CN114435377B - Method and device for acquiring reference vehicle speed, electronic equipment and storage medium - Google Patents
Method and device for acquiring reference vehicle speed, electronic equipment and storage medium Download PDFInfo
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- CN114435377B CN114435377B CN202210181899.6A CN202210181899A CN114435377B CN 114435377 B CN114435377 B CN 114435377B CN 202210181899 A CN202210181899 A CN 202210181899A CN 114435377 B CN114435377 B CN 114435377B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The embodiment of the application provides a method, a device, electronic equipment and a storage medium for acquiring a reference vehicle speed, wherein the method comprises the following steps: acquiring stable states of a plurality of wheels; acquiring actual wheel speeds of the plurality of wheels according to the stable states of the plurality of wheels; and acquiring a reference vehicle speed according to the stable states of the wheels and the actual wheel speeds of the wheels. By implementing the embodiment, the driving moment control can be accurately performed, so that the driving moment is stable, and the driving experience of a driver is improved.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a method and apparatus for acquiring a reference vehicle speed, an electronic device, and a computer readable storage medium.
Background
In the prior art, the four-wheel-drive electric automobile adopts a method of taking small or large four-wheel speeds to approximate the apparent reference speed. However, due to the inherent characteristics of four-wheel drive vehicles, the four wheels all have driving forces and may slip simultaneously, and the above-described seemingly true method is extremely inaccurate. For the whole vehicle controller, when the inaccurate reference vehicle speed is used for controlling the driving moment, the driving moment is caused to frequently fluctuate, and the driving experience is poor.
Disclosure of Invention
The embodiment of the application aims to provide a calculation method of a reference vehicle speed, which can accurately acquire the reference vehicle speed, so that the driving moment control can be accurately performed, the driving moment is stable, and the driving experience of a driver is improved.
In a first aspect, an embodiment of the present application provides a method for acquiring a reference vehicle speed, including:
Acquiring stable states of a plurality of wheels;
acquiring actual wheel speeds of the plurality of wheels according to the stable states of the plurality of wheels;
a reference vehicle speed is calculated based on the steady state of the plurality of wheels and the actual wheel speeds of the plurality of wheels.
In the above-described implementation process, unlike the prior art, the steady states of the plurality of wheels are acquired in the process of acquiring the reference vehicle speed, which is acquired according to the steady states of the plurality of wheels and the actual wheel speeds of the plurality of wheels; because the steady state of the wheels can influence the contribution of the current wheel speed to the reference vehicle speed, compared with the mode of directly taking the lowest wheel speed in the wheel speeds of all the wheels as the reference vehicle speed in the prior art, the mode adopted by the embodiment of the application can obtain the accurate reference vehicle speed, thereby accurately controlling the driving moment, keeping the driving moment stable and improving the experience of a driver.
Further, the step of acquiring the steady states of the plurality of wheels includes:
when the motion mode of the vehicle is the drive mode,
Acquiring the corresponding axle acceleration of each wheel in the plurality of wheels;
acquiring the actual acceleration corresponding to each wheel;
Calculating the difference value between the corresponding axle acceleration of each wheel and the corresponding actual acceleration of each wheel;
And acquiring the stable state of each wheel according to the difference value.
In the implementation process, for different driving modes, the embodiment of the application provides a method for obtaining the stable state of each wheel, when the motion mode of the vehicle is the driving mode, the axle of the vehicle rotates under the driving of the motor, so that the wheels are driven to rotate, and therefore, the stable state of the wheels can be measured by the difference value between the corresponding axle acceleration of each wheel and the actual acceleration of each wheel.
Further, the step of acquiring the steady states of the plurality of wheels further includes:
when the motion mode of the vehicle is a braking mode or a coasting mode,
Acquiring the actual acceleration corresponding to each wheel;
And acquiring the stable state of each wheel according to the actual acceleration corresponding to each wheel.
In the implementation process, for different driving modes, the embodiment of the application provides a way for obtaining the stable state of each wheel, when the motion mode of the vehicle is a braking mode or a sliding mode, the motor of the vehicle does not output driving moment, so that the actual acceleration of each wheel is used for measuring the stable state of each wheel.
Further, the step of obtaining the steady state of each wheel according to the difference value includes:
judging whether the traction control function of the electronic stability program controller is in an activated state or not;
if so, judging whether the difference value is larger than a first threshold value, and if so, determining wheels corresponding to the difference value as an unstable state; if the difference value is smaller than or equal to the first threshold value, determining the wheels corresponding to the difference value as a stable state;
If not, acquiring the current road surface attachment state; determining a second threshold according to the road surface attachment state; judging whether the difference value is larger than the second threshold value or not; if the difference value is larger than the second threshold value, determining the wheels corresponding to the difference value as unstable states; and if the difference value is smaller than or equal to the second threshold value, determining the wheels corresponding to the difference value as a stable state.
In the implementation process, the function of the electronic stability program controller is introduced to assist in judging whether the current wheel is in a stable state, when the traction control function of the electronic stability program controller is in an activated state, the current state of instability of the vehicle can be primarily judged, at the moment, whether the difference value is larger than a first threshold value is judged, if the difference value is larger than the first threshold value, the wheel corresponding to the difference value can be further judged to be in an unstable state, if the traction control function of the electronic stability program controller is not in an activated state, the attached state of the road surface needs to be further acquired, the current second threshold value is determined according to the attached state of the road surface, the second threshold value is further compared with the difference value, and if the difference value is larger than the second threshold value, the wheel corresponding to the current difference value can be determined to be in an unstable state. Based on the above embodiments, whether the wheel is in a stable state can be accurately determined.
Further, the step of obtaining the stable state of each wheel according to the actual acceleration corresponding to each wheel includes:
Acquiring the current road surface attachment state;
Determining a third threshold according to the road surface attachment state;
judging whether the actual acceleration is larger than the third threshold value or not;
If yes, determining the wheel corresponding to the actual acceleration as an unstable state;
And if not, determining the wheel corresponding to the actual acceleration as a stable state.
In the above implementation, in the coasting mode and the braking mode, the wheels are not affected by the driving of the motor, and at this time, the steady state of the vehicle is determined by the road surface adhesion state, so the third threshold value is determined according to the current road surface adhesion state, and the steady state of the wheels is determined according to the magnitude relation between the actual acceleration of the wheels and the third threshold value.
Further, the step of acquiring actual wheel speeds of the plurality of wheels according to the stable states of the plurality of wheels includes:
if the wheel is in an unstable state;
Acquiring an initial wheel speed when the wheel is converted from a stable state to an unstable state;
acquiring a numerical value of a longitudinal acceleration sensor on the wheel;
acquiring an integral wheel speed of the wheel according to the initial wheel speed and the numerical value of the longitudinal acceleration sensor;
The integrated wheel speed is an actual wheel speed of the wheel in the unstable state;
If the wheel is in a steady state,
Acquiring the current wheel speed of the wheel;
The current wheel speed is an actual wheel speed of the wheel in a stable state.
In the implementation process, the wheel speed obtaining method when the wheels are in an unstable state is provided, and the technical problem that the obtained wheel speeds of the wheels are inaccurate due to the fact that the factors of the stable states of the wheels are ignored in the prior art can be solved.
Further, the step of acquiring the reference vehicle speed from the stable states of the plurality of wheels and the wheel speeds of the plurality of wheels includes:
If the states of the wheels are all stable states, taking the average value of the current wheel speeds of the wheels as the reference vehicle speed;
if the wheels in an unstable state exist in the plurality of wheels, taking an average value of current wheel speeds of the wheels in the stable state in the plurality of wheels as the reference vehicle speed;
and if the states of the wheels are all unstable states, taking the average value of the integral wheel speeds of the wheels as the reference vehicle speed.
In the above-described implementation, when there are wheels in a stable state and wheels in an unstable state among the plurality of wheels at the same time, an average value of current wheel speeds of the wheels in the stable state is taken as the reference vehicle speed, and when all of the wheels are in the unstable state at the same time, an average value of actual wheel speeds of all of the wheels is taken as the reference vehicle speed. Based on the above-described embodiments, the vehicle speed of the wheels in the steady state can be preferentially taken as a reference factor for obtaining the reference vehicle speed. When all wheels are in an unstable state, the integrated vehicle speed is used as a reference factor for acquiring the reference vehicle speed, so that the reference vehicle speed is further enabled to be closer to the real vehicle speed.
In a second aspect, an embodiment of the present application provides an apparatus for acquiring a reference vehicle speed, including:
The stable state acquisition module is used for acquiring the stable states of a plurality of wheels;
The actual wheel speed acquisition module is used for acquiring the actual wheel speeds of the plurality of wheels according to the stable states of the plurality of wheels;
And the reference vehicle speed calculation module is used for calculating the reference vehicle speed according to the stable states of the wheels and the actual wheel speeds of the wheels.
In a third aspect, an electronic device provided in an embodiment of the present application includes: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the first aspects when the computer program is executed.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where instructions are stored, which when executed on a computer, cause the computer to perform the method according to any one of the first aspects.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for calculating a reference vehicle speed according to an embodiment of the present application;
fig. 2 is a schematic flow chart of acquiring a wheel steady state in a driving mode according to an embodiment of the present application;
FIG. 3 is a flow chart of obtaining a wheel steady state according to a difference value according to an embodiment of the present application;
FIG. 4 is a flow chart of acquiring a wheel steady state in a braking mode or a coasting mode according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of acquiring a steady state of each wheel according to an actual acceleration of each wheel according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of acquiring an integrated wheel speed of a wheel according to an embodiment of the present application;
Fig. 7 is a schematic structural diagram of a calculation device for a reference vehicle speed according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Example 1
The embodiment of the application provides a method for acquiring a reference vehicle speed, which is applied to a vehicle control unit (Vehicular Communication Unit, VCU) of a vehicle, preferably, the vehicle is a four-wheel drive vehicle, a front axle and a rear axle of the four-wheel drive vehicle are respectively provided with a driving motor to provide driving moment, and are respectively provided with a motor controller, and referring to fig. 1, the method for calculating the reference vehicle speed specifically comprises the following steps:
s1: acquiring stable states of a plurality of wheels;
s2: acquiring actual wheel speeds of the plurality of wheels according to the stable states of the plurality of wheels;
s3: the reference vehicle speed is obtained based on the steady states of the plurality of wheels and the actual wheel speeds of the plurality of wheels.
In the above embodiment, the actual wheel speeds of all the wheels are not limited to be obtained in S2, and only the actual wheel speeds of one or more of the plurality of wheels may be obtained, and the specific number of the obtained actual wheel speeds is determined by the stable state of each of the plurality of wheels. In S3, the reference vehicle speed is not limited to be calculated according to the actual wheel speeds of all the wheels, and may be obtained according to the actual wheel speeds of one or more of the plurality of wheels.
The above-described embodiment is different from the prior art in that the steady states of the plurality of wheels are first acquired in the process of acquiring the reference vehicle speed, and the reference vehicle speed is calculated from the steady states of the plurality of wheels and the actual wheel speeds of the plurality of wheels; because the steady state of the wheels can influence the contribution of the current wheel speed to the reference vehicle speed, compared with the mode of directly taking the lowest wheel speed in the wheel speeds of all the wheels as the reference vehicle speed in the prior art, the mode adopted by the embodiment of the application can obtain the accurate reference vehicle speed, thereby accurately controlling the driving moment, keeping the driving moment stable and improving the experience of a driver.
Referring to fig. 2, in one possible embodiment, when the motion mode of the vehicle is the driving mode, S1 includes the following sub-steps:
s11: acquiring the corresponding axle acceleration of each wheel in the plurality of wheels;
S12: acquiring the corresponding actual acceleration of each wheel;
s13: calculating a difference value between the corresponding axle acceleration of each wheel and the corresponding actual acceleration of each wheel;
s14: and acquiring the stable state of each wheel according to the difference value.
For different driving modes, the embodiment of the application provides a method for acquiring the stable state of each wheel, when the motion mode of the vehicle is the driving mode, the axle of the vehicle rotates under the driving of the motor, so that the wheels are driven to rotate, and therefore, the stable state of the wheels can be measured by the difference value between the axle acceleration corresponding to each wheel and the actual acceleration of each wheel.
Referring to fig. 3, the embodiment of the present application further provides a specific implementation manner of S14:
S141: judging whether the traction control function of the electronic stability program controller is in an activated state or not; if yes, executing S142, otherwise, executing S145;
s142: judging whether the difference is greater than a first threshold, if so, executing S143, and if not, executing S144;
S143: determining wheels corresponding to the difference values as unstable states;
S144: determining the wheels corresponding to the difference values as a stable state;
s145: acquiring the current road surface attachment state;
S146: determining a second threshold value according to the road surface adhesion state;
S147: judging whether the difference is greater than a second threshold, if so, executing S148, and if not, executing S149;
S148: determining wheels corresponding to the difference values as unstable states;
s149: and determining the wheels corresponding to the difference values as a stable state.
In the implementation process, the function of the electronic stability program controller is introduced to assist in judging whether the current wheel is in a stable state, when the traction control function of the electronic stability program controller is in an activated state, the current state of instability of the vehicle can be primarily judged, at the moment, whether the difference value is larger than a first threshold value is judged, if the difference value is larger than the first threshold value, the wheel corresponding to the difference value can be further judged to be in an unstable state, if the traction control function of the electronic stability program controller is not in an activated state, the attached state of the road surface needs to be further acquired, the current second threshold value is determined according to the attached state of the road surface, the second threshold value is further compared with the difference value, and if the difference value is larger than the second threshold value, the wheel corresponding to the current difference value can be determined to be in an unstable state. Based on the above embodiments, whether the wheel is in a stable state can be accurately determined.
Considering that the steady state monitoring of the wheel and the calculation of the reference vehicle speed are real-time and continuous processes, after S148, i.e. when the wheel is in an unstable state, if the difference is smaller than the first recovery threshold, determining that the wheel is in a steady state; and if the first recovery threshold value is greater than or equal to the first recovery threshold value, judging that the wheel is in an unstable state.
The adhering state includes three states of low adhering, medium adhering and high adhering, and corresponds to an ice surface, a snow surface and a high adhering asphalt surface, respectively. The second threshold value is thus in particular chosen from three second thresholds to be chosen. The second threshold to be selected includes: the first threshold value, the second threshold value and the third threshold value, wherein the first recovery threshold value is smaller than the first threshold value, the first threshold value is smaller than the second threshold value, and the second threshold value is smaller than the third threshold value. The first recovery threshold value, the first threshold value and the second threshold value can be confirmed through low-attachment experimental calibration of the actual vehicle, and off-line calibration confirmation can be carried out by utilizing low-attachment experimental data of the actual vehicle.
In the embodiment of the application, the high-attached experiment calibration and the low-attached experiment calibration are parameters in the VCU determined by an experimental method. The whole vehicle controller is an important component for controlling vehicle driving, feedback moment output and vehicle driving strategies.
Referring to fig. 4, in one possible embodiment, when the motion mode of the vehicle is a braking mode or a coasting mode, S1 further includes:
S15: acquiring the corresponding actual acceleration of each wheel;
s16: and acquiring the stable state of each wheel according to the corresponding actual acceleration of each wheel.
In the implementation process, for different driving modes, the embodiment of the application provides a method for obtaining the stable state of each wheel, when the motion mode of the vehicle is a braking mode or a sliding mode, the motor of the vehicle does not output driving moment, so that the actual acceleration of each wheel is used for measuring the stable state of each wheel.
Referring to fig. 5, the embodiment of the present application further provides a specific implementation manner of S16:
s161: acquiring the current road surface attachment state;
S162: determining a third threshold according to the road surface adhesion state;
S163: judging whether the actual acceleration is greater than a third threshold, if so, executing S164, otherwise, executing S165;
S164: determining the wheels corresponding to the actual acceleration as an unstable state;
S165: the wheel corresponding to the actual acceleration is determined as a steady state.
In the above implementation, in the coasting mode and the braking mode, the wheels are not affected by the driving of the motor, and at this time, the steady state of the vehicle is determined by the attached state of the road surface, so the third threshold value is determined according to the attached state of the current road surface, and the steady state of the wheels is determined according to the magnitude relation between the actual acceleration of the wheels and the third threshold value.
Considering that the steady state monitoring of the wheel, the calculation of the reference vehicle speed is a real-time, continuous process, after S165, i.e. when the wheel is in an unstable state, it is determined that the wheel is in a steady state if the difference is smaller than the second recovery threshold. If not, continuing to judge that the wheel is in an unstable state.
The adhering state includes three states of low adhering, medium adhering and high adhering, and corresponds to ice surface, school surface and high adhering asphalt road surface. The third threshold is thus in particular chosen from three alternative third thresholds. The third threshold to be selected includes: the method comprises the steps of a first third threshold to be selected, a second third threshold to be selected and a third threshold to be selected, wherein the second recovery threshold is smaller than the first third threshold to be selected, the second third threshold to be selected is smaller than the third threshold to be selected. The second recovery threshold and the third threshold can be confirmed through low-attachment experimental calibration of the real vehicle, and off-line calibration confirmation can also be carried out by utilizing low-attachment experimental data of the real vehicle.
Referring to fig. 6, an embodiment of the present application also provides a method of acquiring an actual wheel speed of a wheel. Specifically, if the wheel is in an unstable state, S2 includes:
S21: acquiring an initial wheel speed when the wheel is converted from a stable state to an unstable state;
S22: acquiring a numerical value of a longitudinal acceleration sensor on a wheel;
S23: acquiring an integral wheel speed of the wheel according to the initial wheel speed and the numerical value of the longitudinal acceleration sensor, wherein the integral wheel speed is the actual wheel speed of the wheel in an unstable state;
Since the vehicle speed is a real-time, continuous process with respect to the reference vehicle speed, the wheel speed value at the moment of wheel instability can be recorded when the wheel is shifted from the steady state to the unstable state.
The above-described embodiments provide a wheel speed calculation method when a wheel is in an unstable state, which can solve the technical problem in the prior art that the wheel speed obtained by ignoring the factor of the stable state of the wheel is inaccurate.
Specifically, in order to calculate the integrated wheel speed of the unstable wheel more accurately, when the vehicle is in the coasting and braking mode, S23 includes: and carrying out integral fitting on the wheel speed according to the initial wheel speed and the numerical value of the longitudinal acceleration sensor to obtain the integral wheel speed of the wheel.
It will be appreciated that the above process involving integration is a continuous process.
When the vehicle is in the drive mode, S23 includes: obtaining a distribution coefficient corresponding to the wheel, multiplying the distribution coefficient by the numerical value of the longitudinal acceleration sensor to obtain the axial acceleration, and performing integral fitting on the wheel speed according to the initial wheel speed and the axial acceleration to obtain the integral wheel speed of the wheel.
If the wheel is in a steady state, S2 includes: the current wheel speed of the wheel is obtained, and the current wheel speed is the actual wheel speed of the wheel in a stable state.
The embodiment of the application also provides a method for acquiring the reference vehicle speed according to the actual wheel speed of the wheel, which comprises the following steps:
if the states of the wheels are all stable states, taking the average value of the current wheel speeds of the wheels as a reference vehicle speed;
if the wheels in an unstable state exist in the plurality of wheels, taking the average value of the current wheel speeds of the wheels in the stable state in the plurality of wheels as a reference vehicle speed;
if the states of the plurality of wheels are all unstable, taking the average value of the integral wheel speeds of the plurality of wheels as a reference vehicle speed.
In the above-described implementation, when there are wheels in a stable state and wheels in an unstable state simultaneously among the plurality of wheels, an average value of current wheel speeds of the wheels in the stable state is taken as the reference vehicle speed, and when all the wheels are in the unstable state simultaneously, an average value of actual wheel speeds of all the wheels is taken as the reference vehicle speed. Based on the above-described embodiments, the vehicle speed of the wheels in the steady state can be preferentially taken as a reference factor for obtaining the reference vehicle speed. When all wheels are in an unstable state, the integrated vehicle speed is used as a reference factor for acquiring the reference vehicle speed, so that the reference vehicle speed is further enabled to be closer to the real vehicle speed.
In S3, if the speed of each wheel needs to be acquired one by one, a situation that the acquired speed jumps may exist, which may be that the filtering logic may be started to perform smoothing filtering on the reference speed.
Example 2
Referring to fig. 7, an embodiment of the present application provides a calculation apparatus for a reference vehicle speed, including:
A steady state acquisition module 1 for acquiring steady states of a plurality of wheels;
an actual wheel speed acquisition module 2 for acquiring actual wheel speeds of the plurality of wheels according to the stable states of the plurality of wheels;
a reference vehicle speed calculation module 3 for calculating a reference vehicle speed based on the steady states of the plurality of wheels and the actual wheel speeds of the plurality of wheels.
In one possible embodiment, the steady state obtaining module 1 is further configured to obtain, when the motion mode of the vehicle is the driving mode, a corresponding axle acceleration of each of the plurality of wheels; acquiring the corresponding actual acceleration of each wheel; calculating a difference value between the corresponding axle acceleration of each wheel and the corresponding actual acceleration of each wheel; and acquiring the stable state of each wheel according to the difference value.
In one possible embodiment, the steady state acquisition module 1 is also used for determining, when the movement mode of the vehicle is a braking mode or a coasting mode,
Acquiring the corresponding actual acceleration of each wheel;
and acquiring the stable state of each wheel according to the corresponding actual acceleration of each wheel.
In one possible implementation, the steady state acquisition module 1 is further configured to determine whether the traction control function of the electronic steady state program controller is in an active state;
if so, judging whether the difference value is larger than a first threshold value, and if so, determining wheels corresponding to the difference value as an unstable state; if the difference value is smaller than or equal to a first threshold value, determining the wheels corresponding to the difference value as a stable state;
if not, acquiring the current road surface attachment state; determining a second threshold value according to the road surface adhesion state; judging whether the difference value is larger than a second threshold value or not; if the difference value is larger than a second threshold value, determining the wheels corresponding to the difference value as an unstable state; and if the difference value is smaller than or equal to the second threshold value, determining the wheels corresponding to the difference value as a stable state.
In one possible embodiment, the steady state acquisition module 1 is further configured to acquire a current road surface attachment state; determining a third threshold according to the road surface adhesion state; judging whether the actual acceleration is larger than a third threshold value or not; if so, determining the wheel corresponding to the actual acceleration as an unstable state; if not, the wheel corresponding to the actual acceleration is determined to be in a stable state.
In one possible embodiment, the actual wheel speed obtaining module 2 is further configured to, if the wheel is in an unstable state; acquiring an initial wheel speed when the wheel is converted from a stable state to an unstable state; acquiring a numerical value of a longitudinal acceleration sensor on a wheel; acquiring an integrated wheel speed of the wheel according to the initial wheel speed and the numerical value of the longitudinal acceleration sensor; the integral wheel speed is the actual wheel speed of the wheel in an unstable state; if the wheel is in a stable state, acquiring the current wheel speed of the wheel; the current wheel speed is the actual wheel speed of the wheel in a steady state.
In one possible implementation manner, the reference vehicle speed calculating module 3 is further configured to take an average value of current wheel speeds of the plurality of wheels as the reference vehicle speed if the states of the plurality of wheels are all steady states;
if the wheels in an unstable state exist in the plurality of wheels, taking the average value of the current wheel speeds of the wheels in the stable state in the plurality of wheels as a reference vehicle speed;
if the states of the plurality of wheels are all unstable, taking the average value of the integral wheel speeds of the plurality of wheels as a reference vehicle speed.
Example 3
The application further provides an electronic device, please refer to fig. 8, and fig. 8 is a block diagram of an electronic device according to an embodiment of the application. The electronic device may include a processor 81, a communication interface 82, a memory 83, and at least one communication bus 84. Wherein the communication bus 84 is used to enable direct connection communication of these components. The communication interface 82 of the electronic device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The processor 81 may be an integrated circuit chip with signal processing capabilities.
The processor 81 may be a general-purpose processor including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. The general purpose processor may be a microprocessor or the processor 81 may be any conventional processor or the like.
The Memory 83 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 83 has stored therein computer readable instructions which, when executed by the processor 81, can perform the steps involved in the above-described method embodiments.
Optionally, the electronic device may further include a storage controller, an input-output unit.
The memory 83, the memory controller, the processor 81, the peripheral interface, and the input/output unit are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the components may be electrically coupled to each other via one or more communication buses 84. The processor 81 is arranged to execute executable modules stored in the memory 83, such as software functional modules or computer programs comprised by the electronic device.
The input-output unit is used for providing the user with the creation task and creating the starting selectable period or the preset execution time for the task so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 8 is merely illustrative, and that the electronic device may also include more or fewer components than shown in fig. 8, or have a different configuration than shown in fig. 8. The components shown in fig. 8 may be implemented in hardware, software, or a combination thereof.
The embodiment of the application also provides a computer readable storage medium, on which instructions are stored, and when the instructions are executed on a computer, the computer program is executed by a processor to implement the method described in the method embodiment, so that repetition is avoided, and no further description is provided herein.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. 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 and/or flowchart illustration, and combinations of blocks in the block diagrams and/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.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. The method for acquiring the reference vehicle speed is characterized by being applied to a four-wheel drive vehicle and comprising the following steps of:
Acquiring stable states of a plurality of wheels;
acquiring actual wheel speeds of the plurality of wheels according to the stable states of the plurality of wheels;
Acquiring a reference vehicle speed according to the stable states of the wheels and the actual wheel speeds of the wheels;
When the motion mode of the vehicle is the driving mode, the step of acquiring the stable states of the plurality of wheels includes:
Acquiring the corresponding axle acceleration of each wheel in the plurality of wheels;
acquiring the actual acceleration corresponding to each wheel;
Calculating the difference value between the corresponding axle acceleration of each wheel and the corresponding actual acceleration of each wheel;
Acquiring the stable state of each wheel according to the difference value;
the step of obtaining the steady state of each wheel from the difference value includes:
judging whether the traction control function of the electronic stability program controller is in an activated state or not;
if so, judging whether the difference value is larger than a first threshold value, and if so, determining wheels corresponding to the difference value as an unstable state; if the difference value is smaller than or equal to the first threshold value, determining the wheels corresponding to the difference value as a stable state;
If not, acquiring the current road surface attachment state; determining a second threshold according to the road surface attachment state; judging whether the difference value is larger than the second threshold value or not; if the difference value is larger than the second threshold value, determining the wheels corresponding to the difference value as unstable states; and if the difference value is smaller than or equal to the second threshold value, determining the wheels corresponding to the difference value as a stable state.
2. The method of acquiring the reference vehicle speed according to claim 1, characterized in that the step of acquiring the steady states of the plurality of wheels when the motion mode of the vehicle is a braking mode or a coasting mode, further comprises:
acquiring the actual acceleration corresponding to each wheel;
And acquiring the stable state of each wheel according to the actual acceleration corresponding to each wheel.
3. The method for obtaining a reference vehicle speed according to claim 2, wherein the step of obtaining the steady state of each wheel based on the actual acceleration corresponding to each wheel comprises:
Acquiring the current road surface attachment state;
Determining a third threshold according to the road surface attachment state;
judging whether the actual acceleration is larger than the third threshold value or not;
If yes, determining the wheel corresponding to the actual acceleration as an unstable state;
And if not, determining the wheel corresponding to the actual acceleration as a stable state.
4. The reference vehicle speed acquisition method according to claim 1, characterized in that the step of acquiring actual wheel speeds of the plurality of wheels from the stable states of the plurality of wheels includes:
If the wheel is in an unstable state;
Acquiring an initial wheel speed when the wheel is converted from a stable state to an unstable state;
Acquiring a value of a longitudinal acceleration sensor corresponding to the wheel;
acquiring an integral wheel speed of the wheel according to the initial wheel speed and the numerical value of the longitudinal acceleration sensor; the integrated wheel speed is an actual wheel speed of the wheel in the unstable state;
If the wheel is in a stable state, acquiring the current wheel speed of the wheel; the current wheel speed is an actual wheel speed of the wheel in a stable state.
5. The reference vehicle speed acquisition method according to claim 1, characterized in that the step of acquiring the reference vehicle speed from the stable states of the plurality of wheels and the wheel speeds of the plurality of wheels includes:
If the states of the wheels are all stable states, taking the average value of the current wheel speeds of the wheels as the reference vehicle speed;
if the wheels in an unstable state exist in the plurality of wheels, taking an average value of current wheel speeds of the wheels in the stable state in the plurality of wheels as the reference vehicle speed;
and if the states of the wheels are all unstable states, taking the average value of the integral wheel speeds of the wheels as the reference vehicle speed.
6. A reference vehicle speed acquisition device, characterized by being applied to a four-wheel drive vehicle, comprising:
The stable state acquisition module is used for acquiring the stable states of a plurality of wheels;
The actual wheel speed acquisition module is used for acquiring the actual wheel speeds of the plurality of wheels according to the stable states of the plurality of wheels;
The reference vehicle speed acquisition module is used for acquiring a reference vehicle speed according to the stable states of the plurality of wheels and the actual wheel speeds of the plurality of wheels;
The steady state acquisition module is further configured to when the motion mode of the vehicle is a braking mode or a coasting mode,
Acquiring the corresponding actual acceleration of each wheel;
acquiring the stable state of each wheel according to the corresponding actual acceleration of each wheel;
the stable state acquisition module is also used for judging whether the traction control function of the electronic stable program controller is in an activated state or not;
if so, judging whether the difference value is larger than a first threshold value, and if so, determining wheels corresponding to the difference value as an unstable state; if the difference value is smaller than or equal to a first threshold value, determining the wheels corresponding to the difference value as a stable state;
if not, acquiring the current road surface attachment state; determining a second threshold value according to the road surface adhesion state; judging whether the difference value is larger than a second threshold value or not; if the difference value is larger than a second threshold value, determining the wheels corresponding to the difference value as an unstable state; and if the difference value is smaller than or equal to the second threshold value, determining the wheels corresponding to the difference value as a stable state.
7. An electronic device, comprising: comprising the following steps: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of obtaining a reference vehicle speed according to any one of claims 1-5 when the computer program is executed.
8. A computer readable storage medium having instructions stored thereon, which when run on a computer, cause the computer to perform the method of obtaining a reference vehicle speed according to any one of claims 1-5.
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| CN116039657B (en) * | 2022-12-22 | 2024-01-26 | 上海洛轲智能科技有限公司 | Vehicle speed determining method, device, equipment, medium and product |
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