CN118124592B - Vehicle speed estimation method, system, equipment and medium for non-all-wheel drive vehicle - Google Patents
Vehicle speed estimation method, system, equipment and medium for non-all-wheel drive vehicle Download PDFInfo
- Publication number
- CN118124592B CN118124592B CN202410551538.5A CN202410551538A CN118124592B CN 118124592 B CN118124592 B CN 118124592B CN 202410551538 A CN202410551538 A CN 202410551538A CN 118124592 B CN118124592 B CN 118124592B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- vehicle speed
- wheel
- equivalent
- data set
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 66
- 230000001133 acceleration Effects 0.000 claims abstract description 118
- 230000004927 fusion Effects 0.000 claims abstract description 44
- 238000004364 calculation method Methods 0.000 claims description 25
- 238000004590 computer program Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 14
- 235000008694 Humulus lupulus Nutrition 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000009191 jumping Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
-
- 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
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- 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
- 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
- B60W40/107—Longitudinal acceleration
-
- 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
- B60W40/109—Lateral acceleration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Artificial Intelligence (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention provides a vehicle speed estimation method, a system, equipment and a medium of a non-all-wheel drive vehicle, and relates to the technical field of vehicle testing, wherein the method comprises the following steps: acquiring a first data set, and calculating four equivalent vehicle speeds according to the first data set; acquiring brake master cylinder pressure and a second data set, and calculating fusion acceleration according to the second data set; under the condition that the pressure of the brake master cylinder is smaller than or equal to a first threshold value, calculating according to two equivalent vehicle speeds corresponding to the driven wheels to obtain an estimated vehicle speed; judging whether the wheels are locked or not under the condition that the brake master cylinder pressure is larger than a first threshold value and smaller than a second threshold value; if the wheel is locked, acquiring a reference vehicle speed, and calculating an estimated vehicle speed according to the reference vehicle speed and the fusion acceleration; the reference vehicle speed is the vehicle speed estimated in the previous time period. The method provided by the invention can be used for respectively estimating the vehicle speed of the two-wheel drive vehicle under the normal running working condition and the wheel locking working condition, is simple and improves the accuracy of vehicle speed estimation.
Description
Technical Field
The invention relates to the technical field of vehicle testing, in particular to a vehicle speed estimation method, a system, equipment and a medium of a non-all-wheel drive vehicle.
Background
The vehicle speed estimation is taken as an important basic parameter for the automobile kinematics research, plays a role in monitoring the motion state of the vehicle and controlling the torque, the traditional vehicle speed estimation algorithm directly adopts the wheel speed of the chassis ESC to calculate the vehicle speed, and once the conditions of slipping, locking and the like of wheels exist, the estimated vehicle speed is quite large in difference from the actual vehicle speed of the whole automobile, and the reference value is often not provided. In order to ensure the accuracy of vehicle speed estimation, the working conditions considered by the advanced vehicle speed estimation are too complex, so that interference influence factors are numerous, and the vehicle speed estimation method for the two-wheel drive vehicle by using the vehicle speed estimation method of the four-wheel drive vehicle is complex, and has lower reliability and accuracy. Therefore, a method for estimating the vehicle speed of a two-wheel drive vehicle is needed.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings of the prior art, it is desirable to provide a method, system, apparatus, and medium for estimating vehicle speed of a non-all-wheel drive vehicle that addresses the foregoing problems.
A first aspect of the present invention provides a method of estimating the speed of a non-all-wheel drive vehicle, the method comprising the steps of:
Acquiring a first data set, and calculating four equivalent vehicle speeds according to the first data set; the first data set at least comprises wheel rotation speed information, vehicle steering information and vehicle body parameter information, and the equivalent vehicle speed is the moving speed of the wheels in the vehicle mass center position in an equivalent manner;
Acquiring brake master cylinder pressure and a second data set, and calculating a first acceleration fusion acceleration according to the second data set; the second data set includes at least a longitudinal acceleration, a lateral acceleration, and a road grade of the vehicle;
Under the condition that the brake master cylinder is smaller than or equal to a first threshold value, calculating according to two equivalent vehicle speeds corresponding to the driven wheels to obtain an estimated vehicle speed;
Judging whether wheels are locked or not under the condition that the brake master cylinder pressure is larger than a first threshold value and smaller than a second threshold value; if the wheel is locked, acquiring a reference vehicle speed, and calculating the estimated vehicle speed according to the reference vehicle speed and the first acceleration fusion acceleration; the reference vehicle speed is the vehicle speed estimated in the previous time period.
According to the technical scheme provided by the invention, after four equivalent vehicle speeds are obtained through calculation according to the first data set, before the brake master cylinder pressure and the second data set are obtained, the method further comprises the following steps:
Calculating according to the four equivalent vehicle speeds to obtain four corresponding equivalent accelerations;
under the condition that the brake master cylinder pressure is larger than a first threshold value and smaller than a second threshold value, judging whether wheels are locked or not, and specifically comprising the following steps:
calling a preset database according to the vehicle steering information to obtain a desired yaw rate;
Judging whether the vehicle meets a sideslip working condition judgment condition, a drifting working condition judgment condition or a full wheel locking working condition judgment condition according to the expected yaw angular velocity, the four equivalent vehicle speeds and the four equivalent accelerations; judging wheel locking when one of the side slip working condition judging condition, the drifting working condition judging condition or the full wheel locking working condition judging condition is met; when the vehicle meets the side slip working condition judging condition, only the front axle wheel is locked, when the vehicle meets the drifting working condition judging condition, only the rear axle wheel is locked, and when the full wheel locking working condition judging condition is met, both the front axle wheel and the rear axle wheel are locked.
According to the technical scheme provided by the invention, after the brake master cylinder pressure and the second data set are acquired, the method further comprises the following steps:
And under the condition that the pressure of the brake master cylinder is larger than or equal to the second threshold value, calculating and obtaining the estimated vehicle speed according to the two equivalent vehicle speeds corresponding to the driven wheels.
According to the technical scheme provided by the invention, when the brake master cylinder is larger than or equal to the second threshold value, the estimated vehicle speed is obtained by calculating the two equivalent vehicle speeds corresponding to the driven wheels, and then the method further comprises the following steps:
And when judging that the vehicle meets the mechanical braking and the wheels are not locked according to the four equivalent vehicle speeds and the four equivalent accelerations, selecting the minimum value of the four equivalent vehicle speeds as the minimum limiting vehicle speed of the current working condition.
According to the technical scheme provided by the invention, after the fusion acceleration is calculated according to the second data set, the method further comprises the following steps:
Accumulating the jump times of the two driven wheels; the jump is that the equivalent acceleration corresponding to the driven wheel is switched from being smaller than the fusion acceleration threshold value to being larger than the second acceleration threshold value or from being larger than the second acceleration threshold value to being smaller than the fusion acceleration threshold value, and the fusion acceleration threshold value is smaller than the second acceleration threshold value;
and when at least one of the times of jump of the two driven wheels in the set time period is judged to be more than the set times, acquiring the reference vehicle speed, and calculating the estimated vehicle speed according to the reference vehicle speed and the fusion acceleration.
According to the technical scheme provided by the invention, after the times of jumping of the two driven wheels are accumulated, the method further comprises the following steps:
And when at least one of the times of jump of the two driven wheels in the set time period is not met and is larger than the set times, calculating and obtaining the estimated vehicle speed according to the two equivalent vehicle speeds corresponding to the driven wheels.
According to the technical scheme provided by the invention, the estimated vehicle speed is obtained by calculating according to the two equivalent vehicle speeds corresponding to the driven wheels, and the method specifically comprises the following steps of:
Acquiring a driving mode of the vehicle according to the configuration of the vehicle, and determining driven wheels of the vehicle according to the driving mode; the drive modes include front wheel drive and rear wheel drive;
and obtaining two equivalent vehicle speeds corresponding to the driven wheels, and calculating the average value of the two equivalent vehicle speeds corresponding to the driven wheels to obtain the estimated vehicle speed.
A second aspect of the invention provides a vehicle speed estimation system for a non-all wheel drive vehicle, the system comprising:
The first calculation module is configured to acquire a first data set, and calculate four equivalent vehicle speeds according to the first data set; the first data set at least comprises wheel rotation speed information, vehicle steering information and vehicle body parameter information, and the equivalent vehicle speed is the moving speed of the wheels in the vehicle mass center position in an equivalent manner;
The second calculation module is configured to acquire brake master cylinder pressure and a second data set, and calculate fusion acceleration according to the second data set; the second data set includes at least a longitudinal acceleration, a lateral acceleration, and a road grade of the vehicle;
The first processing module is configured to calculate and obtain an estimated vehicle speed according to the two equivalent vehicle speeds corresponding to the driven wheels under the condition that the brake master cylinder is smaller than or equal to a first threshold value;
The second processing module is configured to judge whether wheels are locked or not under the condition that the brake master cylinder pressure is larger than a first threshold value and smaller than a second threshold value; if the wheel is locked, acquiring a reference vehicle speed, and calculating the estimated vehicle speed according to the fusion acceleration and the reference vehicle speed; the reference vehicle speed is the vehicle speed estimated in the previous time period.
A third aspect of the present invention provides a terminal device comprising a memory, a processor and a computer program stored in the memory and operable on the processor, the processor executing the computer program to perform the steps of the method for estimating vehicle speed of a non-all wheel drive vehicle as claimed in any one of the preceding claims.
A fourth aspect of the present invention provides a computer-readable storage medium having a computer program which, when executed by a processor, implements the steps of the vehicle speed estimation method of the non-all-wheel drive vehicle as set forth in any one of the above.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the equivalent vehicle speed of four wheels is calculated in real time according to a first data set which can be acquired on the vehicle, the fusion acceleration is calculated according to a second data set which can be acquired on the vehicle, and then the working condition of the vehicle is judged by judging the relation between the pressure of a brake master cylinder and a first threshold value and a second threshold value, the estimated vehicle speed is calculated according to the equivalent vehicle speed corresponding to two driven wheels when the vehicle runs normally, and the estimated vehicle speed is calculated according to the vehicle speed estimated in the previous time period and the fusion acceleration integration when the vehicle wheels are locked; the method provided by the invention adopts different methods to estimate the vehicle speed according to different vehicle working conditions, is simple, can effectively estimate the vehicle speed under abnormal working conditions, and improves the efficiency and accuracy of estimating the vehicle speed of the two-drive vehicle.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart showing the steps of a method for estimating the vehicle speed of a non-all-wheel drive vehicle according to embodiment 1;
fig. 2 is a schematic structural diagram of a vehicle speed estimation system of a non-all-wheel drive vehicle provided in embodiment 2:
Fig. 3 is a schematic diagram of a computer system structure of a terminal device according to embodiment 3.
Reference numerals: 101. a CPU; 102. a ROM; 103. a RAM; 104. a bus; 105. an I/O interface; 106. an input section; 107. an output section; 108. a storage section; 109. a communication section; 110. a driver; 111. a removable medium; 201. a first computing module; 202. a second computing module; 203. a first processing module; 204. and a second processing module.
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 of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
Referring to fig. 1, the present invention provides a method for estimating a vehicle speed of a non-all-wheel drive vehicle, comprising the steps of:
S1, acquiring a first data set, and calculating according to the first data set to acquire four equivalent vehicle speeds; the first data set at least comprises wheel rotation speed information, vehicle steering information and vehicle body parameter information, and the equivalent vehicle speed is the moving speed of the wheels in the vehicle mass center position;
S2, acquiring brake master cylinder pressure and a second data set, and calculating fusion acceleration according to the second data set; the second data set includes at least a longitudinal acceleration, a lateral acceleration, and a road grade of the vehicle;
s3, under the condition that the braking main cylinder is smaller than or equal to a first threshold value, calculating according to two equivalent vehicle speeds corresponding to the driven wheels to obtain an estimated vehicle speed;
S4, judging whether the wheels are locked or not under the condition that the brake master cylinder pressure is larger than a first threshold value and smaller than a second threshold value; if the wheel is locked, acquiring a reference vehicle speed, and calculating an estimated vehicle speed according to the reference vehicle speed and the fusion acceleration; the reference vehicle speed is the vehicle speed estimated in the previous time period.
Specifically, a plurality of sensors for measuring different parameters are arranged on the vehicle, and the sensors can monitor various parameters of the vehicle in real time during driving. The first data set consists of three parts, namely wheel rotation speed information, vehicle steering information and vehicle body parameter information, wherein the wheel rotation speed information comprises the rotation speeds of four wheels, the vehicle steering information comprises the rotation angle and the actual yaw rate of a steering wheel, and the vehicle body parameter information comprises the distance from the mass center of the vehicle to a front axle, the wheel tread of the front axle and the radius of the four wheels; the rotation speed of the wheels, the rotation angle of the steering wheel and the actual yaw rate are all measured through sensors, and the distance from the mass center of the vehicle to the front axle, the wheel distance of the front axle and the radius of the four wheels are known according to the vehicle configuration.
Specifically, in step S1, after the first data set is acquired, the rotation angle of the wheel is first calculated according to the rotation angle of the steering wheel, as shown in formula (one):
Formula 1
In the method, in the process of the invention,Representing the rotation angle of the wheel,Representing the rotation angle of the steering wheel,AndAre all constant and dependent on the vehicle configuration;
The actual speed of each wheel is then calculated from the rotational speed of the wheel and the radius of the wheel, as shown in equation (two):
Formula II
In the method, in the process of the invention,Representing the actual speed of any wheel,Representing the rotational speed of the wheel,Representing the radius of the wheel; /(I)Representing the wheel code of each position, including、、、WhereinRepresenting the left front wheel,Representing the right front wheel,Representing the left rear wheel,Representing the right rear wheel;
after the rotation angle of the wheel and the actual speed of each wheel are obtained, calculating four equivalent vehicle speeds according to the rotation angle of the wheel, the actual speed of each wheel and the first data set, wherein the calculation method is as shown in a formula (III):
Formula (III)
In the method, in the process of the invention,Representing the actual yaw rate,Is the distance from the centroid to the front axis,For the front axle track,Representing the equivalent vehicle speed corresponding to the right front wheel,Representing the equivalent vehicle speed corresponding to the left front wheel,Representing the equivalent vehicle speed corresponding to the right rear wheel,Representing the equivalent vehicle speed corresponding to the left rear wheel,Representing the corresponding actual speed of the left front wheel,Representing the actual speed corresponding to the right front wheel,Representing the corresponding actual speed of the left rear wheel,Indicating the actual speed corresponding to the right rear wheel.
Further, after four equivalent vehicle speeds are obtained through calculation according to the first data set, before the brake master cylinder pressure and the second data set are obtained, the method further comprises the following steps:
And calculating according to the four equivalent vehicle speeds to obtain four corresponding equivalent accelerations.
Specifically, four equivalent accelerations are obtained by differentiating the four equivalent vehicle speeds, respectively.
Specifically, a master cylinder is used to provide pressure to the braking mechanisms of the front and rear wheels of the vehicle, and the master cylinder pressure is obtained by a sensor. The second data set at least comprises longitudinal acceleration, lateral acceleration and road gradient of the vehicle, wherein the longitudinal acceleration, the lateral acceleration and the road gradient are all obtained through the sensor, the longitudinal acceleration is acceleration along the longitudinal direction of the vehicle, the lateral acceleration is acceleration along the transverse direction of the vehicle, and the road gradient is an included angle between the ground and the horizontal plane of the vehicle.
In step S2, the master cylinder pressure, the longitudinal acceleration, the lateral acceleration and the road gradient are collected by the sensor, and then the fusion acceleration is calculated according to the longitudinal acceleration, the lateral acceleration and the road gradient, and the calculation method is as shown in formula (four):
Formula (IV)
In the method, in the process of the invention,Representing fusion acceleration,Representing longitudinal acceleration,Represents lateral acceleration, g represents gravitational acceleration,Representing road grade,The judgment conditions are represented, namely, the calculation methods of fusion acceleration are different under different conditions.
After the fusion acceleration is obtained, the brake master cylinder pressure is respectively compared with a first threshold value and a second threshold value, in the embodiment, the first threshold value is 2Bar, the second threshold value is 5Bar, and when the brake master cylinder pressure is judged to be smaller than or equal to the first threshold value, the step S3 is executed, and at the moment, the estimated vehicle speed is obtained through calculation according to two equivalent vehicle speeds corresponding to the driven wheels;
further, the estimated vehicle speed is obtained by calculating according to two equivalent vehicle speeds corresponding to the driven wheels, and the method specifically comprises the following steps:
Acquiring a driving mode of the vehicle according to the configuration of the vehicle, and determining driven wheels of the vehicle according to the driving mode; the drive modes include front wheel drive and rear wheel drive;
And obtaining two equivalent vehicle speeds corresponding to the driven wheels, and calculating the average value of the two equivalent vehicle speeds corresponding to the driven wheels to obtain an estimated vehicle speed.
Specifically, the driving mode of the vehicle is determined by the configuration of the vehicle, and since the present invention mainly performs vehicle speed estimation for the two-drive vehicle type, the driving mode of the vehicle can only be one of front wheel drive or rear wheel drive, and thus the driving mode can be determined according to the configuration of the vehicle; if the vehicle is front-wheel driven, the rear wheels are driven wheels, and if the vehicle is rear-wheel driven, the front wheels are driven wheels. When the pressure of the brake master cylinder is smaller than or equal to a first threshold value, the vehicle is considered to be in a normal driving and sliding energy recovery working condition, and in the state of only electric driving or electric braking, the driven wheel is a driven wheel, so that the driven wheel does not participate in driving and electric braking, and is not influenced by the driving force of a motor or the recovery counter drag force, and therefore the equivalent vehicle speed corresponding to the driven wheel is highly matched with the actual vehicle speed, and the vehicle speed is estimated by adopting the equivalent vehicle speeds of left and right wheels in the driven wheel, and the driven wheel is taken as a front wheel as an example, and the estimation method is shown as a formula (fifth):
Formula (five)
In the method, in the process of the invention,Representing an estimated vehicle speed calculated by the first method;
when the brake master cylinder pressure is greater than the first threshold value and less than the second threshold value, the step S4 is started to determine whether the wheel is locked, including the steps of:
calling a preset database according to the vehicle steering information to obtain the expected yaw rate;
judging whether the vehicle meets the sideslip condition judgment condition, the drifting condition judgment condition or the all-wheel locking condition judgment condition according to the expected yaw rate, the four equivalent vehicle speeds and the four equivalent accelerations; judging wheel locking when one of side slip working condition judgment conditions, drift working condition judgment conditions or full wheel locking working condition judgment conditions is met; when the vehicle meets the sideslip working condition judgment condition, only the front axle wheel of the vehicle is locked, when the vehicle meets the drifting working condition judgment condition, only the rear axle wheel of the vehicle is locked, and when the vehicle meets the all-wheel locking working condition judgment condition, both the front axle wheel and the rear axle wheel of the vehicle are locked.
Specifically, a preset database is called according to the steering wheel rotation angle to obtain the expected yaw rate, the preset database comprises a plurality of steering wheel rotation angles and the expected yaw rate corresponding to each steering wheel rotation angle, the preset database is set by a tester, and the preset database is shown in the following table 1:
Table 1 preset database
Then, according to the four equivalent vehicle speeds, respectively making a difference with the estimated vehicle speed in the previous time period and taking an absolute value, thereby obtaining four vehicle speed comparison values; meanwhile, according to four equivalent accelerations, respectively making differences with the acceleration of the vehicle at the current moment and taking absolute values, so as to obtain four acceleration comparison values, wherein the acceleration of the vehicle during running at the moment is obtained according to a sensor; meanwhile, calculating the difference between the expected yaw rate and the actual yaw rate and taking an absolute value, so as to obtain a yaw rate comparison value; the calculation method of the estimated vehicle speed in the default first time period is shown in a formula (fifth), and the set time period is 10ms;
When judging that the yaw rate contrast value is larger than a first set value, and the larger one of the two vehicle speed contrast values corresponding to the left rear wheel and the right rear wheel is larger than a second set value, or the larger one of the two acceleration contrast values corresponding to the left rear wheel and the right rear wheel is larger than a third set value, judging that the vehicle meets the drift condition judgment condition, namely, considering that the vehicle is locked only by the rear wheel; in this embodiment, the first set value is 0.5, the second set value is 0.7, and the third set value is 8;
When judging that the yaw rate contrast value is larger than a first set value, and the larger one of the two vehicle speed contrast values corresponding to the left front wheel and the right front wheel is larger than a second set value, or the larger one of the two acceleration contrast values corresponding to the left front wheel and the right front wheel is larger than a third set value, judging that the vehicle meets the sideslip working condition judging condition, namely, considering that only the front wheels of the vehicle are locked;
When the estimated vehicle speed in the last time period is judged to be larger than the fourth set value and the largest one of the four equivalent vehicle speeds is judged to be smaller than the fifth set value, judging that the vehicle meets the all-wheel locking working condition judgment condition, namely, considering that all four wheels of the vehicle are locked; in the present embodiment, the fourth setting value is 2, and the fifth setting value is 0.5;
the three conditions are all wheel locking conditions, and if one of the three conditions occurs, the wheel of the vehicle is determined to be locked, and the condition that the wheel locking condition is met Conditions of (2); except for the three conditions here, the remaining cases were all considered to be satisfiedIs the case in (2); whereinIndicating that the acceleration of the vehicle is greatly affected by the lateral acceleration at this time, the influence of the lateral acceleration is subtracted from the acceleration at this time, i.e., in equation (four)In the case of (1)/(5)And then expressed by fusion acceleration;
after judging that the wheel is locked, obtaining a reference vehicle speed, namely obtaining the vehicle speed estimated in the last time period, and then according to the reference vehicle speed and the vehicle speed The fusion acceleration obtained by calculation under the condition calculates the estimated vehicle speed, and the calculation method is shown in a formula (six):
formula (six)
In the method, in the process of the invention,Representing the estimated vehicle speed calculated by the second method,Representing the reference vehicle speed,Representation pairAnd integrating the fusion acceleration obtained by calculation under the condition.
Further, after the master cylinder pressure and the second data set are acquired, the method further comprises the steps of:
Under the condition that the pressure of the brake master cylinder is larger than or equal to a second threshold value, calculating and obtaining an estimated vehicle speed according to two equivalent vehicle speeds corresponding to the driven wheels.
Specifically, when the brake master cylinder pressure is determined to be greater than or equal to the second threshold value, the estimated vehicle speed is still obtained by calculating according to the two equivalent vehicle speeds corresponding to the driven wheels, and the specific calculation method refers to the formula (five).
Further, when the braking master cylinder is greater than or equal to the second threshold value, after the estimated vehicle speed is obtained by calculating according to the two equivalent vehicle speeds corresponding to the driven wheels, the method further comprises the following steps:
And when judging that the vehicle meets the conditions of mechanical braking and wheels are not locked according to the four equivalent vehicle speeds and the four equivalent accelerations, selecting the minimum value of the four equivalent vehicle speeds as the minimum limiting vehicle speed of the current working condition.
Specifically, when the vehicle is braked, wheels are easy to lock, if the estimated vehicle speed is lower due to the direct wheel speed estimation at the moment, the minimum limiting vehicle speed under the working condition is larger than the maximum value of four equivalent vehicle speeds; therefore, when it is determined that the larger one of the four vehicle speed contrast values corresponding to the four wheels is smaller than the sixth set value and the larger one of the four acceleration contrast values corresponding to the four wheels is smaller than the seventh set value, it is determined that the vehicle is mechanically braked but the wheels are not locked, which is defined as the conditionOtherwise, it is noted as condition; In this embodiment, the sixth setting value is 2, and the seventh setting value is 7; the calculation of the minimum vehicle speed at this time should be as shown in the following equation (seventh):
formula (seven)
In the method, in the process of the invention,Indicating a minimum vehicle speed limit.
Further, after calculating the fusion acceleration from the second data set, the method further comprises the following steps:
Accumulating the jump times of the two driven wheels; the jump is that the equivalent acceleration corresponding to the driven wheel is switched from being smaller than the fusion acceleration threshold value to being larger than the second acceleration threshold value or from being larger than the second acceleration threshold value to being smaller than the fusion acceleration threshold value, and the fusion acceleration threshold value is smaller than the second acceleration threshold value;
And when at least one of the times of jump of the two driven wheels in the set time period is judged to be greater than the set times, acquiring a reference vehicle speed, and calculating an estimated vehicle speed according to the reference vehicle speed and the fusion acceleration.
Specifically, after four equivalent accelerations are obtained, before the brake master cylinder pressure is compared with a first threshold value and a second threshold value, determining a driven wheel according to vehicle configuration, comparing two equivalent accelerations corresponding to the driven wheel with a fusion acceleration threshold value and a second acceleration threshold value at any time, recording a state smaller than the fusion acceleration threshold value once when each equivalent acceleration is smaller than the fusion acceleration threshold value, recording a state larger than the second acceleration threshold value once when each equivalent acceleration is larger than the second acceleration threshold value, and recording a state once when each equivalent acceleration is switched from the state smaller than the state to the state larger than the state or from the state larger than the state to the state smaller than the state, namely accumulating 1 for the times of jumping, wherein the occurrence of the jump of the equivalent acceleration indicates that the acceleration change of the vehicle is larger, and further indicates that the vehicle passes through wheels such as a deceleration strip, a hollow road surface and the like; when at least one of the times of jump corresponding to the two driven wheels in the set time period is judged to be larger than the set times, the equivalent vehicle speed corresponding to the driven wheels is considered to be abnormal, at the moment, the reference vehicle speed cannot be directly calculated according to the equivalent vehicle speed corresponding to the driven wheels, the estimated vehicle speed is required to be calculated according to the reference vehicle speed and the fusion acceleration, and the calculation method refers to a formula (six).
Further, after the times of jumping of the two driven wheels are accumulated, the method further comprises the following steps:
And when at least one of the times of jump of the two driven wheels in the set time period is not met and is larger than the set times, calculating according to the two equivalent vehicle speeds corresponding to the driven wheels to obtain an estimated vehicle speed.
Specifically, when it is determined that at least one of the times of jump corresponding to the two driven wheels in the set time period is not greater than the set times, it indicates that the vehicle does not pass through the situations of wheel jump such as a deceleration strip, a hollow road surface and the like, at this time, the equivalent vehicle speed corresponding to the driven wheels is not abnormal, and the calculation method of the reference vehicle speed refers to formula (five).
Example 2
Referring to fig. 2, the present embodiment provides a vehicle speed estimation system for a non-all-wheel drive vehicle, the system including:
The first calculation module 201, the first calculation module 201 is configured to obtain a first data set, and calculate four equivalent vehicle speeds according to the first data set; the first data set at least comprises wheel rotation speed information, vehicle steering information and vehicle body parameter information, and the equivalent vehicle speed is the moving speed of the wheels in the vehicle mass center position;
A second calculation module 202, the second calculation module 202 configured to obtain a master cylinder pressure and a second data set, calculate a fusion acceleration from the second data set; the second data set includes at least a longitudinal acceleration, a lateral acceleration, and a road grade of the vehicle;
The first processing module 203, where the first processing module 203 is configured to calculate and obtain an estimated vehicle speed according to two equivalent vehicle speeds corresponding to the driven wheels when the brake master cylinder is less than or equal to a first threshold;
The second processing module 204, the second processing module 204 is configured to determine whether the wheel is locked if the brake master cylinder pressure is greater than a first threshold value and less than a second threshold value; if the wheel is locked, acquiring a reference vehicle speed, and calculating an estimated vehicle speed according to the fusion acceleration and the reference vehicle speed; the reference vehicle speed is the vehicle speed estimated in the previous time period.
Specifically, the system provided in this embodiment is used to implement the vehicle speed estimation method of the non-all-wheel drive vehicle of embodiment 1 described above.
Example 3
Referring to fig. 3, the present embodiment provides a terminal device including a processor and a memory, wherein the memory stores a computer program, which when executed by the processor, causes the processor to perform the steps of the vehicle speed estimation method of the non-all-wheel-drive vehicle as in embodiment 1.
Specifically, the computer system of the terminal device includes a CPU101 that can execute various appropriate actions and processes according to a program stored in a ROM102 or a program loaded from a storage section 108 into a RAM 103. In the RAM103, various programs and data required for system operation are also stored. The CPU101, ROM102, and RAM103 are connected to each other through a bus 104. An I/O interface 105 is also connected to bus 104. The following components are connected to the I/O interface 105: an input section 106 including a keyboard, a mouse, and the like; an output section 107 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker, and the like; a storage section 108 including a hard disk or the like; and a communication section 109 including a network interface card such as a LAN card, a modem, and the like. The communication section 109 performs communication processing via a network such as the internet. The drives are also connected to the I/O interface 105 as needed. A removable medium 111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed on the drive 110 as needed, so that a computer program read out therefrom is installed into the storage section 108 as needed.
In particular, the process described above with reference to flowchart 1 may be implemented as a computer software program according to an embodiment of the invention. For example, embodiment 3 of the present invention includes a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowchart. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. When the computer program is executed by the CPU101, the above-described functions defined in the present computer system are performed.
Example 4
The present embodiment provides a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the vehicle speed estimation method of the non-all-wheel drive vehicle as in embodiment 1.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases. The described units or modules may also be provided in a processor, for example, as: a processor includes a first computing module 201, a second computing module 202, a first processing module 203, and a second processing module 204. The names of these units or modules do not in some cases limit the units or modules themselves, and for example, the first calculation module 201 may also be described as "acquiring a first data set, and calculating four equivalent vehicle speeds from the first data set".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the terminal device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer-readable medium carries one or more programs that, when executed by one of the electronic devices, cause the terminal device to implement the vehicle speed estimation method of the non-all-wheel-drive vehicle as in the above embodiment.
For example, the electronic device may implement as shown in fig. 1: s1, acquiring a first data set, and calculating according to the first data set to acquire four equivalent vehicle speeds; the first data set at least comprises wheel rotation speed information, vehicle steering information and vehicle body parameter information, and the equivalent vehicle speed is the moving speed of the wheels in the vehicle mass center position; s2, acquiring brake master cylinder pressure and a second data set, and calculating fusion acceleration according to the second data set; the second data set includes at least a longitudinal acceleration, a lateral acceleration, and a road grade of the vehicle; s3, under the condition that the braking main cylinder is smaller than or equal to a first threshold value, calculating according to two equivalent vehicle speeds corresponding to the driven wheels to obtain an estimated vehicle speed; s4, judging whether the wheels are locked or not under the condition that the brake master cylinder pressure is larger than a first threshold value and smaller than a second threshold value; if the wheel is locked, acquiring a reference vehicle speed, and calculating an estimated vehicle speed according to the reference vehicle speed and the fusion acceleration; the reference vehicle speed is the vehicle speed estimated in the previous time period.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with the disclosed embodiments of the invention. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Furthermore, although the steps of the methods of the present invention are depicted in the accompanying drawings in a particular order, this is not required to or suggested that the steps must be performed in this particular order or that all of the steps shown be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware.
The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the invention referred to in the present invention is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.
Claims (10)
1. A method of estimating a vehicle speed of a non-all-wheel drive vehicle, the method comprising the steps of:
Acquiring a first data set, and calculating four equivalent vehicle speeds according to the first data set; the first data set at least comprises wheel rotation speed information, vehicle steering information and vehicle body parameter information, and the equivalent vehicle speed is the moving speed of the wheels in the vehicle mass center position in an equivalent manner;
Acquiring brake master cylinder pressure and a second data set, and calculating fusion acceleration according to the second data set; the second data set includes at least a longitudinal acceleration, a lateral acceleration, and a road grade of the vehicle;
Under the condition that the pressure of the brake master cylinder is smaller than or equal to a first threshold value, calculating according to two equivalent vehicle speeds corresponding to the driven wheels to obtain an estimated vehicle speed;
Judging whether wheels are locked or not under the condition that the brake master cylinder pressure is larger than a first threshold value and smaller than a second threshold value; if the wheel is locked, acquiring a reference vehicle speed, and calculating the estimated vehicle speed according to the reference vehicle speed and the fusion acceleration; the reference vehicle speed is the vehicle speed estimated in the previous time period.
2. The method for estimating a vehicle speed of a non-all-wheel-drive vehicle according to claim 1, wherein after the four equivalent vehicle speeds are calculated from the first data set, before the master cylinder pressure and the second data set are obtained, further comprising the steps of:
Calculating according to the four equivalent vehicle speeds to obtain four corresponding equivalent accelerations;
under the condition that the brake master cylinder pressure is larger than a first threshold value and smaller than a second threshold value, judging whether wheels are locked or not, and specifically comprising the following steps:
calling a preset database according to the vehicle steering information to obtain a desired yaw rate;
Judging whether the vehicle meets a sideslip working condition judgment condition, a drifting working condition judgment condition or a full-wheel locking working condition judgment condition according to the expected yaw angular velocity, the four equivalent vehicle speeds and the four equivalent accelerations, and judging that the wheel is locked when one of the sideslip working condition judgment condition, the drifting working condition judgment condition or the full-wheel locking working condition judgment condition is met; when the vehicle meets the side slip working condition judging condition, only the front axle wheel is locked, when the vehicle meets the drifting working condition judging condition, only the rear axle wheel is locked, and when the full wheel locking working condition judging condition is met, both the front axle wheel and the rear axle wheel are locked.
3. The method for estimating a vehicle speed of a non-all-wheel drive vehicle according to claim 2, further comprising, after the acquiring of the master cylinder pressure and the second data set, the steps of:
And under the condition that the pressure of the brake master cylinder is larger than or equal to the second threshold value, calculating and obtaining the estimated vehicle speed according to the two equivalent vehicle speeds corresponding to the driven wheels.
4. The method according to claim 3, wherein, when the master cylinder pressure is greater than or equal to the second threshold value, the estimated vehicle speed is obtained by calculating the equivalent vehicle speeds corresponding to the driven wheels, and further comprising the steps of:
And when judging that the vehicle meets the mechanical braking and the wheels are not locked according to the four equivalent vehicle speeds and the four equivalent accelerations, selecting the minimum value of the four equivalent vehicle speeds as the minimum limiting vehicle speed of the current working condition.
5. The method for estimating a vehicle speed of a non-all-wheel-drive vehicle according to claim 4, further comprising the steps of, after calculating a fusion acceleration from the second data set:
Accumulating the jump times of the two driven wheels; the jump is that the equivalent acceleration corresponding to the driven wheel is switched from being smaller than a fusion acceleration threshold value to being larger than a second acceleration threshold value, or from being larger than the second acceleration threshold value to being smaller than the fusion acceleration threshold value, and the fusion acceleration threshold value is smaller than the second acceleration threshold value;
And when at least one of the times of jump of the two driven wheels in the set time period is judged to be more than the set times, acquiring the reference vehicle speed, and calculating the estimated vehicle speed according to the reference vehicle speed and the fusion acceleration.
6. The method for estimating a vehicle speed of a non-all-wheel-drive vehicle according to claim 5, further comprising the step of, after accumulating the number of hops between the two driven wheels:
And when at least one of the times of jump of the two driven wheels in the set time period is not met and is larger than the set times, calculating and obtaining the estimated vehicle speed according to the two equivalent vehicle speeds corresponding to the driven wheels.
7. The method for estimating a vehicle speed of a non-all-wheel-drive vehicle according to any one of claims 1 to 6, wherein the estimated vehicle speed is calculated from two equivalent vehicle speeds corresponding to driven wheels, and specifically comprising the steps of:
Acquiring a driving mode of the vehicle according to the configuration of the vehicle, and determining driven wheels of the vehicle according to the driving mode; the drive modes include front wheel drive and rear wheel drive;
and obtaining two equivalent vehicle speeds corresponding to the driven wheels, and calculating the average value of the two equivalent vehicle speeds corresponding to the driven wheels to obtain the estimated vehicle speed.
8. A vehicle speed estimation system for a non-all-wheel drive vehicle, the system comprising:
a first calculation module (201), wherein the first calculation module (201) is configured to obtain a first data set, and calculate four equivalent vehicle speeds according to the first data set; the first data set at least comprises wheel rotation speed information, vehicle steering information and vehicle body parameter information, and the equivalent vehicle speed is the moving speed of the wheels in the vehicle mass center position in an equivalent manner;
A second calculation module (202), the second calculation module (202) configured to obtain a brake master cylinder pressure and a second data set, calculate a fusion acceleration from the second data set; the second data set includes at least a longitudinal acceleration, a lateral acceleration, and a road grade of the vehicle;
The first processing module (203) is configured to calculate and obtain an estimated vehicle speed according to two equivalent vehicle speeds corresponding to a driven wheel under the condition that the brake master cylinder pressure is less than or equal to a first threshold value;
A second processing module (204), the second processing module (204) configured to determine whether a wheel is locked if the brake master cylinder pressure is greater than a first threshold and less than a second threshold; if the wheel is locked, acquiring a reference vehicle speed, and calculating the estimated vehicle speed according to the fusion acceleration and the reference vehicle speed; the reference vehicle speed is the vehicle speed estimated in the previous time period.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the method for estimating the speed of a non-all wheel drive vehicle according to any of claims 1-7.
10. A computer readable storage medium having a computer program, characterized in that the computer program when executed by a processor implements the steps of the method for estimating the vehicle speed of a non all wheel drive vehicle according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410551538.5A CN118124592B (en) | 2024-05-07 | 2024-05-07 | Vehicle speed estimation method, system, equipment and medium for non-all-wheel drive vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410551538.5A CN118124592B (en) | 2024-05-07 | 2024-05-07 | Vehicle speed estimation method, system, equipment and medium for non-all-wheel drive vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118124592A CN118124592A (en) | 2024-06-04 |
| CN118124592B true CN118124592B (en) | 2024-06-25 |
Family
ID=91244265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410551538.5A Active CN118124592B (en) | 2024-05-07 | 2024-05-07 | Vehicle speed estimation method, system, equipment and medium for non-all-wheel drive vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118124592B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118500528B (en) * | 2024-07-16 | 2024-10-08 | 成都赛力斯科技有限公司 | Signal processing method and device of multi-axis piezoelectric sensor and electronic equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9221671D0 (en) * | 1991-10-18 | 1992-11-25 | Honda Motor Co Ltd | Vehicle body speed estimating method in an anti-lock control system for vehicle |
| DE102015000931A1 (en) * | 2015-01-28 | 2016-07-28 | Elektronische Fahrwerksysteme GmbH | A method for determining a reference speed for a vehicle having at least two wheels and a control device and a braking device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5060219B2 (en) * | 2007-09-06 | 2012-10-31 | トヨタ自動車株式会社 | Vehicle control device |
| JP5125669B2 (en) * | 2008-03-25 | 2013-01-23 | トヨタ自動車株式会社 | Vehicle speed estimation device for four-wheel drive vehicles |
| JP6396188B2 (en) * | 2014-11-27 | 2018-09-26 | Ntn株式会社 | Vehicle body speed estimation device |
-
2024
- 2024-05-07 CN CN202410551538.5A patent/CN118124592B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9221671D0 (en) * | 1991-10-18 | 1992-11-25 | Honda Motor Co Ltd | Vehicle body speed estimating method in an anti-lock control system for vehicle |
| DE102015000931A1 (en) * | 2015-01-28 | 2016-07-28 | Elektronische Fahrwerksysteme GmbH | A method for determining a reference speed for a vehicle having at least two wheels and a control device and a braking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118124592A (en) | 2024-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN118124592B (en) | Vehicle speed estimation method, system, equipment and medium for non-all-wheel drive vehicle | |
| JP3418121B2 (en) | Apparatus and method for detecting tire wear state | |
| JP3150893B2 (en) | Tire identification method and device | |
| US10632978B2 (en) | Method and system for determining friction between the ground and a tire of a vehicle | |
| US20080319611A1 (en) | Vehicle Anti-Skid Brake Control System and Its Control Method | |
| JP2001519285A (en) | How to determine the state variables of a car | |
| CN108819950B (en) | Vehicle speed estimation method and system of vehicle stability control system | |
| JP6396465B2 (en) | Control of regenerative braking in electric or hybrid vehicles | |
| KR20220022514A (en) | Apparatus and method for estimating the friction coefficient of road surface | |
| CN112224213B (en) | Method for monitoring wheel friction force and estimating maximum friction force in real time | |
| JPWO2007091723A1 (en) | Vehicle operation measuring device, vehicle abnormal operation preventing device, and drive recorder | |
| JP3748334B2 (en) | Vehicle attitude control device | |
| JP2011037338A (en) | Vehicle slip determination device | |
| CN113968138B (en) | Anti-skid method for vehicle | |
| KR20160062622A (en) | Vehicle speed estimation method and system | |
| JP4582920B2 (en) | Tire wear state detecting device and method, and tire wear judging program | |
| JP2002362345A (en) | Road surface condition determining device and method and determining program of road surface condition | |
| JPH11115720A (en) | Estimation device of road surface friction coefficient | |
| JP3535358B2 (en) | Road friction coefficient estimation device | |
| JP4953503B2 (en) | Method and apparatus for detecting vehicle curving | |
| KR20150043579A (en) | Road Friction Coefficient Measuring Method | |
| JPH0390808A (en) | Road surface slope detector | |
| JP4107988B2 (en) | Road surface state determination device and method, and road surface state determination program | |
| US20240175679A1 (en) | Estimation apparatus for water film thickness on road surface | |
| CN116142210B (en) | Tire difference identification method, device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |