WO2023273859A1 - 搓板路面识别方法、装置、介质和控制器 - Google Patents

搓板路面识别方法、装置、介质和控制器 Download PDF

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WO2023273859A1
WO2023273859A1 PCT/CN2022/098457 CN2022098457W WO2023273859A1 WO 2023273859 A1 WO2023273859 A1 WO 2023273859A1 CN 2022098457 W CN2022098457 W CN 2022098457W WO 2023273859 A1 WO2023273859 A1 WO 2023273859A1
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real
rotational speed
road surface
time rotational
time
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PCT/CN2022/098457
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English (en)
French (fr)
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张阳
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长城汽车股份有限公司
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Publication of WO2023273859A1 publication Critical patent/WO2023273859A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
    • 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

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  • the present disclosure relates to the vehicle field, in particular, to a washboard road surface recognition method, device, medium and controller.
  • Washboard roads refer to roads shaped like washboards for laundry. When the vehicle passes the washboard road, it is prone to vehicle shaking, breaking and other phenomena. However, there is currently no effective method to identify the washboard road surface. Therefore, there is an urgent need for a method for identifying the washboard road surface for vehicle state control.
  • the purpose of the present disclosure is to provide a washboard road surface identification method, device, medium and controller, which can effectively identify the washboard road surface.
  • the first aspect of the present disclosure provides a washboard road surface recognition method, including: obtaining the vehicle speed and the real-time rotational speed of the drive motor; calculating the oscillation amplitude and oscillation frequency of the real-time rotational speed of the drive motor; based on the vehicle speed, the oscillation The amplitude and frequency of the oscillations identify the washboard pavement.
  • the identifying the washboard road surface based on the vehicle speed, the oscillation amplitude and the oscillation frequency includes: if the vehicle speed is within a preset vehicle speed range, and the first condition and the second condition are simultaneously met and the If the first condition and the second condition both meet the preset number of times continuously, the current road surface is identified as the washboard road surface, wherein the first condition is that the oscillation amplitude is greater than a preset amplitude threshold, and the second The second condition is that the oscillation frequency is within a preset frequency range.
  • the preset vehicle speed range is 2kph to 100kph.
  • the preset number of times is at least 5 times.
  • the preset amplitude threshold is at least 300 rpm.
  • the preset frequency range is 5 Hz-18 Hz.
  • the calculating the oscillation amplitude and oscillation frequency of the real-time rotational speed of the drive motor includes: obtaining a real-time rotational speed sinusoidal waveform diagram based on the real-time rotational speed of the driving motor; converting the real-time rotational speed sinusoidal waveform diagram into a real-time rotational speed square wave diagram: calculating the oscillation amplitude and the oscillation frequency of the real-time rotational speed of the drive motor based on the real-time rotational speed square wave diagram.
  • converting the real-time rotational speed sinusoidal waveform diagram into a real-time rotational speed square wave diagram includes: if n(t)>n(t-1) and n(t-1)>n(t-2) , then the level of the real-time speed square wave diagram is the first level; if n(t) ⁇ n(t-1) and n(t-1) ⁇ n(t-2), then the real-time speed The level of the square wave diagram is a second level, wherein the second level is a level opposite to the first level; wherein, n(t), n(t-1) and n(t- 2) represent the real-time rotational speeds of the driving motor at the tth, t-1 and t-2 moments respectively.
  • the second aspect of the present disclosure provides a washboard road surface recognition device, including: an acquisition module, used to obtain the vehicle speed and the real-time rotational speed of the drive motor; a calculation module, used to calculate the oscillation amplitude of the real-time rotational speed of the drive motor and an oscillation frequency; an identification module, configured to identify a washboard road surface based on the vehicle speed, the oscillation amplitude, and the oscillation frequency.
  • the identifying the washboard road surface based on the vehicle speed, the oscillation amplitude and the oscillation frequency includes: if the vehicle speed is within a preset vehicle speed range, and the first condition and the second condition are simultaneously met and the If the first condition and the second condition both meet the preset number of times continuously, the current road surface is identified as the washboard road surface, wherein the first condition is that the oscillation amplitude is greater than a preset amplitude threshold, and the second The second condition is that the oscillation frequency is within a preset frequency range.
  • the preset vehicle speed range is 2kph to 100kph.
  • the preset number of times is at least 5 times.
  • the preset amplitude threshold is at least 300 rpm.
  • the preset frequency range is 5 Hz-18 Hz.
  • the calculating the oscillation amplitude and oscillation frequency of the real-time rotational speed of the drive motor includes: obtaining a real-time rotational speed sinusoidal waveform diagram based on the real-time rotational speed of the driving motor; converting the real-time rotational speed sinusoidal waveform diagram into a real-time rotational speed square wave diagram: calculating the oscillation amplitude and the oscillation frequency of the real-time rotational speed of the drive motor based on the real-time rotational speed square wave diagram.
  • converting the real-time rotational speed sinusoidal waveform diagram into a real-time rotational speed square wave diagram includes: if n(t)>n(t-1) and n(t-1)>n(t-2) , then the level of the real-time speed square wave diagram is the first level; if n(t) ⁇ n(t-1) and n(t-1) ⁇ n(t-2), then the real-time speed The level of the square wave diagram is a second level, wherein the second level is a level opposite to the first level; wherein, n(t), n(t-1) and n(t- 2) represent the real-time rotational speeds of the driving motor at the tth, t-1 and t-2 moments respectively.
  • a third aspect of the present disclosure provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method described in the present disclosure are implemented.
  • a fourth aspect of the present disclosure provides a controller, including: a memory on which a computer program is stored; a processor configured to execute the computer program in the memory to implement the steps of the method in the present disclosure.
  • the embodiment of the fifth aspect of the present disclosure proposes a computer program, including computer readable codes, when the computer readable codes are run on a computing processing device, causing the computing processing device to execute the first aspect of the present disclosure.
  • the embodiment proposes a washboard road surface recognition method.
  • Fig. 1 is a flowchart of a washboard road surface recognition method according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic diagram of an exemplary real-time rotational speed curve of a vehicle.
  • Fig. 3 is a schematic diagram of a real-time rotational speed sinusoidal waveform of an exemplary driving motor.
  • Fig. 4 is a schematic diagram of an exemplary converted real-time rotational speed square wave.
  • Fig. 5 is a schematic block diagram of a washboard road surface recognition device according to an embodiment of the present disclosure.
  • Fig. 6 is a block diagram of a controller according to an exemplary embodiment.
  • Fig. 1 is a flowchart of a washboard road surface recognition method according to an embodiment of the present disclosure. This method can be applied to pure electric vehicles or hybrid vehicles, for example, it can be applied in the hybrid driving mode of hybrid vehicles (the engine drives the generator and the battery provides energy to the drive motor at the same time). As shown in Fig. 1, the method includes the following steps S11 to S13.
  • step S11 the vehicle speed and the real-time rotational speed of the driving motor are acquired.
  • the inventors of the present disclosure found that when the vehicle is running on a washboard road, sudden changes in the torque of components such as the gearbox and the crankshaft are likely to occur, causing the vehicle to vibrate, jolt, etc., and even extremely dangerous conditions such as broken axles. Moreover, due to the bumpy road surface, the fluctuation frequency of the real-time speed of the drive motor (that is, the frequency of change of the real-time speed in unit time) will increase, and when the vehicle is running on a normal road, the change of the real-time speed of the drive motor in unit time will not change. Not severe, as shown in the exemplary real-time speed curve of the vehicle in FIG. 2 .
  • step S12 the oscillation amplitude and oscillation frequency of the real-time rotational speed of the driving motor are calculated.
  • the oscillation amplitude of the real-time rotational speed of the driving motor refers to the difference between the peak-to-peak value of the real-time rotational speed of the driving motor, for example, the difference between the peak value and the valley value.
  • the oscillation frequency of the real-time rotational speed of the driving motor refers to the fluctuation frequency of the real-time rotational speed of the driving motor per unit time.
  • step S13 the washboard road surface is identified based on the vehicle speed, oscillation amplitude and oscillation frequency.
  • identifying the washboard road surface based on the vehicle speed, the oscillation amplitude and the oscillation frequency in step S13 includes: if the vehicle speed is within a preset vehicle speed range, and the first condition and the second condition If both the first condition and the second condition are met for a predetermined number of times continuously, the current road surface is identified as a washboard road surface, wherein the first condition is that the oscillation amplitude of the real-time rotational speed of the drive motor is greater than the preset amplitude threshold, The second condition is that the oscillation frequency of the real-time rotational speed of the driving motor is within a preset frequency range.
  • the preset vehicle speed range may be 2kph to 100kph, preferably 5kph to 80kph.
  • the preset number of times may be at least 5 times, such as 10 times.
  • the reason why the parameter of preset times is set is that a single real-time speed fluctuation of the driving motor is not enough to indicate that the current road surface is a washboard road.
  • the second condition shows that the current road surface may be a washboard road surface.
  • the preset amplitude threshold may be at least 300 rpm, for example, 400 rpm.
  • the preset frequency range may be 5 Hz-18 Hz, preferably 8-13 Hz.
  • the vehicle speed, the oscillation frequency and the oscillation amplitude of the real-time rotational speed of the driving motor can be used to identify the washboard road surface, not only the washboard road surface can be effectively identified, but also the accuracy of washboard road surface identification can be improved.
  • the calculation of the oscillation amplitude and oscillation frequency of the real-time rotational speed of the driving motor described in step S12 includes: obtaining a real-time rotational speed sinusoidal waveform diagram based on the real-time rotational speed of the driving motor; converting the real-time rotational speed sinusoidal waveform diagram into a real-time Speed square wave diagram: Based on the real-time speed square wave diagram, calculate the oscillation amplitude and oscillation frequency of the real-time speed of the drive motor.
  • the real-time speed of the drive motor can be simplified into a sine wave curve for processing, as shown in the exemplary real-time speed sine wave diagram of the drive motor shown in Figure 3 Show.
  • the real-time speed sinusoidal waveform diagram can be converted into a real-time speed square wave diagram in the following manner, that is: if n(t)>n(t-1) and n(t-1)>n(t -2), the level of the real-time speed square wave diagram is the first level; if n(t) ⁇ n(t-1) and n(t-1) ⁇ n(t-2), the real-time speed square The wave level is the second level, wherein the second level is the level opposite to the first level, wherein n(t), n(t-1) and n(t-2) represent the first The real-time rotational speed of the drive motor at time t, t-1 and t-2.
  • Fig. 4 is a schematic diagram of an exemplary converted real-time rotational speed square wave, wherein the first level is a low level, and the second level is a high level.
  • the oscillation amplitude of the real-time speed of the drive motor can be obtained by using the difference between the high and low levels of the square wave diagram, and the oscillation frequency of the real-time speed of the drive motor can be obtained by using the oscillation frequency of the square wave diagram.
  • the oscillation amplitude and oscillation frequency of the real-time rotational speed can be calculated in real time, so as to identify whether the current road surface is a washboard road surface.
  • Fig. 5 is a schematic block diagram of a washboard road surface recognition device according to an embodiment of the present disclosure.
  • the device includes: an acquisition module 51 for acquiring the vehicle speed and the real-time rotational speed of the driving motor; a calculation module 52 for calculating the oscillation amplitude and the oscillation frequency of the real-time rotational speed of the driving motor; an identification module 53 for A washboard road surface is identified based on the vehicle speed, the oscillation amplitude, and the oscillation frequency.
  • the vehicle speed, the oscillation frequency and the oscillation amplitude of the real-time rotational speed of the driving motor can be used to identify the washboard road surface, not only the washboard road surface can be effectively identified, but also the accuracy of washboard road surface identification can be improved.
  • the identifying the washboard road surface based on the vehicle speed, the oscillation amplitude and the oscillation frequency includes: if the vehicle speed is within a preset vehicle speed range, and the first condition and the second condition are simultaneously met and the If the first condition and the second condition both meet the preset number of times continuously, the current road surface is identified as the washboard road surface, wherein the first condition is that the oscillation amplitude is greater than a preset amplitude threshold, and the second The second condition is that the oscillation frequency is within a preset frequency range.
  • the preset vehicle speed range is 2kph to 100kph.
  • the preset number of times is at least 5 times.
  • the preset amplitude threshold is at least 300 rpm.
  • the preset frequency range is 5 Hz-18 Hz.
  • the calculating the oscillation amplitude and oscillation frequency of the real-time rotational speed of the drive motor includes: obtaining a real-time rotational speed sinusoidal waveform diagram based on the real-time rotational speed of the driving motor; converting the real-time rotational speed sinusoidal waveform diagram into a real-time rotational speed square wave diagram: calculating the oscillation amplitude and the oscillation frequency of the real-time rotational speed of the drive motor based on the real-time rotational speed square wave diagram.
  • converting the real-time rotational speed sinusoidal waveform diagram into a real-time rotational speed square wave diagram includes: if n(t)>n(t-1) and n(t-1)>n(t-2) , then the level of the real-time speed square wave diagram is the first level; if n(t) ⁇ n(t-1) and n(t-1) ⁇ n(t-2), then the real-time speed The level of the square wave diagram is a second level, wherein the second level is a level opposite to the first level; wherein, n(t), n(t-1) and n(t- 2) represent the real-time rotational speeds of the driving motor at the tth, t-1 and t-2 moments respectively.
  • Fig. 6 is a block diagram of a controller 700 according to an exemplary embodiment.
  • the controller 700 may include: a processor 701 and a memory 702 .
  • the controller 700 may also include one or more of a multimedia component 703 , an input/output (I/O) interface 704 , and a communication component 705 .
  • I/O input/output
  • the processor 701 is used to control the overall operation of the controller 700 to complete all or part of the steps in the above-mentioned washboard road recognition method.
  • the memory 702 is used to store various types of data to support the operation of the controller 700, for example, these data may include instructions for any application or method operating on the controller 700, and application-related data, Such as contact data, sent and received messages, pictures, audio, video, etc.
  • the memory 702 can be realized by any type of volatile or non-volatile memory device or their combination, such as Static Random Access Memory (Static Random Access Memory, referred to as SRAM), Electrically Erasable Programmable Read-Only Memory (EPROM) Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read-Only Memory, referred to as EPROM), Programmable Read-Only Memory (Programmable Read-Only Memory, referred to as PROM), read-only Memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM Static Random Access Memory
  • EPROM Electrically Erasable Programmable Read-Only Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • PROM Read-Only Memory
  • magnetic memory flash memory
  • flash memory magnetic disk or optical disk.
  • the controller 700 may be implemented by one or more application-specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), digital signal processors (Digital Signal Processor, DSP for short), digital signal processing equipment (Digital Signal Processing Device, referred to as DSPD), programmable logic device (Programmable Logic Device, referred to as PLD), field programmable gate array (Field Programmable Gate Array, referred to as FPGA), microcontroller, microprocessor or other electronic components to achieve, use To implement the above-mentioned washboard road surface recognition method.
  • ASIC Application Specific Integrated Circuit
  • DSP Digital Signal Processor
  • DSPD Digital Signal Processing Device
  • PLD programmable logic device
  • FPGA Field Programmable Gate Array
  • a computer-readable storage medium including program instructions.
  • the program instructions are executed by a processor, the steps of the above method for recognizing washboard road surfaces are implemented.
  • the computer-readable storage medium can be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the controller 700 to complete the above-mentioned washboard road recognition method.
  • the present disclosure also proposes a computer program, including computer-readable codes, which, when the computer-readable codes are run on a computing processing device, cause the computing processing device to execute the aforementioned washboard road surface recognition method .
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device, or device.
  • computer-readable media include the following: electrical connection with one or more wires (electronic device), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, since the program can be read, for example, by optically scanning the paper or other medium, followed by editing, interpretation or other suitable processing if necessary.
  • the program is processed electronically and stored in computer memory.
  • various parts of the present disclosure may be implemented in hardware, software, firmware or a combination thereof.
  • various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: a discrete Logic circuits, ASICs with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.
  • each functional unit in each embodiment of the present disclosure may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are realized in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.
  • the storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like.

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Abstract

本公开涉及一种搓板路面识别方法、装置、介质和控制器，属于车辆领域。一种搓板路面识别方法，包括：获取车速和驱动电机实时转速；计算所述驱动电机实时转速的振荡幅度和振荡频率；基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面。由于车辆在通过搓板路面时，路面颠簸会导致电机实时转速剧烈波动，因此利用车速、驱动电机实时转速的振荡频率和振荡幅度能够有效识别搓板路面，提高搓板路面识别的准确度。

Description

搓板路面识别方法、装置、介质和控制器
相关申请的交叉引用
本公开要求在2021年06月28日提交中国专利局、申请号为202110720138.9、名称为“搓板路面识别方法、装置、介质和控制器”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及车辆领域，具体地，涉及一种搓板路面识别方法、装置、介质和控制器。
背景技术
搓板路面指的是形如洗衣用的搓板的路面。车辆通过搓板路面时，容易出现车辆抖动、闯动等现象。然而，目前还没有有效的方法能够识别搓板路面，因此，目前亟需一种识别搓板路面的方法，以便进行车辆状态控制。
发明内容
本公开的目的是提供一种搓板路面识别方法、装置、介质和控制器，能够有效识别搓板路面。
为了实现上述目的，本公开第一方面提供一种搓板路面识别方法，包括：获取车速和驱动电机实时转速；计算所述驱动电机实时转速的振荡幅度和振荡频率；基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面。
可选地，所述基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面，包括：若所述车速位于预设车速范围内，而且第一条件和第二条件同时满足且所述第一条件和所述第二条件均分别连续满足预设次数，则将当前路面识别为所述搓板路面，其中，所述第一条件为所述振荡幅度大于预设幅度阈值，所述第二条件为所述振荡频率位于预设频率范围内。
可选地，所述预设车速范围为2kph至100kph。
可选地，所述预设次数为至少5次。
可选地，所述预设幅度阈值为至少300转/分钟。
可选地，所述预设频率范围为5hz～18hz。
可选地，所述计算所述驱动电机实时转速的振荡幅度和振荡频率，包括：基于所述驱动电机实时转速，得到实时转速正弦波形图；将所述实时转速正弦波形图转换为实时转速方波图；基于所述实时转速方波图，计算所述驱动电机实时转速的所述振荡幅度和所述振荡频率。
可选地，所述将所述实时转速正弦波形图转换为实时转速方波图，包括：若n(t)>n(t-1)且n(t-1)>n(t-2)，则所述实时转速方波图的电平为第一电平；若n(t)＜n(t-1)且n(t-1)＜n(t-2)，则所述实时转速方波图的电平为第二电平，其中所述第二电平为与所述第一电平相反的电平；其中，n(t)、n(t-1)和n(t-2)分别表示第t、t-1和t-2时刻下的驱动电机实时转速。
为了实现本公开的目的，本公开第二方面提供一种搓板路面识别装置，包括：获取模块，用于获取车速和驱动电机实时转速；计算模块，用于计算所述驱动电机实时转速的振荡幅度和振荡频率；识别模块，用于基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面。
可选地，所述基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面，包括：若所述车速位于预设车速范围内，而且第一条件和第二条件同时满足且所述第一条件和所述第二条件均分别连续满足预设次数，则将当前路面识别为所述搓板路面，其中，所述第一条件为所述振荡幅度大于预设幅度阈值，所述第二条件为所述振荡频率位于预设频率范围内。
可选地，所述预设车速范围为2kph至100kph。
可选地，所述预设次数为至少5次。
可选地，所述预设幅度阈值为至少300转/分钟。
可选地，所述预设频率范围为5hz～18hz。
可选地，所述计算所述驱动电机实时转速的振荡幅度和振荡频率，包括：基于所述驱动电机实时转速，得到实时转速正弦波形图；将所述实时转速正弦波形图转换为实时转速方波图；基于所述实时转速方波图，计算所述驱动电机实时转速的所述振荡幅度和所述振荡频率。
可选地，所述将所述实时转速正弦波形图转换为实时转速方波图，包括：若n(t)>n(t-1)且n(t-1)>n(t-2)，则所述实时转速方波图的电平为第一电平；若n(t)＜n(t-1)且n(t-1)＜n(t-2)，则所述实时转速方波图的电平为第二电平，其中所述第二电平为与所述第一电平相反的电平；其中，n(t)、n(t-1)和n(t-2)分别表示第t、t-1和t-2时刻下的驱动电机实时转速。
本公开第三方面提供一种非临时性计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本公开所述方法的步骤。
本公开第四方面提供一种控制器，包括：存储器，其上存储有计算机程序；处理器，用于执行所述存储器中的所述计算机程序，以实现本公开所述方法的步骤。
为达上述目的，本公开第五方面实施例提出了一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行本公开第一方面实施例所提出的搓板路面识别方法。
通过采用上述技术方案，首先获取车速和驱动电机实时转速，然后计算驱动电机实时转速的振荡幅度和振荡频率，然后基于车速、振荡幅度和振荡频率识别搓板路面，由于车辆在通过搓板路面时，路面颠簸会导致电机实时转速剧烈波动，因此利用车速、驱动电机实时转速的振荡频率和振荡幅度能够有效识别搓板路面，提高搓板路面识别的准确度。
本公开附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本公开的实践了解到。
附图说明
本公开上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本公开一种实施例的搓板路面识别方法的流程图。
图2是示例性车辆实时转速曲线示意图。
图3是示例性驱动电机实时转速正弦波形示意图。
图4是示例性的转换得到的实时转速方波示意图。
图5是根据本公开一种实施例的搓板路面识别装置的示意框图。
图6是根据一示例性实施例示出的一种控制器的框图。
具体实施方式
下面详细描述本公开的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本公开，而不能理解为对本公开的限制。
图1是根据本公开一种实施例的搓板路面识别方法的流程图。该方法可以应用于纯 电动车或者混合车型，例如，可以在混合车型的混合驱动模式(发动机带动发电机和电池同时提供能量给驱动电机)下被应用。如图1所示，该方法包括以下步骤S11至S13。
在步骤S11中，获取车速和驱动电机实时转速。
本公开的发明人发现，当车辆行驶在搓板路面上时，容易出现变速箱、曲轴等部件的扭矩突变，造成车辆抖动、闯动等现象，甚至产生断轴等极端危险工况。而且，由于路面颠簸，驱动电机实时转速的波动频率(也即实时转速在单位时间内的变化频率)将会增大，而车辆在正常路面行驶时，驱动电机实时转速在单位时间内的变化并不剧烈，如图2的示例性车辆实时转速曲线图所示。
在步骤S12中，计算驱动电机实时转速的振荡幅度和振荡频率。
这里，驱动电机实时转速的振荡幅度指的是驱动电机实时转速的峰峰值之差，例如波峰值与波谷值之差。
驱动电机实时转速的振荡频率指的是单位时间内驱动电机实时转速的波动频率。
在步骤S13中，基于车速、振荡幅度和振荡频率，识别搓板路面。
通过采用上述技术方案，首先获取车速和驱动电机实时转速，然后计算驱动电机实时转速的振荡幅度和振荡频率，然后基于车速、振荡幅度和振荡频率识别搓板路面，由于车辆在通过搓板路面时，路面颠簸会导致电机实时转速剧烈波动，因此利用车速、驱动电机实时转速的振荡频率和振荡幅度能够有效识别搓板路面，提高搓板路面识别的准确度。
在一些实施例中，步骤S13中所述的基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面，包括：若车速位于预设车速范围内，而且第一条件和第二条件同时满足且所述第一条件和所述第二条件均分别连续满足预设次数，则将当前路面识别为搓板路面，其中，第一条件为驱动电机实时转速的振荡幅度大于预设幅度阈值，第二条件为驱动电机实时转速的振荡频率位于预设频率范围内。
在一些实施例中，预设车速范围可以为2kph至100kph，优选为5kph至80kph。
在一些实施例中，预设次数可以为至少5次，例如可以为10次。之所以设置预设次数这个参数，是因为单次的驱动电机实时转速波动并不足以说明当前路面是搓板路面，只有驱动电机实时转速的振荡幅度和振荡频率连续多次分别满足第一条件和第二条件，才说明当前路面有可能是搓板路面。
在一些实施例中，预设幅度阈值可以为至少300转/分钟，例如可以为400转/分钟。
在一些实施例中，预设频率范围可以为5hz～18hz，优选为8～13hz。
通过采用上述技术方案，由于能够利用车速、驱动电机实时转速的振荡频率和振荡幅度来识别搓板路面，因此不仅能够有效识别搓板路面，而且还提高了搓板路面识别的准确度。
在一些实施例中，步骤S12中所述的计算所述驱动电机实时转速的振荡幅度和振荡频率，包括：基于驱动电机实时转速，得到实时转速正弦波形图；将实时转速正弦波形图转换为实时转速方波图；基于实时转速方波图，计算驱动电机实时转速的振荡幅度和振荡频率。
由于在搓板路面上行驶时，驱动电机实时转速会剧烈的不断发生变化，因此可以将驱动电机实时转速简化为正弦波曲线进行处理，如图3所示的示例性驱动电机实时转速正弦波形图所示。
在一些实施例中，可以通过如下方式将实时转速正弦波形图转换为实时转速方波图，也即：若n(t)>n(t-1)且n(t-1)>n(t-2)，则实时转速方波图的电平为第一电平；若n(t)＜n(t-1)且n(t-1)＜n(t-2)，则实时转速方波图的电平为第二电平，其中第二电平为与第一电平相反的电平，其中，n(t)、n(t-1)和n(t-2)分别表示第t、t-1和t-2时刻下的驱动电机实时转速。图4是示例性的转换得到的实时转速方波示意图，其中，第一电平是低电平，第二电平是高电平。
得到实时转速方波图之后，就可以利用方波图的高低电平之差得到驱动电机实时转速的振荡幅度，利用方波图的振荡频率得到驱动电机实时转速的振荡频率。
通过采用上述技术方案，就能够实时计算实时转速的振荡幅度和振荡频率，以便于识别当前路面是否是搓板路面。
图5是根据本公开一种实施例的搓板路面识别装置的示意框图。如图5所示，该装置包括：获取模块51，用于获取车速和驱动电机实时转速；计算模块52，用于计算所述驱动电机实时转速的振荡幅度和振荡频率；识别模块53，用于基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面。
通过采用上述技术方案，由于能够利用车速、驱动电机实时转速的振荡频率和振荡幅度来识别搓板路面，因此不仅能够有效识别搓板路面，而且还提高了搓板路面识别的准确度。
可选地，所述基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面，包括：若所述车速位于预设车速范围内，而且第一条件和第二条件同时满足且所述第一条件和所述第二条件均分别连续满足预设次数，则将当前路面识别为所述搓板路面，其中，所述第一条件为所述振荡幅度大于预设幅度阈值，所述第二条件为所述振荡频率位于预设频率范围内。
可选地，所述预设车速范围为2kph至100kph。
可选地，所述预设次数为至少5次。
可选地，所述预设幅度阈值为至少300转/分钟。
可选地，所述预设频率范围为5hz～18hz。
可选地，所述计算所述驱动电机实时转速的振荡幅度和振荡频率，包括：基于所述驱动电机实时转速，得到实时转速正弦波形图；将所述实时转速正弦波形图转换为实时转速方波图；基于所述实时转速方波图，计算所述驱动电机实时转速的所述振荡幅度和所述振荡频率。
可选地，所述将所述实时转速正弦波形图转换为实时转速方波图，包括：若n(t)>n(t-1)且n(t-1)>n(t-2)，则所述实时转速方波图的电平为第一电平；若n(t)＜n(t-1)且n(t-1)＜n(t-2)，则所述实时转速方波图的电平为第二电平，其中所述第二电平为与所述第一电平相反的电平；其中，n(t)、n(t-1)和n(t-2)分别表示第t、t-1和t-2时刻下的驱动电机实时转速。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
图6是根据一示例性实施例示出的一种控制器700的框图。如图6所示，该控制器700可以包括：处理器701，存储器702。该控制器700还可以包括多媒体组件703，输入/输出(I/O)接口704，以及通信组件705中的一者或多者。
其中，处理器701用于控制该控制器700的整体操作，以完成上述的搓板路面识别方法中的全部或部分步骤。存储器702用于存储各种类型的数据以支持在该控制器700的操作，这些数据例如可以包括用于在该控制器700上操作的任何应用程序或方法的指令，以及应用程序相关的数据，例如联系人数据、收发的消息、图片、音频、视频等等。该存储器702可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，例如静态随机存取存储器(Static Random Access Memory，简称SRAM)，电可擦除可编程 只读存储器(Electrically Erasable Programmable Read-Only Memory，简称EEPROM)，可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)，可编程只读存储器(Programmable Read-Only Memory，简称PROM)，只读存储器(Read-Only Memory，简称ROM)，磁存储器，快闪存储器，磁盘或光盘。
在一示例性实施例中，控制器700可以被一个或多个应用专用集成电路(Application Specific Integrated Circuit，简称ASIC)、数字信号处理器(Digital Signal Processor，简称DSP)、数字信号处理设备(Digital Signal Processing Device，简称DSPD)、可编程逻辑器件(Programmable Logic Device，简称PLD)、现场可编程门阵列(Field Programmable Gate Array，简称FPGA)、微控制器、微处理器或其他电子元件实现，用于执行上述的搓板路面识别方法。
在另一示例性实施例中，还提供了一种包括程序指令的计算机可读存储介质，该程序指令被处理器执行时实现上述搓板路面识别方法的步骤。例如，该计算机可读存储介质可以为上述包括程序指令的存储器702，上述程序指令可由控制器700的处理器701执行以完成上述的搓板路面识别方法。
为了实现上述实施例，本公开还提出了一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行前述的搓板路面识别方法。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本公开的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一 个或更多个用于实现定制逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本公开的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本公开的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本公开的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。如，如果用硬件来实现和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本公开各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块 如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本公开的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本公开的限制，本领域的普通技术人员在本公开的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (12)

  1. 一种搓板路面识别方法，其特征在于，包括：
    获取车速和驱动电机实时转速；
    计算所述驱动电机实时转速的振荡幅度和振荡频率；
    基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面。
  2. 根据权利要求1所述的方法，其特征在于，所述基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面，包括：
    若所述车速位于预设车速范围内，而且第一条件和第二条件同时满足且所述第一条件和所述第二条件均分别连续满足预设次数，则将当前路面识别为所述搓板路面，其中，所述第一条件为所述振荡幅度大于预设幅度阈值，所述第二条件为所述振荡频率位于预设频率范围内。
  3. 根据权利要求2所述的方法，其特征在于，所述预设车速范围为2kph至100kph。
  4. 根据权利要求2所述的方法，其特征在于，所述预设次数为至少5次。
  5. 根据权利要求2所述的方法，其特征在于，所述预设幅度阈值为至少300转/分钟。
  6. 根据权利要求2所述的方法，其特征在于，所述预设频率范围为5hz～18hz。
  7. 根据权利要求1至6中任一权利要求所述的方法，其特征在于，所述计算所述驱动电机实时转速的振荡幅度和振荡频率，包括：
    基于所述驱动电机实时转速，得到实时转速正弦波形图；
    将所述实时转速正弦波形图转换为实时转速方波图；
    基于所述实时转速方波图，计算所述驱动电机实时转速的所述振荡幅度和所述振荡频率。
  8. 根据权利要求7所述的方法，其特征在于，所述将所述实时转速正弦波形图转换为实时转速方波图，包括：
    若n(t)>n(t-1)且n(t-1)>n(t-2)，则所述实时转速方波图的电平为第一电平；
    若n(t)＜n(t-1)且n(t-1)＜n(t-2)，则所述实时转速方波图的电平为第二电平，其中所述第二电平为与所述第一电平相反的电平；
    其中，n(t)、n(t-1)和n(t-2)分别表示第t、t-1和t-2时刻下的驱动电机实时转速。
  9. 一种搓板路面识别装置，其特征在于，包括：
    获取模块，用于获取车速和驱动电机实时转速；
    计算模块，用于计算所述驱动电机实时转速的振荡幅度和振荡频率；
    识别模块，用于基于所述车速、所述振荡幅度和所述振荡频率，识别搓板路面。
  10. 一种非临时性计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现权利要求1-8中任一项所述方法的步骤。
  11. 一种控制器，其特征在于，包括：
    存储器，其上存储有计算机程序；
    处理器，用于执行所述存储器中的所述计算机程序，以实现权利要求1-8中任一项所述方法的步骤。
  12. 一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行根据权利要求1-8中任一项所述的搓板路面识别方法。
PCT/CN2022/098457 2021-06-28 2022-06-13 搓板路面识别方法、装置、介质和控制器 WO2023273859A1 (zh)

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