WO2023232015A1

WO2023232015A1 - Vehicle speed estimation method and apparatus, and vehicle control unit and medium

Info

Publication number: WO2023232015A1
Application number: PCT/CN2023/097062
Authority: WO
Inventors: 李川; 王德平; 刘元治; 霍海涛
Original assignee: 中国第一汽车股份有限公司
Priority date: 2022-05-31
Filing date: 2023-05-30
Publication date: 2023-12-07
Also published as: CN114872715A

Abstract

A vehicle speed estimation method and apparatus, and a vehicle control unit and a medium. The vehicle speed estimation method comprises: determining a real-time simulated vehicle speed signal according to an electric motor driving torque, which is provided by an electric motor controller in real time, an electric motor resistance torque, which is provided by a vehicle stability system controller in real time, and a full-vehicle power system simulation model, and determining a simulated vehicle speed precision according to the simulated vehicle speed signal and an actual vehicle speed signal; determining a real-time converted vehicle speed signal according to a power electric motor rotation speed signal, which is collected by a rotation speed sensor in real time, and determining a converted vehicle speed precision according to the converted vehicle speed signal and the actual vehicle speed signal; acquiring a measured vehicle speed signal, which is collected by a vehicle speed sensor in real time, and determining a measured vehicle speed precision according to the measured vehicle speed signal and the actual vehicle speed signal; and determining an optimal vehicle speed signal according to the simulated vehicle speed signal, the simulated vehicle speed precision, the converted vehicle speed signal, the converted vehicle speed precision, the measured vehicle speed signal and the measured vehicle speed precision.

Description

A vehicle speed estimation method, device, vehicle controller and medium

This application claims priority to the Chinese patent application with application number 202210614004.3, which was submitted to the China Patent Office on May 31, 2022. The entire content of this application is incorporated into this application by reference.

Technical field

Embodiments of the present application relate to vehicle speed estimation technology, for example, to a vehicle speed estimation method, device, vehicle controller, and medium.

Background technique

In the field of new energy vehicle vehicle control, vehicle speed is a key factor in achieving vehicle control, especially playing a vital role in realizing the vehicle's active safety control technology, steering stability control technology and vehicle drivability control technology. As an important state variable in vehicle control, vehicle speed can be measured by installing a vehicle speed sensor. However, the cost of the sensor directly affects the measurement accuracy of vehicle speed, and the measurement accuracy of vehicle speed directly affects the vehicle's active safety control performance, handling stability and driving. sex. Therefore, obtaining high-precision vehicle speed on the basis of controlling vehicle costs is one of the key technologies to achieve vehicle control performance.

Vehicle speed estimation algorithms include the maximum wheel speed method, the slope method and the comprehensive method. The above algorithm process is simple, but the estimation accuracy is not high, and it is only suitable for traditional vehicles that do not require high control accuracy.

Contents of the invention

This application provides a vehicle speed estimation method, device, vehicle controller and medium, which improves the accuracy of vehicle speed measurement.

In the first aspect, embodiments of the present application provide a vehicle speed estimation method, which method includes:

Determine the real-time simulated vehicle speed signal based on the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stability system controller in real time, and the vehicle power system simulation model, and determine the simulated vehicle speed accuracy based on the simulated vehicle speed signal and the actual vehicle speed signal;

Determine the real-time conversion vehicle speed signal based on the power motor speed signal collected in real time by the speed sensor, and determine the conversion vehicle speed accuracy based on the conversion vehicle speed signal and the actual vehicle speed signal;

Obtain the measured vehicle speed signal collected in real time by the vehicle speed sensor, and determine the accuracy of the measured vehicle speed based on the measured vehicle speed signal and the actual vehicle speed signal;

The optimal vehicle speed signal is determined based on the simulated vehicle speed signal, the simulated vehicle speed accuracy, the converted vehicle speed signal, the converted vehicle speed accuracy, the measured vehicle speed signal and the measured vehicle speed accuracy.

In a second aspect, embodiments of the present application provide a vehicle speed estimation device, which includes:

The first vehicle speed determination module: is set to determine the real-time simulated vehicle speed signal based on the motor driving torque provided in real time by the motor controller, the motor resistance torque provided in real time by the vehicle stability system controller and the vehicle power system simulation model, and based on the simulated vehicle speed signal and the actual The vehicle speed signal determines the accuracy of the simulated vehicle speed;

The second vehicle speed determination module is configured to determine the real-time conversion vehicle speed signal based on the power motor speed signal collected in real time by the speed sensor, and determine the conversion vehicle speed accuracy based on the conversion vehicle speed signal and the actual vehicle speed signal;

The third vehicle speed determination module: is configured to obtain the measured vehicle speed signal collected in real time by the vehicle speed sensor, and determine the accuracy of the measured vehicle speed based on the measured vehicle speed signal and the actual vehicle speed signal;

Optimal vehicle speed signal determination module: configured to determine the optimal vehicle speed signal based on the simulated vehicle speed signal, the simulated vehicle speed accuracy, the converted vehicle speed signal, the converted vehicle speed accuracy, the measured vehicle speed signal, and the measured vehicle speed accuracy. .

In a third aspect, embodiments of the present application provide a vehicle controller, which includes:

at least one processor;

a storage device arranged to store at least one program,

When the at least one program is executed by the at least one processor, the at least one processor is caused to implement the vehicle speed estimation method as described in the first aspect.

In a fourth aspect, embodiments of the present application provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the vehicle speed estimation method as described in any one of the first aspects.

Description of the drawings

Figure 1 is a flow chart of a vehicle speed estimation method provided by an embodiment of the present application;

Figure 2 is a flow chart of another vehicle speed estimation method provided by an embodiment of the present application;

Figure 3 is a schematic structural diagram of a vehicle speed estimation device provided by an embodiment of the present application;

Figure 4 is a schematic structural diagram of a vehicle controller provided by an embodiment of the present application.

Detailed ways

The present application will be further described in detail below in conjunction with the accompanying drawings and examples.

Figure 1 is a flow chart of a vehicle speed estimation method provided by an embodiment of the present application. This embodiment can be applied to vehicle speed estimation. The method can be executed by a vehicle speed estimation device. As shown in Figure 1, the method includes the following step:

S110. Determine the real-time simulated vehicle speed signal based on the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stability system controller in real time, and the vehicle power system simulation model, and determine the simulated vehicle speed accuracy based on the simulated vehicle speed signal and the actual vehicle speed signal. .

Among them, the whole vehicle includes a whole vehicle controller, a motor controller and a vehicle stability system controller; the vehicle speed estimation method is applied to the whole vehicle controller, and the whole vehicle controller can communicate with the motor controller and the vehicle stability system controller. The vehicle controller can obtain the motor driving torque provided by the motor controller and the motor resistance torque provided by the vehicle stability system controller. The motor driving torque is the power torque that drives the movement of the entire vehicle; the motor resistance torque includes braking resistance torque, slope resistance torque, Wheel rolling resistance torque, air resistance torque and friction resistance torque. According to Newton's second law of mechanics, a dynamic simulation model of the vehicle power system can be established.

The simulated vehicle speed signal is determined by the difference between the motor driving torque, the motor resistance torque and the vehicle parameters determined in the vehicle power system simulation model.

The accuracy of the simulated vehicle speed is the degree of deviation of the simulated vehicle speed signal from the actual vehicle speed signal, where the actual vehicle speed signal is the theoretical vehicle speed value calculated according to a specific algorithm for the entire vehicle under specific working conditions; optionally, the simulated vehicle speed accuracy can be determined by multiple The difference between a simulated vehicle speed signal and the actual vehicle speed signal is obtained by calculating the variance, that is, the accuracy of the simulated vehicle speed can be characterized in the form of variance.

S120. Determine the real-time conversion vehicle speed signal based on the power motor speed signal collected in real time by the speed sensor, and determine the conversion vehicle speed accuracy based on the conversion vehicle speed signal and the actual vehicle speed signal.

Among them, the power motor and the wheel are connected through a fixed speed ratio. Through speed ratio conversion, the motor speed signal can be converted into a vehicle speed signal; similarly, the conversion vehicle speed accuracy is the deviation degree of the converted vehicle speed signal from the actual vehicle speed signal. Optional, the conversion vehicle speed accuracy It can be obtained by calculating the variance of the difference between multiple converted vehicle speed signals and the actual vehicle speed signal, that is, the converted vehicle speed accuracy can be characterized in the form of variance.

S130. Obtain the measured vehicle speed signal collected by the vehicle speed sensor in real time, and determine the accuracy of the measured vehicle speed based on the measured vehicle speed signal and the actual vehicle speed signal.

Among them, the measured vehicle speed accuracy is the degree of deviation of the measured vehicle speed signal from the actual vehicle speed signal. Optionally, the measured vehicle speed accuracy can be calculated by calculating the variance of the difference between multiple measured vehicle speed signals and the actual vehicle speed signal. That is, the measured vehicle speed accuracy can be in the form of variance. representation.

S140. Determine the optimal vehicle speed signal based on the simulated vehicle speed signal, simulated vehicle speed accuracy, converted vehicle speed signal, converted vehicle speed accuracy, measured vehicle speed signal, and measured vehicle speed accuracy.

Among them, the vehicle controller can obtain vehicle speeds from three different sources, namely simulated vehicle speed signals, converted vehicle speed signals and measured vehicle speed signals. By fusing the three vehicle speed signals, a more accurate vehicle speed can be obtained. For example, the simulated vehicle speed signal is determined and corrected based on the simulated vehicle speed signal and the simulated vehicle speed accuracy; the converted vehicle speed signal is determined and corrected based on the converted vehicle speed signal and the converted vehicle speed accuracy; the measured vehicle speed signal is corrected based on the measured vehicle speed signal and the measured vehicle speed accuracy; and the simulated vehicle speed is corrected based on the measured vehicle speed signal. signal, correct the converted vehicle speed signal and correct the measured vehicle speed signal to determine the optimal vehicle speed signal, thus improving the accuracy of vehicle speed measurement.

Optionally, on the basis of the above embodiment, further refinement is provided. Figure 2 is a flow chart of another vehicle speed estimation method provided by the embodiment of the present application. As shown in Figure 2, the vehicle speed estimation method includes the following steps:

S210. Establish a vehicle power system simulation model and obtain vehicle parameters.

Among them, the vehicle parameters can be obtained according to the vehicle power system simulation model, and the vehicle parameters can include the vehicle quality.

S220. Determine the real-time simulated vehicle speed signal based on the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stability system controller in real time, and the vehicle parameters, and simulate the vehicle speed signal in real time based on the real-time simulated vehicle speed signal. The speed signal and the actual vehicle speed signal determine the accuracy of the simulated vehicle speed.

Among them, the driving torque of the power motor is determined based on the difference between the driving torque of the power motor and the resistance torque of the power motor. Then the acceleration of the entire vehicle is calculated based on the driving torque of the power motor and the mass of the vehicle. The simulated speed of the vehicle is then calculated through integration.

S230: Determine the real-time conversion vehicle speed signal based on the power motor speed signal collected in real time by the speed sensor, and determine the conversion vehicle speed accuracy based on the conversion vehicle speed signal and the actual vehicle speed signal.

S240: Acquire the measured vehicle speed signal collected by the vehicle speed sensor in real time, and determine the vehicle speed measurement accuracy based on the measured vehicle speed signal and the actual vehicle speed signal.

S250: Determine the optimal vehicle speed signal based on the simulated vehicle speed signal, simulated vehicle speed accuracy, converted vehicle speed signal, converted vehicle speed accuracy, measured vehicle speed signal, and measured vehicle speed accuracy.

S260. Detect whether the motor controller and the vehicle stability system controller have a communication failure; detect whether the rotation speed sensor and the vehicle speed sensor have a failure; when a communication failure occurs in the motor controller and/or the vehicle stability system controller, the simulated vehicle speed accuracy will be reduced; when When the speed sensor fails, the vehicle speed conversion accuracy is reduced; when the vehicle speed sensor fails, the vehicle speed measurement accuracy is reduced.

Among them, the accuracy of each vehicle speed will change according to different working conditions. When a communication failure is detected in the motor controller, the motor controller cannot provide real-time power motor driving torque, and the vehicle controller cannot calculate the real-time simulated vehicle speed. This When the vehicle stability system controller has a communication failure, it cannot provide real-time power motor resistance torque, and the vehicle controller cannot calculate the real-time simulated vehicle speed. , at this time, the accuracy of the simulated vehicle speed is reduced; when the speed sensor fails, it cannot provide a real-time converted vehicle speed signal, and the accuracy of the converted vehicle speed is reduced; when the vehicle speed sensor fails, it cannot provide a real-time measured vehicle speed signal, and the accuracy of the measured vehicle speed is reduced. Or when the vehicle is in extreme weather under some special working conditions, such as high temperature, low temperature, and strong wind, these factors will affect the resistance torque of the vehicle, causing the simulation speed accuracy to become lower and the simulation speed to be unreliable. In this case, the simulation speed accuracy will be reduced. . In this way, based on the above scheme, the accuracy of each vehicle speed is adjusted according to different working conditions to determine and correct the simulated vehicle speed signal based on the simulated vehicle speed signal and the adjusted simulated vehicle speed accuracy; it is determined based on the converted vehicle speed signal and the adjusted converted vehicle speed accuracy. Correct conversion speed message No.; the corrected measured vehicle speed signal is determined based on the measured vehicle speed signal and the adjusted measured vehicle speed accuracy; the optimal vehicle speed signal is determined based on the modified simulated vehicle speed signal, the modified converted vehicle speed signal and the corrected measured vehicle speed signal, thus improving the accuracy of vehicle speed measurement and is also applicable To provide reliable vehicle speed signals under different working conditions.

The embodiment of the present application also provides a vehicle speed estimating device, which can execute the vehicle speed estimation method provided by any embodiment of the present application and has functional modules corresponding to the execution method. Figure 3 is a schematic structural diagram of a vehicle speed estimation device provided by an embodiment of the present application. As shown in Figure 3, the device includes:

The first vehicle speed determination module 10 is configured to determine the real-time simulated vehicle speed signal based on the motor driving torque provided in real time by the motor controller, the motor resistance torque provided in real time by the vehicle stability system controller, and the vehicle power system simulation model, and based on the simulated vehicle speed signal and The actual vehicle speed signal determines the accuracy of the simulated vehicle speed;

The second vehicle speed determination module 20 is configured to determine the real-time conversion vehicle speed signal based on the power motor speed signal collected in real time by the speed sensor, and determine the conversion vehicle speed accuracy based on the conversion vehicle speed signal and the actual vehicle speed signal;

The third vehicle speed determination module 30 is configured to obtain the measured vehicle speed signal collected in real time by the vehicle speed sensor, and determine the accuracy of the measured vehicle speed based on the measured vehicle speed signal and the actual vehicle speed signal;

The optimal vehicle speed signal determination module 40 is configured to determine the optimal vehicle speed signal based on the simulated vehicle speed signal, simulated vehicle speed accuracy, converted vehicle speed signal, converted vehicle speed accuracy, measured vehicle speed signal, and measured vehicle speed accuracy.

Optional, also includes:

The first detection module is configured to detect whether a communication failure occurs between the motor controller and the vehicle stability system controller;

The first adjustment module is set to reduce the accuracy of the simulated vehicle speed when a communication failure occurs between the motor controller and/or the vehicle stability system controller;

Optional, also includes:

The second detection module is configured to detect whether the rotation speed sensor and the vehicle speed sensor are faulty;

The second adjustment module is set to reduce the accuracy of converting the vehicle speed when the speed sensor fails; when the vehicle speed sensor fails, the accuracy of measuring the vehicle speed decreases.

Optional, the first vehicle speed determination module includes:

The vehicle parameter acquisition unit is configured to establish a vehicle power system simulation model and obtain vehicle parameters;

The first vehicle speed determination unit is configured to determine a real-time simulated vehicle speed signal based on the motor driving torque provided in real time by the motor controller, the motor resistance torque provided in real time by the vehicle stability system controller, and the vehicle parameters.

Optional, the optimal vehicle speed signal determination module includes:

A first correction unit configured to determine and correct the simulated vehicle speed signal based on the simulated vehicle speed signal and the simulated vehicle speed accuracy;

a second correction unit configured to determine and correct the converted vehicle speed signal based on the converted vehicle speed signal and the converted vehicle speed accuracy;

A third correction unit configured to determine and correct the measured vehicle speed signal based on the measured vehicle speed signal and the measured vehicle speed accuracy;

The optimal vehicle speed signal determination unit is configured to determine the optimal vehicle speed signal based on the modified simulated vehicle speed signal, the modified converted vehicle speed signal and the modified measured vehicle speed signal.

Figure 4 is a schematic structural diagram of a vehicle controller provided by an embodiment of the present application. As shown in Figure 4, the vehicle controller includes a processor 70, a memory 71, an input device 72 and an output device 73; the vehicle controller The number of processors 70 can be at least one, and one processor 70 is taken as an example in Figure 4; the processor 70, memory 71, input device 72 and output device 73 in the vehicle controller can be connected through a bus or other means. In Figure 4, connection via bus is taken as an example.

As a computer-readable storage medium, the memory 71 can be used to store software programs, computer-executable programs and modules, such as program instructions/modules corresponding to the vehicle speed estimation method in the embodiment of the present application. The processor 70 executes the software programs, instructions and modules stored in the memory 71 to execute various functional applications and data processing of the vehicle controller, that is, to implement the above vehicle speed estimation method.

The memory 71 may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system and an application program required for at least one function; the stored data area may store a program according to the use of the terminal. Created data, etc. In addition, the memory 71 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the memory 71 may further include memories remotely located relative to the processor 70 , and these remote memories may be connected to the vehicle controller through a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.

The input device 72 may be used to receive inputted numeric or character information and generate key signal inputs related to user settings and function control of the vehicle controller. The output device 73 may include a display device such as a display screen.

Embodiments of the present application also provide a storage medium containing computer-executable instructions, which when executed by a computer processor are used to perform a vehicle speed estimation method. The method includes:

The real-time simulated vehicle speed signal is determined based on the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stability system controller in real time, and the vehicle power system simulation model, and the simulation vehicle speed accuracy is determined based on the simulated vehicle speed signal and the actual vehicle speed signal. ;

Of course, the embodiments of the present application provide a storage medium containing computer-executable instructions. The computer-executable instructions are not limited to the method operations described above, and can also perform the vehicle speed estimation method provided by any embodiment of the application. Related operations.

Through the above description of the implementation, those skilled in the art can clearly understand that the present application can be implemented with the help of software and necessary general hardware, and of course can also be implemented with hardware. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the relevant technology can In the form of software products, the computer software products can be stored in computer-readable storage media, such as computer floppy disks, read-only memory (ROM), and random access memory (Random Access Memory, RAM). , flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions to cause a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments of this application.

It is worth noting that in the above embodiments of the search device, the various units and modules included are only divided according to functional logic, but are not limited to the above divisions, as long as the corresponding functions can be realized; in addition, each function The specific names of the units are only for the convenience of distinguishing each other and are not used to limit the protection scope of the present application.

Claims

A vehicle speed estimation method, including:

Determine the real-time simulated vehicle speed signal based on the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stability system controller in real time, and the vehicle power system simulation model, and determine the simulated vehicle speed accuracy based on the simulated vehicle speed signal and the actual vehicle speed signal;

Determine the real-time conversion vehicle speed signal based on the power motor speed signal collected in real time by the speed sensor, and determine the conversion vehicle speed accuracy based on the conversion vehicle speed signal and the actual vehicle speed signal;

Obtain the measured vehicle speed signal collected in real time by the vehicle speed sensor, and determine the accuracy of the measured vehicle speed based on the measured vehicle speed signal and the actual vehicle speed signal;

The optimal vehicle speed signal is determined based on the simulated vehicle speed signal, the simulated vehicle speed accuracy, the converted vehicle speed signal, the converted vehicle speed accuracy, the measured vehicle speed signal and the measured vehicle speed accuracy.
The vehicle speed estimation method according to claim 1, wherein the simulated vehicle speed signal is determined based on the motor driving torque provided in real time by the motor controller, the motor resistance torque provided in real time by the vehicle stability system controller, and the vehicle power system simulation model, including:

Establish a vehicle power system simulation model and obtain vehicle parameters;

The real-time simulated vehicle speed signal is determined based on the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stability system controller in real time, and the vehicle parameters.
The vehicle speed estimation method according to claim 1, wherein the determination is based on the simulated vehicle speed signal, the simulated vehicle speed accuracy, the converted vehicle speed signal, the converted vehicle speed accuracy, the measured vehicle speed signal and the measured vehicle speed accuracy. Optimal vehicle speed signals include:

Determine and modify the simulated vehicle speed signal according to the simulated vehicle speed signal and the simulated vehicle speed accuracy;

Determine and correct the converted vehicle speed signal based on the converted vehicle speed signal and the converted vehicle speed accuracy;

Determine and correct the measured vehicle speed signal based on the measured vehicle speed signal and the measured vehicle speed accuracy;

The optimal vehicle speed signal is determined based on the modified simulated vehicle speed signal, the modified converted vehicle speed signal and the modified measured vehicle speed signal.
The vehicle speed estimation method according to claim 3, further comprising: detecting whether a communication failure occurs in the motor controller and the vehicle stability system controller;

In response to a communication failure occurring in at least one of the motor controller and the vehicle stability system controller, the simulated vehicle speed accuracy is reduced.
The vehicle speed estimation method according to claim 3, further comprising: detecting whether the rotation speed sensor and the vehicle speed sensor are faulty;

In response to the failure of the rotation speed sensor, the accuracy of the converted vehicle speed is reduced; in response to the failure of the vehicle speed sensor, the accuracy of the measured vehicle speed is reduced.
The vehicle speed estimation method according to claim 1, wherein the motor resistance torque includes braking resistance torque, gradient resistance torque, wheel rolling resistance torque, air resistance torque and friction resistance torque.
A vehicle speed estimation device, including:

The first vehicle speed determination module: is set to determine the real-time simulated vehicle speed signal based on the motor driving torque provided in real time by the motor controller, the motor resistance torque provided in real time by the vehicle stability system controller and the vehicle power system simulation model, and based on the simulated vehicle speed signal and the actual The vehicle speed signal determines the accuracy of the simulated vehicle speed;

The second vehicle speed determination module is configured to determine the real-time conversion vehicle speed signal based on the power motor speed signal collected in real time by the speed sensor, and determine the conversion vehicle speed accuracy based on the conversion vehicle speed signal and the actual vehicle speed signal;

The third vehicle speed determination module: is configured to obtain the measured vehicle speed signal collected by the vehicle speed sensor in real time, and determine the accuracy of the measured vehicle speed based on the measured vehicle speed signal and the actual vehicle speed signal;

Optimal vehicle speed signal determination module: configured to determine an optimal vehicle speed signal based on the simulated vehicle speed signal, the simulated vehicle speed accuracy, the converted vehicle speed signal, the converted vehicle speed accuracy, the measured vehicle speed signal, and the measured vehicle speed accuracy. .
A vehicle controller including:

at least one processor;

a storage device arranged to store at least one program,

When the at least one program is executed by the at least one processor, the at least one processor is caused to implement the vehicle speed estimation method according to any one of claims 1-6.
A storage medium containing computer-executable instructions that are executed by a computer When the computer processor is executed, it is used to execute the vehicle speed estimation method according to any one of claims 1-6.