real time; the running state of the vehicle at least comprises the running direction of the vehicle and the communication state among devices in the vehicle; a reference vehicle speed determining module 200 for determining a current reference vehicle speed of the vehicle according to the current wheel speeds of the wheels in the vehicle and the reference vehicle speed of the previous vehicle speed estimating period; the fault judging module 300 is configured to judge whether a communication fault exists in the vehicle according to a communication state between devices in the vehicle; a first vehicle speed value determining module 400, configured to take a current reference vehicle speed as a vehicle speed value of a current estimated vehicle speed of the vehicle when the vehicle has no communication failure; a vector parameter determining module 500, configured to determine a vector parameter of the current estimated vehicle speed according to the driving direction of the vehicle; the estimated vehicle speed determining module 600 is configured to determine a current estimated vehicle speed of the vehicle according to a vehicle speed value of the current estimated vehicle speed and a vector parameter of the current estimated vehicle speed.
The vehicle speed estimation device provided by the embodiment of the invention solves the problem that the vehicle speed estimation method based on the positioning system cannot acquire the estimated vehicle speed when the signal is weak, and can ensure that the accurate estimated vehicle speed can be acquired under complex and changeable working conditions so as to realize the stability control of the vehicle under various working conditions.
Optionally, the vehicle speed estimation device of the vehicle further comprises a motor rotation speed acquisition module, which is used for acquiring the current rotation speed of the motor in the vehicle when the vehicle has communication faults; the motor running state acquisition module is used for acquiring the current running state of the motor when the current rotating speed of the motor is in the effective rotating speed range; the motor fault judging module is used for judging whether the motor has an operation fault or not according to the current operation state of the motor; and the second vehicle speed value determining module is used for determining the vehicle speed value of the current estimated vehicle speed of the vehicle according to the current rotating speed of the motor when the motor has no operation fault.
Optionally, the vehicle speed estimation device of the vehicle further comprises a third vehicle speed value determination module, configured to determine a vehicle speed value of the current estimated vehicle speed of the vehicle as a preset vehicle speed value when the current rotation speed of the motor is not within the effective rotation speed range and/or there is an operation failure of the motor.
Optionally, the reference vehicle speed determining module includes a wheel speed sorting unit, configured to determine a current maximum wheel speed and a current minimum wheel speed according to current wheel speeds of respective wheels in the vehicle; the first judging unit is used for judging whether the current minimum wheel speed is greater than the reference vehicle speed of the previous vehicle speed estimating period or not; a first reference vehicle speed determination unit configured to determine, when the current minimum wheel speed is greater than the reference vehicle speed of the preceding vehicle speed estimation period, the current minimum wheel speed as the current reference vehicle speed of the vehicle when the current minimum wheel speed is greater than or equal to the sum of the reference vehicle speed of the preceding vehicle speed estimation period and the vehicle speed reference amount; or when the current minimum wheel speed is smaller than the sum of the reference vehicle speed and the vehicle speed standard quantity in the last vehicle speed estimation period, determining the sum of the reference vehicle speed and the vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
Optionally, the reference vehicle speed determining module further includes a second judging unit, configured to judge whether the current maximum wheel speed is less than the reference vehicle speed of the previous vehicle speed estimating period when the current minimum wheel speed is not less than the reference vehicle speed of the previous vehicle speed estimating period; a second reference vehicle speed determination unit configured to determine a current maximum wheel speed as a current reference vehicle speed of the vehicle when a sum of a reference vehicle speed and a vehicle speed reference amount in a previous vehicle speed estimation period is less than or equal to the current maximum wheel speed; or when the sum of the reference vehicle speed and the vehicle speed standard quantity in the last vehicle speed estimation period is larger than the current maximum wheel speed, determining the sum of the reference vehicle speed and the vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
Optionally, the reference vehicle speed determining module further includes a third reference vehicle speed determining unit, configured to take the reference vehicle speed of the last vehicle speed estimating period as the current reference vehicle speed of the vehicle when the current minimum wheel speed is not less than the reference vehicle speed of the last vehicle speed estimating period and the current maximum wheel speed is not less than the reference vehicle speed of the last vehicle speed estimating period.
Optionally, the vehicle speed estimation device of the vehicle further comprises a wheel acceleration determination module, which is used for determining the current acceleration of each wheel according to the current wheel speed of each wheel after determining the sum of the reference vehicle speed and the vehicle speed standard quantity of the previous vehicle speed estimation period as the current reference vehicle speed of the vehicle when the current minimum wheel speed is larger than the sum of the reference vehicle speed and the vehicle speed standard quantity of the previous vehicle speed estimation period by the first reference vehicle speed determination unit; the slip state judging module is used for judging whether the vehicle is in a slip state or not according to the acceleration of each current wheel; the first threshold vehicle speed determining module is used for determining that when the vehicle is in a slip state, the current minimum wheel speed is determined to be the threshold vehicle speed of the next vehicle speed estimating period when the running state, the current maximum wheel speed, the current minimum wheel speed and the minimum acceleration of the current wheel speed of the vehicle meet a first preset condition; and the wheel speed limiting module is used for controlling the running state of an engine in the vehicle according to the threshold vehicle speed of the next vehicle speed estimation period and the longitudinal acceleration of the vehicle so as to limit the wheel speed of each wheel.
Optionally, the vehicle speed estimation device of the vehicle further includes a second threshold vehicle speed determination module, configured to determine a threshold vehicle speed of a next vehicle speed estimation period based on the first calculation formula when the running state of the vehicle, the current maximum wheel speed, the current minimum wheel speed, and the minimum acceleration of the current wheel speed do not meet the first preset condition; the first calculation formula is:
wherein vPos (t) is a threshold vehicle speed; amax is the maximum longitudinal acceleration of the vehicle; vMin1 (t-1) is the minimum wheel speed of the previous vehicle speed estimation period; vMin1 (t) is the current minimum wheel speed; alpha (t-1) is the longitudinal correction acceleration measured by the acceleration sensor of the previous vehicle speed estimation period; t is the vehicle speed estimation period.
Optionally, an embodiment of the present invention further provides a vehicle, including a vehicle controller, where the vehicle controller is configured to perform the vehicle speed estimation method provided in any embodiment of the present invention, where the vehicle speed estimation device provided in any embodiment of the present invention may be integrated in the vehicle controller.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (9)

1. A vehicle speed estimation method of a vehicle including a plurality of wheels, characterized in that the vehicle speed estimation method of the vehicle includes a plurality of vehicle speed estimation periods, each of the vehicle speed estimation periods including:
acquiring wheel speeds of all wheels in a vehicle, a reference vehicle speed of a last vehicle speed estimation period and a running state of the vehicle in real time; the running state of the vehicle at least comprises the running direction of the vehicle and the communication state among devices in the vehicle;
determining a current reference vehicle speed of the vehicle according to the current wheel speeds of all wheels in the vehicle and the reference vehicle speed of the last vehicle speed estimation period; the method specifically comprises the following steps: determining a current maximum wheel speed and a current minimum wheel speed according to the current wheel speeds of all wheels in the vehicle; judging whether the current minimum wheel speed is larger than the reference vehicle speed of the previous vehicle speed estimation period or not; if so, determining the current minimum wheel speed as the current reference vehicle speed of the vehicle when the current minimum wheel speed is smaller than or equal to the sum of the reference vehicle speed of the previous vehicle speed estimation period and a first vehicle speed standard quantity; or when the current minimum wheel speed is greater than the sum of the reference vehicle speed and the first vehicle speed standard quantity in the last vehicle speed estimation period, determining the sum of the reference vehicle speed and the first vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle;
Judging whether the vehicle has communication faults or not according to the communication state among all devices in the vehicle;
if not, taking the current reference vehicle speed as a vehicle speed value of the current estimated vehicle speed of the vehicle;
determining vector parameters of the current estimated vehicle speed according to the running direction of the vehicle;
and determining the current estimated vehicle speed of the vehicle according to the vehicle speed value of the current estimated vehicle speed and the vector parameter of the current estimated vehicle speed.
2. The vehicle speed estimation method according to claim 1, characterized by further comprising:
if the vehicle has communication faults, acquiring the current rotating speed of a motor in the vehicle;
when the current rotating speed of the motor is in the effective rotating speed range, acquiring the current running state of the motor;
judging whether the motor has operation faults or not according to the current operation state of the motor;
if not, determining a vehicle speed value of the current estimated vehicle speed of the vehicle according to the current rotating speed of the motor.
3. The vehicle speed estimation method according to claim 2, characterized by further comprising:
and if the current rotating speed of the motor is not in the effective rotating speed range and/or the motor has operation faults, determining the vehicle speed value of the current estimated vehicle speed of the vehicle as a preset vehicle speed value.
4. The vehicle speed estimation method according to claim 1, wherein determining the current reference vehicle speed of the vehicle based on the current wheel speeds of the respective wheels in the vehicle and the reference vehicle speed of the preceding vehicle speed estimation period, further comprises:
if the current minimum wheel speed is not less than the reference vehicle speed of the last vehicle speed estimation period, judging whether the current maximum wheel speed is less than the reference vehicle speed of the last vehicle speed estimation period;
if so, determining the current maximum wheel speed as the current reference vehicle speed of the vehicle when the sum of the reference vehicle speed and the second vehicle speed standard quantity in the previous vehicle speed estimation period is smaller than or equal to the current maximum wheel speed; or when the sum of the reference vehicle speed and the second vehicle speed standard quantity in the last vehicle speed estimation period is larger than the current maximum wheel speed, determining the sum of the reference vehicle speed and the second vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
5. The vehicle speed estimation method according to claim 4, wherein determining the current reference vehicle speed of the vehicle based on the current wheel speeds of the respective wheels in the vehicle and the reference vehicle speed of the preceding vehicle speed estimation period, further comprises:
And if the current minimum wheel speed is not less than the reference vehicle speed of the last vehicle speed estimation period and the current maximum wheel speed is not less than the reference vehicle speed of the last vehicle speed estimation period, taking the reference vehicle speed of the last vehicle speed estimation period as the current reference vehicle speed of the vehicle.
6. The vehicle speed estimation method according to claim 1, characterized by, when the current minimum wheel speed is greater than a sum of a reference vehicle speed and a vehicle logo amount of the last vehicle speed estimation period, determining the sum of the reference vehicle speed and the vehicle logo amount of the last vehicle speed estimation period as the current reference vehicle speed of the vehicle, further comprising:
determining the current acceleration of each wheel according to the current wheel speed of each wheel;
judging whether the vehicle is in a slip state or not according to the acceleration of each current wheel; if yes, determining the current minimum wheel speed as a threshold vehicle speed when the running state of the vehicle, the current maximum wheel speed, the current minimum wheel speed and the minimum acceleration of the current wheel speed meet a first preset condition;
and controlling the running state of an engine in the vehicle according to the threshold vehicle speed and the longitudinal acceleration of the vehicle so as to limit the wheel speed of each wheel.
7. The vehicle speed estimation method according to claim 6, characterized by further comprising, before controlling an operation state of an engine in the vehicle to limit a wheel speed of each of the wheels in accordance with the threshold vehicle speed:
determining a threshold vehicle speed based on a first calculation formula when the running state of the vehicle, the current maximum wheel speed, the current minimum wheel speed and the minimum acceleration of the current wheel speed do not meet a first preset condition; the first calculation formula is as follows:
wherein vPos (t) is the threshold vehicle speed; amax is the maximum longitudinal acceleration of the vehicle; vMin1 (t-1) is the minimum wheel speed of the last vehicle speed estimation period; vMin1 (t) is the current minimum wheel speed; alpha (t-1) is the longitudinal corrected acceleration of the previous vehicle speed estimation period; t is the vehicle speed estimation period.
8. A vehicle speed estimation device of a vehicle including a plurality of wheels, characterized by comprising:
the information acquisition module is used for acquiring the wheel speed of each wheel in the vehicle and the running state of the vehicle in real time according to the reference vehicle speed of the last vehicle speed estimation period; the running state of the vehicle at least comprises the running direction of the vehicle and the communication state among devices in the vehicle;
A reference vehicle speed determining module, configured to determine a current reference vehicle speed of the vehicle according to a current wheel speed of each wheel in the vehicle and a reference vehicle speed of the previous vehicle speed estimating period; the reference vehicle speed determining module comprises a wheel speed sorting unit, a first judging unit and a first reference vehicle speed determining unit; the wheel speed sorting unit is used for determining the current maximum wheel speed and the current minimum wheel speed according to the current wheel speeds of all the wheels in the vehicle; the first judging unit is used for judging whether the current minimum wheel speed is larger than the reference vehicle speed of the previous vehicle speed estimating period or not; the first reference vehicle speed determining unit is used for determining the current minimum wheel speed as the current reference vehicle speed of the vehicle when the current minimum wheel speed is greater than or equal to the sum of the reference vehicle speed of the previous vehicle speed estimating period and the vehicle speed standard amount after the first judging unit determines that the current minimum wheel speed is greater than the reference vehicle speed of the previous vehicle speed estimating period; or when the current minimum wheel speed is smaller than the sum of the reference vehicle speed and the vehicle speed standard quantity in the last vehicle speed estimation period, determining the sum of the reference vehicle speed and the vehicle speed standard quantity in the last vehicle speed estimation period as the current reference vehicle speed of the vehicle;
The fault judging module is used for judging whether the vehicle has communication faults or not according to the communication states among all devices in the vehicle;
the first vehicle speed value determining module is used for taking the current reference vehicle speed as a vehicle speed value of the current estimated vehicle speed of the vehicle when the vehicle does not have communication faults;
the vector parameter determining module is used for determining vector parameters of the current estimated vehicle speed according to the running direction of the vehicle;
and the estimated vehicle speed determining module is used for determining the current estimated vehicle speed of the vehicle according to the vehicle speed value of the current estimated vehicle speed and the vector parameter of the current estimated vehicle speed.
9. A vehicle, characterized by comprising: a vehicle controller for executing the vehicle speed estimation method according to any one of claims 1 to 7.
CN202111007242.XA 2021-08-30 2021-08-30 Vehicle and vehicle speed estimation method and device thereof Active CN113635908B (en)

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