CN116879579B - Vehicle acceleration calculation method, device, computer equipment and storage medium - Google Patents

Vehicle acceleration calculation method, device, computer equipment and storage medium Download PDF

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Publication number
CN116879579B
CN116879579B CN202311147830.2A CN202311147830A CN116879579B CN 116879579 B CN116879579 B CN 116879579B CN 202311147830 A CN202311147830 A CN 202311147830A CN 116879579 B CN116879579 B CN 116879579B
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acceleration
vehicle speed
vehicle
calculating
step length
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CN116879579A (en
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魏文明
刘卫国
张柯
白创
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Guoqi Beijing Intelligent Network Association Automotive Research Institute Co ltd
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Guoqi Beijing Intelligent Network Association Automotive Research Institute Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/16—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by evaluating the time-derivative of a measured speed signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles

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  • General Physics & Mathematics (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)

Abstract

The invention relates to the technical field of automatic driving tests, and discloses a vehicle acceleration calculation method, a device, computer equipment and a storage medium, wherein the method comprises the following steps: acquiring vehicle speed data; setting a first differential step length, and calculating to obtain initial accelerations at different moments; setting a second differential step length, and screening to obtain a first initial acceleration corresponding to the target moment and a second initial acceleration corresponding to the next second differential step length moment corresponding to the target moment; calculating to obtain an acceleration change rate, determining an acceleration difference step length, and screening to obtain a second vehicle speed corresponding to the next acceleration difference step length time corresponding to the first vehicle speed corresponding to the target time; and calculating the vehicle acceleration at the target moment based on the first vehicle speed, the second vehicle speed and the acceleration difference step length. According to the invention, the acceleration test is carried out on the vehicle without using an IMU, so that the test cost is reduced, and the problems of larger measurement error and higher test cost of the IMU are effectively solved.

Description

Vehicle acceleration calculation method, device, computer equipment and storage medium
Technical Field
The invention relates to the technical field of automatic driving tests, in particular to a vehicle acceleration calculation method, a vehicle acceleration calculation device, computer equipment and a storage medium.
Background
In the field of autopilot testing, acceleration is an important performance indicator for evaluating autopilot function. Acceleration is an essential evaluation index, whether comfort or safety is considered. How to obtain accurate acceleration values is important for testing and evaluation of autopilot.
In the related art, acceleration of a vehicle is mostly measured by an inertial measurement unit (Inertial Measurement Unit, IMU). The acceleration value measured by the IMU and the actual acceleration of the vehicle are often in larger errors under the influence of factors such as road environment, installation state and the like. In addition, IMUs are expensive, and in particular, high precision IMUs can greatly increase test costs.
Disclosure of Invention
In view of the above, the present invention provides a vehicle acceleration calculating method, apparatus, computer device and storage medium, so as to solve the problems of large error and high cost in the prior art using an inertial measurement unit.
In a first aspect, the present invention provides a vehicle acceleration calculation method, including:
acquiring vehicle speed data;
setting a first differential step length, and calculating initial acceleration at different moments based on the first differential step length and vehicle speed data;
Setting a second differential step length, and screening to obtain a first initial acceleration corresponding to the target moment and a second initial acceleration corresponding to the next second differential step length moment corresponding to the target moment based on the second differential step length;
calculating to obtain an acceleration change rate based on the first initial acceleration and the second initial acceleration;
determining an acceleration differential step length based on the acceleration change rate, and screening to obtain a second vehicle speed corresponding to the next acceleration differential step length time corresponding to the first vehicle speed corresponding to the target time;
and calculating the vehicle acceleration at the target moment based on the first vehicle speed, the second vehicle speed and the acceleration difference step length.
In the invention, in the process of carrying out acceleration test on the vehicle, the initial acceleration and the corresponding acceleration change rate are calculated only through the vehicle speed data, the acceleration at the moment of the vehicle is calculated and obtained by determining the acceleration difference step length according to the acceleration change rate, the IMU is not needed, the problem that the acceleration value measured by the IMU and the actual acceleration of the vehicle have larger errors is avoided, the accuracy of vehicle acceleration measurement is further improved, meanwhile, the use of the IMU is omitted, the test cost is greatly reduced, and the problems of larger IMU measurement error and higher test cost are effectively solved.
In an alternative embodiment, before setting the first differential step, and calculating the initial acceleration based on the first differential step and the vehicle speed data, the method further includes:
screening to obtain a stationary time period of the vehicle based on the vehicle speed data and the measurement accuracy of the vehicle speed, and setting the vehicle speed corresponding to the stationary time period of the vehicle to 0;
dividing a vehicle non-stationary time period into a plurality of non-stationary time sub-periods based on the sampling frequency of the vehicle speed data and the measurement accuracy of the vehicle speed;
calculating to obtain a first average acceleration of each non-stationary time sub-section;
calculating to obtain a second acceleration at each moment in each non-stationary time sub-section;
judging whether the vehicle speed of each non-stationary time sub-period needs to be corrected or not based on the first average acceleration, the second acceleration and the vehicle speed measurement precision of the non-stationary time sub-period;
when the vehicle speed of the non-stationary time period needs to be corrected, the vehicle speed is corrected, and corrected vehicle speed data is obtained.
In the method, by correcting the vehicle speed, a smoother speed curve which is close to the actual speed of the vehicle is obtained, data support is provided for the calculation of the subsequent vehicle acceleration, so that the error of the vehicle acceleration calculation is lower and is closer to the acceleration measured by the real vehicle.
In an alternative embodiment, based on the vehicle speed and the vehicle speed measurement accuracy, the screening to obtain the period of time that the vehicle is stationary includes:
determining a vehicle speed measurement error based on the measurement accuracy of the vehicle speed;
judging whether the vehicle speed in the current time period is smaller than the vehicle speed error;
and when the vehicle speed in the current time period is smaller than the vehicle speed error, determining that the current time period is a time period when the vehicle is stationary.
In this way, since there is a certain error in the speed measurement, by screening out the period smaller than the error in the vehicle speed measurement as the stationary period, the amount of vehicle speed data to be processed is reduced, the difficulty in calculating the acceleration of the following vehicle is reduced, and unnecessary calculation loss is avoided.
In an alternative embodiment, determining whether a correction to the vehicle speed for each non-stationary time segment is needed based on the first average acceleration, the second acceleration, and the vehicle speed measurement accuracy for the non-stationary time segment includes:
determining a vehicle acceleration error limit based on the vehicle speed measurement accuracy;
respectively judging whether the positive and negative of the first average acceleration and the second acceleration of the non-stationary time sub-section are the same, and judging whether the absolute value of the difference between the first average acceleration and the second acceleration is larger than the vehicle acceleration error limit value;
When the positive and negative of the first average acceleration and the second acceleration are the same and the absolute value of the difference between the first average acceleration and the second acceleration is not greater than the vehicle acceleration error limit value, determining that the vehicle speed of the non-stationary time sub-period is not required to be corrected;
when the difference in sign between the first average acceleration and the second acceleration or the absolute value of the difference between the first average acceleration and the second acceleration is greater than the vehicle acceleration error limit, it is determined that a correction to the vehicle speed for the non-stationary time period is required.
In the mode, whether the vehicle speed needs to be corrected or not is confirmed, the vehicle speed to be corrected is screened out, the correction of the vehicle speed in each period is avoided, the calculation loss of the vehicle speed correction is reduced, and the efficiency of the vehicle speed correction is improved.
In an alternative embodiment, correcting the vehicle speed to obtain a corrected vehicle speed includes:
calculating a minimum time interval for sampling the vehicle speed data based on the sampling frequency of the vehicle speed data;
and calculating the corrected vehicle speed of the non-stationary time period based on the first average acceleration, the minimum time interval and the vehicle speed corresponding to the non-stationary time period.
In this manner, the vehicle speed is corrected by the first average acceleration, the minimum time interval and the vehicle speed corresponding to the non-stationary time period, so that a smoother vehicle speed curve can be obtained, subsequent calculation of the vehicle acceleration is facilitated, and the calculated vehicle acceleration is closer to the vehicle acceleration measured by the real vehicle. Judging whether the change of the local vehicle speed is accurate or not according to the general trend of the change of the vehicle speed, and correcting the point with larger local vehicle speed deviation, thereby improving the accuracy of the vehicle speed and further improving the accuracy of the subsequent acceleration difference calculation.
In an alternative embodiment, determining the acceleration differential step size based on the acceleration rate of change includes:
setting a plurality of acceleration change rate ranges and differential step sizes corresponding to different acceleration change rate ranges;
and determining the acceleration difference step length corresponding to the acceleration change rate based on the subordination relation between the acceleration change rate and the acceleration change rate range.
In this method, the acceleration change rate is used to reflect the speed of the acceleration change, so that the acceleration change is faster and the speed change is not uniform when the acceleration change rate is larger, the accurate differential step is required to be selected correspondingly, the more accurate acceleration can be calculated, and different differential step sizes are selected according to the value of the acceleration change rate, so that the acceleration value with higher calculation accuracy is obtained.
In an alternative embodiment, calculating the vehicle acceleration at the target time based on the first vehicle speed, the second vehicle speed, and the acceleration differential step includes:
calculating a speed difference between the second vehicle speed and the first vehicle speed;
and calculating the quotient of the speed difference and the acceleration difference step length to obtain the vehicle acceleration at the target moment.
In this embodiment, the vehicle acceleration at the target time is calculated by the differential step, and the vehicle acceleration at the current time, which is closer to the actual vehicle acceleration and more accurate, can be obtained.
In a second aspect, the present invention provides a vehicle acceleration calculation apparatus including:
the speed acquisition module is used for acquiring vehicle speed data;
the initial acceleration calculation module is used for setting a first differential step length and calculating initial accelerations at different moments based on the first differential step length and vehicle speed data;
the acceleration screening module is used for setting a second differential step length, and screening and obtaining a first initial acceleration corresponding to the target moment and a second initial acceleration corresponding to the next second differential step length moment corresponding to the target moment based on the second differential step length;
the acceleration change rate calculation module is used for calculating the acceleration change rate based on the first initial acceleration and the second initial acceleration;
The vehicle speed screening module is used for determining an acceleration difference step length based on the acceleration change rate, and screening to obtain a second vehicle speed corresponding to the next acceleration difference step length time corresponding to the first vehicle speed corresponding to the target time;
and the acceleration calculation module is used for calculating the vehicle acceleration at the target moment based on the first vehicle speed, the second vehicle speed and the acceleration difference step length.
In a third aspect, the present invention provides a computer device comprising: the vehicle acceleration calculation method according to the first aspect or any one of the embodiments thereof is provided with a memory and a processor, the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions to perform the vehicle acceleration calculation method according to the first aspect or any one of the embodiments thereof.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the vehicle acceleration calculation method of the first aspect or any one of its corresponding embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a vehicle acceleration calculation method according to an embodiment of the invention.
Fig. 2 is a flowchart of a variable step differential calculation method according to an embodiment of the present invention.
Fig. 3 is a flowchart of another vehicle acceleration calculation method according to an embodiment of the invention.
Fig. 4 is a flowchart of vehicle speed correction according to an embodiment of the present invention.
FIG. 5 is a schematic diagram of a comparison of corrected and uncorrected vehicle speeds according to an embodiment of the present invention.
Fig. 6 is a flowchart of still another vehicle acceleration calculation method according to an embodiment of the present invention.
Fig. 7 is a flow chart of variable-step differential computation according to an embodiment of the present invention.
FIG. 8 is a schematic diagram of comparing a variable step differential calculated acceleration with a measured acceleration of a real vehicle according to an embodiment of the present invention.
Fig. 9 is a block diagram of a vehicle acceleration calculating device according to an embodiment of the present invention.
Fig. 10 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the related art, acceleration of a vehicle is mostly measured by an inertial measurement unit (Inertial Measurement Unit, IMU). The acceleration value measured by the IMU and the actual acceleration of the vehicle are often in larger errors under the influence of factors such as road environment, installation state and the like. In addition, IMUs are expensive, and in particular, high precision IMUs can greatly increase test costs.
In order to solve the foregoing problems, in the embodiments of the present application, a vehicle acceleration calculating method is provided for a computer device, and it should be noted that an execution body of the vehicle acceleration calculating method may be a vehicle acceleration calculating device, and the device may be implemented by software, hardware, or a combination of software and hardware to form part or all of the computer device, where the computer device may be a terminal, a client, or a server, and the server may be a server, or may be a server cluster formed by multiple servers. In the following method embodiments, the execution subject is a computer device.
The computer equipment in the embodiment is suitable for a use scene of measuring acceleration of the vehicle in the automatic driving test process of the vehicle. According to the vehicle acceleration calculation method, in the process of carrying out acceleration test on the vehicle, the initial acceleration and the corresponding acceleration change rate are calculated only through the vehicle speed data, the acceleration at the moment of the vehicle is calculated according to the acceleration change rate, the differential step length of the acceleration is determined, the IMU is not required to be used, the problem that a large error exists between the acceleration value measured by the IMU and the actual acceleration of the vehicle is avoided, the accuracy of vehicle acceleration measurement is improved, meanwhile, the use of the IMU can be omitted, the test cost is greatly reduced, and the problems that the IMU measurement error is large and the test cost is high are effectively solved.
According to an embodiment of the present invention, there is provided a vehicle acceleration calculation method embodiment, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from that herein.
In this embodiment, a vehicle acceleration calculating method is provided, which may be used in the above-mentioned computer device, and fig. 1 is a flowchart of a vehicle acceleration calculating method according to an embodiment of the present invention, as shown in fig. 1, where the flowchart includes the following steps:
step S101, vehicle speed data is acquired.
In one example, the vehicle speed may be obtained via a vehicle bus signal or via GPS location information, and the manner in which the vehicle speed is obtained is not limited in the present invention.
Step S102, setting a first differential step, and calculating initial accelerations at different moments based on the first differential step and vehicle speed data.
In one example, the first differential step may be a fixed differential step, and 0.2s may be selected for calculating initial accelerations of the vehicle at different moments in time, taking into account the sampling frequency and measurement accuracy of the vehicle speed.
Step S103, setting a second differential step, and screening and obtaining a first initial acceleration corresponding to the target moment and a second initial acceleration corresponding to the next second differential step moment corresponding to the target moment based on the second differential step.
In one example, the second initial acceleration may be determined at the next instant in time spaced from the target instant by a second differential step by taking another fixed differential step as the second differential step.
Step S104, calculating an acceleration change rate based on the first initial acceleration and the second initial acceleration.
In an example, since there is a certain error between the calculated initial acceleration and the actual acceleration, in order to reduce the error of the acceleration change rate as much as possible, the second differential step may be selected to have a larger value, for example, 0.5s, and the acceleration change rate is calculated by the quotient of the difference between the second initial acceleration and the first initial acceleration and the second differential step.
Step S105, determining an acceleration difference step based on the acceleration change rate, and screening to obtain a second vehicle speed corresponding to the next acceleration difference step corresponding to the first vehicle speed corresponding to the target moment.
In an example, since the acceleration change rate reflects the degree of acceleration change, the larger the acceleration change rate is, the faster the speed change at the current moment is, the less uniform the speed change is, and a smaller acceleration differential step is selected correspondingly, otherwise, the smaller the acceleration change rate is, the larger acceleration differential step is selected. And screening to obtain the second vehicle speed at the next moment of the acceleration difference step length with the target moment.
Step S106, calculating the vehicle acceleration at the target moment based on the first vehicle speed, the second vehicle speed and the acceleration difference step.
In one example, the vehicle acceleration at the target time is calculated from a quotient of a difference between the second vehicle speed and the first vehicle speed and the acceleration differential step.
In an example, fig. 2 is a flowchart of a variable-step differential computing method according to an embodiment of the present invention, and as shown in fig. 2, a process of the variable-step differential computing method may include: 1) Acquiring the speed of the vehicle; 2) Correcting the speed of the vehicle according to the speed change trend and the speed measurement precision; 3) And calculating the corrected vehicle speed by adopting a variable step difference calculation method to obtain the vehicle acceleration.
According to the vehicle acceleration calculation method, in the process of carrying out acceleration test on the vehicle, the initial acceleration and the corresponding acceleration change rate are calculated only through the vehicle speed data, the acceleration difference step length is determined according to the acceleration change rate, the acceleration of the vehicle at the moment is calculated, the IMU is not needed, the problem that larger errors exist between the acceleration value measured by the IMU and the actual acceleration of the vehicle is avoided, the accuracy of vehicle acceleration measurement is improved, meanwhile, the use of the IMU can be omitted, the test cost is greatly reduced, and the problems that the IMU measurement error is larger and the test cost is higher are effectively solved.
In this embodiment, a vehicle acceleration calculating method is provided, which may be used in the above-mentioned computer device, and fig. 3 is a flowchart of another vehicle acceleration calculating method according to an embodiment of the present invention, as shown in fig. 3, where the flowchart includes the following steps:
in step S301, vehicle speed data is acquired. Please refer to step S101 in the embodiment shown in fig. 1 in detail, which is not described herein.
Step S302, a time period of the stationary vehicle is obtained through screening based on the vehicle speed data and the measurement accuracy of the vehicle speed, and the vehicle speed corresponding to the time period of the stationary vehicle is set to 0.
In some alternative embodiments, the step S302 includes:
step a1, determining a vehicle speed measurement error based on the measurement accuracy of the vehicle speed;
step a2, judging whether the vehicle speed in the current time period is smaller than the vehicle speed error;
and a step a3, when the vehicle speed in the current time period is smaller than the vehicle speed error, determining that the current time period is the stationary time period of the vehicle.
In one example, a period of time in which the vehicle is stationary is screened out and speeds within that period of time are all zeroed out. Due to certain errors in the speed measurement, the speed value may still not be 0 when the vehicle is stationary. Assuming that the speed measurement error is Thus when the speeds during a certain period are all smaller than +.>The vehicle can be approximately considered to be stationary for that period of time. Let us assume +.>To->The speeds during the time period are all less than +.>To avoid->Time and->The sudden change in the time speed leads to an excessive acceleration error at these two points in time, which can be taken to be +.>To->The speed over the time period is set to zero,t 0 exemplary 0.2 s is selected.
In this way, since there is a certain error in the speed measurement, by screening out the period smaller than the error in the vehicle speed measurement as the stationary period, the amount of vehicle speed data to be processed is reduced, the difficulty in calculating the acceleration of the following vehicle is reduced, and unnecessary calculation loss is avoided.
Step S303, dividing the non-stationary time period of the vehicle into a plurality of non-stationary time sub-periods based on the sampling frequency of the vehicle speed data and the measurement accuracy of the vehicle speed.
In one example, the vehicle speed for the non-stationary period is determined to beIs divided into a plurality of time segments.Is selected by taking into account the sampling frequency and measurement accuracy of the vehicle speed, for example 0.2 s.
Step S304, a first average acceleration of each non-stationary time period is calculated.
In one example, an average acceleration over each time period is calculated The calculation method refers to formula (1):
（1）
wherein,indicate->Average acceleration over a period of time, +.>Indicating the speed at the end of the time period,indicating the speed at which the time period starts.
In step S305, a second acceleration at each moment in each non-stationary time period is calculated.
In one example, the acceleration at each time instant within each time period is calculatedThe calculation method refers to formula (2):
（2）
wherein,indicate->Time period +.>Acceleration at time; />Representing the period +.>Speed of time; />Representing the period +.>Speed of time; />Representing the minimum time interval of the speed measurement sampling, e.g. speed sampling frequency 100 Hz, then +.>0.01 and s.
Step S306, based on the first average acceleration, the second acceleration and the vehicle speed measurement accuracy of each non-stationary time segment, it is determined whether the vehicle speed of the non-stationary time segment needs to be corrected.
In some alternative embodiments, the step S306 includes:
and b1, determining a vehicle acceleration error limit value based on the vehicle speed measurement precision.
And b2, judging whether the positive and negative of the first average acceleration and the second acceleration of the non-stationary time sub-period are the same or not respectively, and judging whether the absolute value of the difference between the first average acceleration and the second acceleration is larger than the vehicle acceleration error limit value or not.
And b3, determining that the vehicle speed of the non-stationary time sub-period is not required to be corrected when the positive and negative of the first average acceleration and the second acceleration are the same and the absolute value of the difference between the first average acceleration and the second acceleration is not greater than the vehicle acceleration error limit value.
And b4, determining that the vehicle speed of the non-stationary time sub-period needs to be corrected when the positive and negative difference between the first average acceleration and the second acceleration or the absolute value of the difference between the first average acceleration and the second acceleration is larger than the vehicle acceleration error limit value.
In one example, by comparisonAnd->Is used to determine if a speed correction is required. Let->Is a limit value of acceleration error, which can be determined according to the speed measurement accuracy; if->And->Is the same in sign andthe speed does not need to be corrected; if->And->Opposite sign or +.>The speed is corrected.
In the mode, whether the vehicle speed needs to be corrected or not is confirmed, the vehicle speed to be corrected is screened out, the correction of the vehicle speed in each period is avoided, the calculation loss of the vehicle speed correction is reduced, and the efficiency of the vehicle speed correction is improved.
In step S307, when the vehicle speed in the non-stationary time period needs to be corrected, the vehicle speed is corrected, and corrected vehicle speed data is obtained.
In some optional embodiments, step S307 includes:
step c1, calculating the minimum time interval for sampling the vehicle speed data based on the sampling frequency of the vehicle speed data.
And c2, calculating the corrected vehicle speed of the non-stationary time segment based on the first average acceleration, the minimum time interval and the vehicle speed corresponding to the non-stationary time segment.
In one example, the correction method refers to formula (3):
（3）
wherein,representing the period +.>Speed of time; />Representing the period +.>Speed of time;representing the minimum time interval of the speed measurement sampling, e.g. speed sampling frequency 100 Hz, then +.>0.01 and s.
In one example, the all-period speed reference steps S302 to S307 are processed to obtain the corrected vehicle speed. Fig. 4 is a flowchart of vehicle speed correction according to an embodiment of the present invention. As shown in fig. 4, the vehicle correction flow includes: 1) Screening out a stationary time period of the vehicle and setting the speeds in the time period to be all zero; 2) Vehicle speed for non-stationary period Dividing the duration of the time frame into a plurality of time periods; 3) Calculating the average acceleration +/for each period of time>The method comprises the steps of carrying out a first treatment on the surface of the 4) Meter with a meter bodyCalculating the acceleration +.>The method comprises the steps of carrying out a first treatment on the surface of the 5) Comparison->And->Determining whether a correction to the speed is required; 6) And obtaining the corrected vehicle speed. FIG. 5 is a schematic diagram of a comparison of corrected and uncorrected vehicle speeds according to an embodiment of the invention, as shown in FIG. 5, after correction of the vehicle speed, the vehicle speed is almost coincident with the uncorrected vehicle speed as a whole; but locally the corrected curve is smoother than the uncorrected curve.
In this manner, the vehicle speed is corrected by the first average acceleration, the minimum time interval and the vehicle speed corresponding to the non-stationary time period, so that a smoother vehicle speed curve can be obtained, subsequent calculation of the vehicle acceleration is facilitated, and the calculated vehicle acceleration is closer to the vehicle acceleration measured by the real vehicle. Judging whether the change of the local vehicle speed is accurate or not according to the general trend of the change of the vehicle speed, and correcting the point with larger local vehicle speed deviation, thereby improving the accuracy of the vehicle speed and further improving the accuracy of the subsequent acceleration difference calculation.
Step S308, setting a first differential step, and calculating initial accelerations at different moments based on the first differential step and vehicle speed data. Please refer to step S102 in the embodiment shown in fig. 1 in detail, which is not described herein.
Step S309, a second differential step is set, and based on the second differential step, a first initial acceleration corresponding to the target moment and a second initial acceleration corresponding to the next second differential step moment corresponding to the target moment are obtained through screening. Please refer to step S103 in the embodiment shown in fig. 1 in detail, which is not described herein.
Step S310, calculating an acceleration change rate based on the first initial acceleration and the second initial acceleration. Please refer to step S104 in the embodiment shown in fig. 1 in detail, which is not described herein.
Step S311, based on the acceleration change rate, determining an acceleration difference step, and screening to obtain a second vehicle speed corresponding to the next acceleration difference step corresponding to the first vehicle speed corresponding to the target moment. Please refer to step S105 in the embodiment shown in fig. 1 in detail, which is not described herein.
Step S312, calculating the vehicle acceleration at the target time based on the first vehicle speed, the second vehicle speed and the acceleration difference step. Please refer to step S106 in the embodiment shown in fig. 1 in detail, which is not described herein.
According to the vehicle acceleration calculation method, the vehicle speed is corrected to obtain a smoother speed curve which is close to the actual speed of the vehicle, data support is provided for calculation of the subsequent vehicle acceleration, and therefore errors in vehicle acceleration calculation are lower and are closer to the acceleration measured by the actual vehicle.
In this embodiment, a vehicle acceleration calculating method is provided, which may be used in the above-mentioned computer device, and fig. 6 is a flowchart of a vehicle acceleration calculating method according to an embodiment of the present invention, as shown in fig. 6, and the flowchart includes the following steps:
in step S601, vehicle speed data is acquired. Please refer to step S301 in the embodiment shown in fig. 3 in detail, which is not described herein.
Step S602, a first differential step is set, and initial accelerations at different moments are calculated based on the first differential step and vehicle speed data.
In one example, a fixed differential step size is employedCalculate initial acceleration +.>The calculation method refers to formula (4):
（4）
wherein,representation->Corrected speed of time,/>Representation->Corrected speed of time,/>Is selected by taking into account the sampling frequency and measurement accuracy of the vehicle speed, for example 0.2 s.
Step S603, a second differential step is set, and based on the second differential step, a first initial acceleration corresponding to the target moment and a second initial acceleration corresponding to the next second differential step moment corresponding to the target moment are obtained through screening.
In an example, toInitial acceleration +.>For example, in order to reduce the acceleration change rate as much as possible +.>Error of calculation of +.>Should take a larger value, illustratively 0.5. 0.5 s, and the second initial acceleration is obtained by screeningInitial acceleration +.>。
Step S604, calculating an acceleration change rate based on the first initial acceleration and the second initial acceleration.
In an example, toBased on a fixed differential step size +.>Calculating the acceleration change rate->. The calculation method refers to formula (5):
（5）
wherein,representation->Initial acceleration of time,/->Representation->Initial acceleration at time. Due to->There is still some deviation from the actual acceleration, which is for +.>Is less favorable to the calculation of (a) will result in +.>There is a large error in order to reduce +.>Error of calculation of +.>A larger value should be taken, illustratively 0.5 s.
Step S605, determining an acceleration differential step based on the acceleration change rate, and screening to obtain a second vehicle speed corresponding to the next acceleration differential step corresponding to the first vehicle speed corresponding to the target time.
Specifically, the step S605 includes:
step S6051, setting a plurality of differential step sizes corresponding to the acceleration change rate ranges and different acceleration change rate ranges.
Step S6052, determining an acceleration difference step corresponding to the acceleration change rate based on the relationship between the acceleration change rate and the acceleration change rate range.
In an example, according to the acceleration rate of changeDifferent acceleration differential step sizes are selected, and the differential step sizes are selected according to the following steps:
1) When (when)Differential step size selection +.>。
2) When (when)Differential step size selection +.>。
3) When (when)Differential step size selection +.>。
The basic principle of step size selection is thatThe larger the step size the smaller the step size is selected, because +.>Reflecting the speed of acceleration change, +.>The larger the acceleration change at the moment, the faster the acceleration change is, namely the speed change is not uniform enough, and a smaller differential step size is selected at the moment; conversely, a->The smaller the speed variation the more uniform, at which time a larger differential step should be selected. Recommended->、/>Taking 0.2 m/s respectively 3 、0.4 m/s 3 The method comprises the steps of carrying out a first treatment on the surface of the Recommended->、/>、/>0.5, s, 0.2, s and 0.1, s were taken respectively.
In this method, the acceleration change rate reflects the speed of the acceleration change, so that the acceleration change is faster and the speed change is not uniform enough when the acceleration change rate is larger, and the accurate differential step needs to be selected correspondingly, so that the more accurate acceleration can be calculated.
Step S606, calculating the vehicle acceleration at the target moment based on the first vehicle speed, the second vehicle speed and the acceleration difference step.
Specifically, the step S606 includes:
in step S6061, a speed difference between the second vehicle speed and the first vehicle speed is calculated.
In step S6062, the quotient of the speed difference and the acceleration difference step is calculated to obtain the vehicle acceleration at the target moment.
In one example, the differential step selected in step S605 is calculated to obtain the accelerationa. The calculation method refers to formula (6):
（6）
wherein,representation->Corrected speed of time,/>Representation->Corrected speed of time,/>For the differential step selected according to step S605.
In one example, FIG. 7 is a flow chart of a variable-step differential calculation according to an embodiment of the present invention. As shown in fig. 7, the process of variable-step differential calculation includes: 1) Using fixed differential step sizesCalculate initial acceleration +.>The method comprises the steps of carrying out a first treatment on the surface of the 2) To->Based on a fixed differential step size +.>Calculating the acceleration change rate->The method comprises the steps of carrying out a first treatment on the surface of the 3) According to->Selecting different acceleration differential step sizes; 4) And calculating to obtain the vehicle acceleration. FIG. 8 is a schematic diagram of comparing a variable step differential calculated acceleration with a measured acceleration of a real vehicle according to an embodiment of the present invention. As shown in FIG. 8, the variable step differential calculated acceleration is compared with the actual vehicle measured acceleration, the two are basically coincident, and the average value of absolute errors is 0.065 m/s 2 。
According to the vehicle acceleration calculation method provided by the embodiment, the vehicle acceleration at the target moment is calculated through the differential step length, so that the vehicle acceleration at the current moment which is closer to and more accurate than the actual acceleration of the vehicle can be obtained. And selecting different differential step sizes according to the value of the acceleration change rate to obtain an acceleration value with higher calculation accuracy.
The present embodiment also provides a vehicle acceleration calculating device, which is used to implement the foregoing embodiments and the preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
The present embodiment provides a vehicle acceleration calculating device, as shown in fig. 9, including:
a speed acquisition module 901 for acquiring vehicle speed data. Please refer to step S101 in the embodiment shown in fig. 1 in detail, which is not described herein.
The initial acceleration calculation module 902 is configured to set a first differential step, and calculate initial accelerations at different moments based on the first differential step and the vehicle speed data. Please refer to step S102 in the embodiment shown in fig. 1 in detail, which is not described herein.
The acceleration screening module 903 is configured to set a second differential step, and screen to obtain a first initial acceleration corresponding to the target moment and a second initial acceleration corresponding to a next second differential step moment corresponding to the target moment based on the second differential step. Please refer to step S103 in the embodiment shown in fig. 1 in detail, which is not described herein.
The acceleration change rate calculating module 904 is configured to calculate an acceleration change rate based on the first initial acceleration and the second initial acceleration. Please refer to step S104 in the embodiment shown in fig. 1 in detail, which is not described herein.
The vehicle speed screening module 905 is configured to determine an acceleration differential step length based on the acceleration change rate, and screen to obtain a second vehicle speed corresponding to the next acceleration differential step length time corresponding to the first vehicle speed corresponding to the target time. Please refer to step S105 in the embodiment shown in fig. 1 in detail, which is not described herein.
The acceleration calculating module 906 is configured to calculate a vehicle acceleration at a target time based on the first vehicle speed, the second vehicle speed, and the differential acceleration step. Please refer to step S106 in the embodiment shown in fig. 1 in detail, which is not described herein.
In some alternative embodiments, the vehicle acceleration calculation device further includes:
And the stationary period screening unit is used for screening and obtaining a stationary period of the vehicle based on the vehicle speed data and the measurement accuracy of the vehicle speed, and setting the vehicle speed corresponding to the stationary period of the vehicle to 0.
The time interval dividing unit is used for dividing the non-stationary time interval of the vehicle into a plurality of non-stationary time sub-intervals based on the sampling frequency of the vehicle speed data and the measurement accuracy of the vehicle speed.
And the average acceleration calculation unit is used for calculating and obtaining the first average acceleration of each non-stationary time sub-period.
And the second acceleration calculation unit is used for calculating and obtaining the second acceleration of each moment in each non-stationary time period.
And the correction judging unit is used for judging whether the vehicle speed of each non-stationary time sub-section needs to be corrected based on the first average acceleration, the second acceleration and the vehicle speed measurement precision of the non-stationary time sub-section.
And the speed correction unit is used for correcting the vehicle speed when the vehicle speed of the non-stationary time period is required to be corrected, so as to obtain corrected vehicle speed data.
In an alternative embodiment, the stationary period screening unit comprises:
and a measurement error determination subunit for determining a vehicle speed measurement error based on the measurement accuracy of the vehicle speed.
And the speed comparison subunit is used for judging whether the vehicle speed in the current time period is smaller than the vehicle speed error.
And the stationary period determining subunit is used for determining that the current time period is the stationary time period of the vehicle when the vehicle speed of the current time period is smaller than the vehicle speed error.
In an alternative embodiment, the correction judging unit includes:
an error limit subunit for determining a vehicle acceleration error limit based on the vehicle speed measurement accuracy.
A correction judging subunit, configured to respectively judge whether positive and negative values between the first average acceleration and the second acceleration in the non-stationary time period are the same, and judge whether an absolute value of a difference between the first average acceleration and the second acceleration is greater than a vehicle acceleration error limit;
a correction-free subunit, configured to determine that correction of the vehicle speed of the non-stationary time period is not required when the first average acceleration and the second acceleration are the same in sign and the absolute value of the difference between the first average acceleration and the second acceleration is not greater than the vehicle acceleration error limit;
and the speed correction subunit is used for determining that the vehicle speed of the non-stationary time period needs to be corrected when the positive and negative difference between the first average acceleration and the second acceleration or the absolute value of the difference between the first average acceleration and the second acceleration is larger than the vehicle acceleration error limit value.
In an alternative embodiment, the speed correction unit includes:
the sampling is to calculate the sub-unit, is used for based on the sampling frequency of the vehicle speed data, calculate the minimum time interval to get vehicle speed data sampling.
And the corrected speed calculating subunit is used for calculating the corrected vehicle speed of the non-stationary time period based on the first average acceleration, the minimum time interval and the vehicle speed corresponding to the non-stationary time period.
In an alternative embodiment, the vehicle speed screening module 905 includes:
the differential step setting unit is used for setting a plurality of acceleration change rate ranges and differential step corresponding to different acceleration change rate ranges.
The differential step length determining unit is used for determining the acceleration differential step length corresponding to the acceleration change rate based on the dependency relationship between the acceleration change rate and the acceleration change rate range.
In an alternative embodiment, the acceleration calculation module 906 includes:
and the speed difference calculating unit is used for calculating the speed difference between the second vehicle speed and the first vehicle speed.
And the acceleration calculation unit is used for calculating the quotient of the speed difference value and the acceleration difference step length to obtain the vehicle acceleration at the target moment.
Further functional descriptions of the above respective modules and units are the same as those of the above corresponding embodiments, and are not repeated here.
The vehicle acceleration computing device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit ) circuit, a processor and memory executing one or more software or firmware programs, and/or other devices that can provide the above-described functionality.
The embodiment of the invention also provides a computer device which is provided with the vehicle acceleration calculating device shown in the figure 9.
Referring to fig. 10, fig. 10 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, as shown in fig. 10, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 10.
The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.
Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform the methods shown in implementing the above embodiments.
The memory 20 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.
The computer device further comprises input means 30 and output means 40. The processor 10, memory 20, input device 30, and output device 40 may be connected by a bus or other means, for example in fig. 10.
The input device 30 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointer stick, one or more mouse buttons, a trackball, a joystick, and the like. The output means 40 may include a display device, auxiliary lighting means (e.g., LEDs), tactile feedback means (e.g., vibration motors), and the like. Such display devices include, but are not limited to, liquid crystal displays, light emitting diodes, displays and plasma displays. In some alternative implementations, the display device may be a touch screen.
The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims (10)

1. A vehicle acceleration calculation method, characterized in that the method comprises:
acquiring vehicle speed data;
setting a first differential step length, and calculating initial acceleration at different moments based on the first differential step length and the vehicle speed data;
setting a second differential step length, and screening to obtain a first initial acceleration corresponding to a target moment and a second initial acceleration corresponding to a next second differential step length moment corresponding to the target moment based on the second differential step length;
calculating to obtain an acceleration change rate based on the first initial acceleration and the second initial acceleration;
determining an acceleration difference step length based on the acceleration change rate, and screening to obtain a first vehicle speed corresponding to the target moment and a second vehicle speed corresponding to the corresponding next acceleration difference step length moment;
and calculating the vehicle acceleration at the target moment based on the first vehicle speed, the second vehicle speed and the acceleration difference step length.
2. The method of claim 1, wherein prior to said setting a first differential step, calculating an initial acceleration based on said first differential step and said vehicle speed data, said method further comprises:
Screening to obtain a stationary time period of the vehicle based on the vehicle speed data and the measurement accuracy of the vehicle speed, and setting the vehicle speed corresponding to the stationary time period of the vehicle to 0;
dividing a vehicle non-stationary time period into a plurality of non-stationary time sub-periods based on the sampling frequency of the vehicle speed data and the measurement accuracy of the vehicle speed;
calculating to obtain a first average acceleration of each non-stationary time sub-section;
calculating to obtain a second acceleration at each moment in each non-stationary time sub-period;
judging whether the vehicle speed of each non-stationary time sub-period needs to be corrected or not based on the first average acceleration, the second acceleration and the vehicle speed measurement precision of the non-stationary time sub-period;
when the vehicle speed of the non-stationary time period needs to be corrected, the vehicle speed is corrected, and corrected vehicle speed data is obtained.
3. The method according to claim 2, wherein the screening for a period of time during which the vehicle is stationary based on the vehicle speed and the vehicle speed measurement accuracy includes:
determining a vehicle speed measurement error based on the measurement accuracy of the vehicle speed;
Judging whether the vehicle speed is smaller than the vehicle speed measurement error in the current time period;
and when the vehicle speed in the current time period is smaller than the vehicle speed measurement error, determining that the current time period is the time period when the vehicle is stationary.
4. The method of claim 2, wherein the determining whether the vehicle speed for each of the non-stationary time sub-periods needs to be corrected based on the first average acceleration, the second acceleration, and the vehicle speed measurement accuracy for the non-stationary time sub-period comprises:
determining a vehicle acceleration error limit based on the vehicle speed measurement accuracy;
respectively judging whether the positive and negative of the first average acceleration and the second acceleration of the non-stationary time sub-section are the same or not, and judging whether the absolute value of the difference between the first average acceleration and the second acceleration is larger than the vehicle acceleration error limit value or not;
determining that no correction to the vehicle speed for the non-stationary time period is required when the first average acceleration and the second acceleration are the same in sign and the absolute value of the difference between the first average acceleration and the second acceleration is not greater than the vehicle acceleration error limit;
And determining that the vehicle speed of the non-stationary time period needs to be corrected when the positive and negative difference between the first average acceleration and the second acceleration or the absolute value of the difference between the first average acceleration and the second acceleration is larger than the vehicle acceleration error limit value.
5. The method of claim 4, wherein correcting the vehicle speed to obtain a corrected vehicle speed comprises:
calculating a minimum time interval for sampling the vehicle speed data based on the sampling frequency of the vehicle speed data;
and calculating the corrected vehicle speed of the non-stationary time period based on the first average acceleration, the minimum time interval and the vehicle speed corresponding to the non-stationary time period.
6. The method of claim 1, wherein the determining an acceleration differential step based on the acceleration rate of change comprises:
setting a plurality of acceleration change rate ranges and differential step sizes corresponding to different acceleration change rate ranges;
and determining the acceleration difference step length corresponding to the acceleration change rate based on the subordination relation between the acceleration change rate and the acceleration change rate range.
7. The method according to any one of claims 1-6, wherein the calculating the vehicle acceleration at the target time based on the first vehicle speed, the second vehicle speed, and the acceleration differential step includes:
calculating a speed difference of the second vehicle speed and the first vehicle speed;
and calculating the quotient of the speed difference and the acceleration difference step length to obtain the vehicle acceleration at the target moment.
8. A vehicle acceleration computing device, characterized in that the device comprises:
the speed acquisition module is used for acquiring vehicle speed data;
the initial acceleration calculation module is used for setting a first differential step length and calculating initial accelerations at different moments based on the first differential step length and the vehicle speed data;
the acceleration screening module is used for setting a second differential step length, and screening and obtaining a first initial acceleration corresponding to a target moment and a second initial acceleration corresponding to a next second differential step length moment corresponding to the target moment based on the second differential step length;
the acceleration change rate calculation module is used for calculating the acceleration change rate based on the first initial acceleration and the second initial acceleration;
The vehicle speed screening module is used for determining an acceleration difference step length based on the acceleration change rate, and screening to obtain a first vehicle speed corresponding to the target moment and a second vehicle speed corresponding to the corresponding next acceleration difference step length moment;
and the acceleration calculation module is used for calculating the vehicle acceleration at the target moment based on the first vehicle speed, the second vehicle speed and the acceleration difference step length.
9. A computer device, comprising:
a memory and a processor communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the vehicle acceleration calculation method of any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the vehicle acceleration calculation method according to any one of claims 1 to 7.
CN202311147830.2A 2023-09-07 2023-09-07 Vehicle acceleration calculation method, device, computer equipment and storage medium Active CN116879579B (en)

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