Method and device for measuring vehicle speed

Abstract

The invention relates to a measurement method and device of a vehicle speed. The method comprises the steps of obtaining a wheel speed of a target vehicle wheel, a vehicle wheel accelerated speed anda longitudinal accelerated speed of a vehicle; when it is judged that a difference value of the vehicle wheel accelerated speed and the longitudinal accelerated speed satisfies a preset vehicle speedestimation condition, and beginning temporal integration on the longitudinal accelerated speed and the difference value; judging the slip state of the target vehicle wheel according to the work conditions and the difference value of the vehicle and the current integral value of the difference value; selecting one of the wheel speed and the estimated vehicle speed according to the slip state as thevehicle speed corresponding to the target vehicle wheel; finally, determining the true vehicle speed of the vehicle according to a preset strategy and the vehicle speed corresponding to each vehiclewheel on the vehicle. By means of the measurement method and device of the vehicle speed, the problems that the calculation varies a lot and the pavement anti-interference performance is poor under different conditions can be solved, and the vehicle speed can be calculated according to different slip states, so that the calculated vehicle speed conforms to actual vehicle driving conditions.

Description

technical field [0001] The present disclosure relates to the technical field of vehicles, in particular to a method and device for measuring vehicle speed. Background technique [0002] Vehicle speed is an essential parameter information for vehicle state analysis. The accurate acquisition of vehicle speed needs to combine various aspects such as vehicle operating conditions, road conditions, and vehicle performance. In one prior art, first calculate the wheel acceleration according to the wheel speed signal of each wheel, and judge whether it is the braking or the driving condition, and then use the dynamic slope update method to estimate the braking condition or the driving condition of each wheel After estimating the reference speed of each wheel, the real speed is calculated according to the vehicle operating conditions. However, the initial slope in the dynamic slope update method used in the above technology is set according to the adhesion of the road surface. Since...

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Problems solved by technology

However, the initial slope in the dynamic slope update method used in the above technology is set according to the adhesion of the road surface. Since the threshold value of the adhesion coefficient of different models or the same model is different from the ground, the calculation difference is different under different actual conditions. is also larger, and the above method has poor anti-interference ability to the road surface

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