Vehicle speed calculation method, device, electronic equipment and storage medium

Abstract

This invention discloses a vehicle speed calculation method, apparatus, electronic device, and storage medium. The method includes: acquiring the wheel speed of each wheel of a target vehicle at a previous moment and its wheel speed at the current moment, as well as the vehicle acceleration of the target vehicle at a previous moment and its acceleration at the current moment; correcting the wheel speed of each wheel at the current moment based on the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment, and the vehicle acceleration of the target vehicle at the current moment, to obtain the corrected wheel speed of each wheel at the current moment; determining the vehicle driving state of the target vehicle at the current moment based on the corrected wheel speed of each wheel at the current moment; and determining the actual vehicle speed of the target vehicle at the current moment based on the vehicle driving state of the target vehicle at the current moment. The technical solution of this invention improves the accuracy of vehicle speed calculation, thereby enhancing the user experience.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of automobile technology, and in particular to a vehicle speed calculation method, device, electronic device and storage medium. Background Art

[0002] With the development of automobile industry technology, more and more cars need to be tested on the vehicle dynamic test bench for dynamic performance, that is, to simulate the road surface through the equipment and adjust the parameters of the equipment to simulate the road surface with different friction coefficients. Then, the braking performance and operational stability of the vehicle can be evaluated through the road surface with different friction coefficients. To evaluate the braking performance and operational stability of the vehicle, the vehicle speed needs to be calculated.

[0003] At present, there are two methods for calculating the speed of a vehicle on a test bench. One is to calculate the speed through a conveyor belt. Specifically, the rotation speed of the conveyor belt is used as the speed of the vehicle on the test bench. Since the conveyor belt control itself has a reaction time delay, the method of calculating the speed through the transmission belt has a problem of large error in calculating the speed.

[0004] Another method is to calculate the vehicle speed by installing an accelerometer on the vehicle body. Specifically, the data measured by the accelerometer is integrated to obtain an integral result, and the integral result is used as the vehicle speed. However, the method of calculating the vehicle speed by using an accelerometer will produce cumulative errors over time, resulting in a problem of reduced vehicle speed accuracy. Summary of the invention

[0005] In view of the above-mentioned problems, an embodiment of the present invention provides a vehicle speed calculation method to improve the accuracy of the vehicle speed, thereby achieving the effect of improving the user experience.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle speed calculation method, the method comprising:

[0007] Obtaining the wheel speed of each wheel of the target vehicle at a previous moment and at a current moment, as well as the vehicle acceleration of the target vehicle at a previous moment and at a current moment;

[0008] According to the wheel speed of each wheel at a previous moment, the wheel speed of each wheel at a current moment, the vehicle acceleration of the target vehicle at a previous moment, and the vehicle acceleration of the target vehicle at a current moment, the wheel speed of each wheel at a current moment is corrected to obtain a corrected wheel speed of each wheel at the current moment;

[0009] Determining the vehicle driving state of the target vehicle at the current moment according to the corrected wheel speed of each wheel at the current moment;

[0010] According to the vehicle driving state of the target vehicle at the current moment, the actual vehicle speed of the target vehicle at the current moment is determined.

[0011] Optionally, determining the vehicle driving state of the target vehicle at the current moment according to the corrected wheel speed of each wheel at the current moment includes:

[0012] Determine the wheel state of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment;

[0013] The vehicle driving state of the target vehicle at the current moment is determined according to the wheel state of each wheel at the current moment.

[0014] Optionally, determining the wheel state of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment includes:

[0015] According to the corrected wheel speed of each wheel at the current moment, the wheel acceleration of each wheel at the current moment is obtained;

[0016] Calculating the difference ratio between the wheel acceleration of each wheel at the current moment and the vehicle acceleration of the target vehicle at the current moment, to obtain the acceleration change of each wheel at the current moment;

[0017] The wheel state of each wheel at the current moment is determined according to the acceleration change of each wheel at the current moment and the corrected wheel speed of each wheel at the current moment.

[0018] Optionally, determining the wheel state of each wheel at the current moment according to the acceleration change of each wheel at the current moment and the corrected wheel speed of each wheel at the current moment includes:

[0019] For each wheel, if the acceleration change of the current wheel at the current moment is greater than the preset wheel acceleration change threshold, and the corrected wheel speed of the current wheel at the current moment is greater than the preset wheel speed threshold, then the wheel state of the current wheel at the current moment is a locked state.

[0020] Optionally, determining the actual speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment includes:

[0021] If the target vehicle is in a non-slip state at the current moment, the average value of the corrected wheel speed of each wheel at the current moment is calculated to obtain the average wheel speed at the current moment, and the average wheel speed at the current moment is used as the actual vehicle speed of the target vehicle at the current moment.

[0022] Optionally, the determining the actual speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment further includes:

[0023] If the driving state of the target vehicle at the current moment is a slipping state, the vehicle acceleration of the target vehicle at the current moment is corrected according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, so as to obtain the corrected vehicle acceleration of the target vehicle at the current moment;

[0024] The actual vehicle speed of the target vehicle at the current moment is determined according to the corrected vehicle acceleration of the target vehicle at the current moment and the current moment.

[0025] Optionally, determining the actual speed of the target vehicle at the current moment according to the corrected vehicle acceleration of the target vehicle at the current moment and the current moment includes:

[0026] The average wheel speed at the previous moment is obtained by calculating the average value according to the corrected wheel speed of each wheel at the previous moment;

[0027] The actual vehicle speed of the target vehicle at the current moment is determined according to the average wheel speed at the previous moment, the corrected vehicle acceleration of the target vehicle at the current moment, and the current moment.

[0028] In a second aspect, an embodiment of the present invention further provides a vehicle speed calculation device, the device comprising:

[0029] A vehicle data acquisition module, used to acquire the wheel speed of each wheel of the target vehicle at a previous moment and at a current moment, and the vehicle acceleration of the target vehicle at a previous moment and at a current moment;

[0030] A corrected wheel speed obtaining module is used to correct the wheel speed of each wheel at the current moment according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, so as to obtain the corrected wheel speed of each wheel at the current moment;

[0031] A vehicle driving state determination module, used to determine the vehicle driving state of the target vehicle at the current moment according to the corrected wheel speed of each wheel at the current moment;

[0032] The vehicle speed determination module is used to determine the actual speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment.

[0033] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0034] one or more processors;

[0035] A storage device for storing one or more programs;

[0036] When the program is executed by the processor, the processor implements the vehicle speed calculation method provided by any embodiment of the present invention.

[0037] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a vehicle speed calculation method as provided in any embodiment of the present invention.

[0038] The technical solution of this embodiment obtains the wheel speed of each wheel of the target vehicle at the previous moment and the wheel speed at the current moment, as well as the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration at the current moment. According to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, the wheel speed of each wheel at the current moment is corrected to obtain the corrected wheel speed of each wheel at the current moment. Among them, by correcting the wheel speed of each wheel, the accuracy of calculating the vehicle speed can be improved. According to the corrected wheel speed of each wheel at the current moment, the vehicle driving state of the target vehicle at the current moment is determined. According to the vehicle driving state of the target vehicle at the current moment, the actual vehicle speed of the target vehicle at the current moment is determined, and the vehicle speed of the vehicle on the test bench is calculated, which solves the technical problem that the vehicle speed on the test bench in the prior art has a large error in calculating the vehicle speed and a reduced speed accuracy, and achieves the effect of improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required to describe the embodiments. Obviously, the drawings introduced are only drawings of a part of the embodiments to be described in the present invention, rather than all the drawings. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 This is a structural block diagram of a test bench provided in Embodiment 1 of the present invention;

[0041] Figure 2 It is a schematic flow chart of a vehicle speed calculation method provided by the first embodiment of the present invention;

[0042] Figure 3It is a flow chart of a vehicle calculation method provided by Embodiment 2 of the present invention;

[0043] Figure 4 It is a schematic diagram of a vehicle speed calculation device module provided by the third embodiment of the present invention;

[0044] Figure 5 It is a structural schematic diagram of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0046] Before introducing the embodiment of the present invention, the application scenario is introduced first. The vehicle speed calculation method of the embodiment of the present invention can be applied to the scenario where the vehicle is on a test bench. Figure 1 In the embodiment of the present invention, four conveyor belts 1 of the test bench are respectively installed on four bases 2, and four tires of the vehicle 3 are located on the four conveyor belts 1, so that the conveyor belts 1 can drive the wheels to rotate or rotate with the wheels.

[0047] Embodiment 1

[0048] Figure 2 1 is a flow chart of a vehicle speed calculation method provided in the first embodiment of the present invention. This embodiment is applicable to the case where the vehicle speed is calculated by correcting the speed of each wheel of the target vehicle. The method can be executed by a vehicle speed calculation device, which can be implemented by software and / or hardware, and can be integrated into electronic devices such as computers or servers.

[0049] like Figure 2 As shown, the method of this embodiment includes:

[0050] S110, obtaining the wheel speed of each wheel of the target vehicle at a previous moment and the wheel speed at a current moment, and the vehicle acceleration of the target vehicle at a previous moment and the vehicle acceleration at a current moment.

[0051] The target vehicle may be a vehicle whose speed needs to be calculated at the current moment.

[0052] Specifically, the wheel speed of each wheel of the target vehicle at the previous moment and the wheel speed at the current moment can be obtained by receiving the wheel speed signal of each wheel at the previous moment and the wheel speed signal at the current moment collected by each wheel speed sensor of the target vehicle, and processing the wheel speed signal of each wheel at the previous moment and the wheel speed signal at the current moment. The vehicle acceleration signal of the target vehicle at the previous moment and the vehicle acceleration signal at the current moment collected by the acceleration sensor of the target vehicle is received, and the vehicle acceleration signal of the target vehicle at the previous moment and the vehicle acceleration signal at the current moment are processed to obtain the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration at the current moment.

[0053] S120. According to the wheel speed of each wheel at a previous moment, the wheel speed of each wheel at a current moment, the vehicle acceleration of the target vehicle at a previous moment, and the vehicle acceleration of the target vehicle at a current moment, the wheel speed of each wheel at a current moment is corrected to obtain a corrected wheel speed of each wheel at the current moment.

[0054] The corrected wheel speed may be a wheel speed obtained by correcting the wheel speed of the wheel.

[0055] Specifically, according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, the wheel speed of each wheel of the target vehicle at the current moment is corrected, and then the corrected wheel speed of each wheel of the target vehicle at the current moment can be obtained.

[0056] Taking the left front wheel of the target vehicle as an example, the wheel speed of the left front wheel at the current moment can be corrected according to the following formula to obtain the corrected wheel speed of the left front wheel at the current moment:

[0057]

[0058]

[0059] Where A represents the state space matrix of the prediction vector, Where T represents the sampling period. k-1 represents the state vector of the left front wheel at the previous moment, Among them, v wik-1 (i=1) represents the corrected wheel speed of the left front wheel at the previous moment, a vk-1 Indicates the corrected vehicle acceleration of the left front wheel at the previous moment. represents the state prediction vector of the left front wheel at the current moment, in Indicates the predicted wheel speed of the left front wheel at the current moment, Indicates the predicted acceleration of the left front wheel at the current moment.

[0060] Among them, P k-1 Represents the state prediction error value of the previous moment, where the initial value Q1 represents the error covariance value. It indicates the state prediction error value at the current moment. It should be noted that the value of Q1 can be set based on experience, and its specific value is not limited here.

[0061] Where K1 represents the Kalman gain. H represents the state space matrix of the measurement system. R1 represents the measurement error covariance value. It should be noted that the value of R1 can be set based on experience, and its specific value is not limited here.

[0062] Among them, z k Indicates the data collected at the current moment. Among them, v ik represents the speed of the left front wheel at the current moment, a k Indicates the vehicle acceleration of the target vehicle at the current moment. k represents the corrected state vector of the left front wheel at the current moment, Among them, v wik (i=1) represents the corrected wheel speed of the left front wheel at the current moment, a vk Indicates the body acceleration of the target vehicle at the current moment.

[0063] Among them, P k Indicates the current state prediction correction value.

[0064] It should be noted that the left front wheel can be i=1, the right front wheel can be i=2, the left rear wheel can be i=3, and the right rear wheel can be i=4. The corrected wheel speed of the right front wheel, the corrected wheel speed of the left rear wheel, and the corrected wheel speed of the right rear wheel can be calculated by the above calculation method of calculating the corrected wheel speed of the left front wheel of the target vehicle at the current moment, respectively, then v can be obtained. wik (i=2),v wik (i=3),v wik (i=4).

[0065] S130: Determine the vehicle driving state of the target vehicle at the current moment according to the corrected wheel speed of each wheel at the current moment.

[0066] The vehicle driving state may be the driving state of the target vehicle at the current moment. The vehicle driving state may include the following two states: a non-slip state and a slip state.

[0067] Specifically, after the corrected wheel speed of each wheel at the current moment is obtained, the vehicle driving state of the target vehicle at the current moment can be determined according to the corrected wheel speed of each wheel at the current moment.

[0068] S140: Determine the actual speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment.

[0069] The actual vehicle speed may be the vehicle speed of the target vehicle at the current moment.

[0070] Specifically, after the vehicle driving state of the target vehicle at the current moment is determined, the actual vehicle speed of the target vehicle at the current moment may be determined according to the vehicle driving state of the target vehicle at the current moment.

[0071] Optionally, the actual speed of the target vehicle at the current moment may be determined according to the vehicle driving state of the target vehicle at the current moment in the following manner:

[0072] If the target vehicle is in a non-slip state at the current moment, the average value of the corrected wheel speed of each wheel at the current moment is calculated to obtain the average wheel speed at the current moment, and the average wheel speed at the current moment is used as the actual vehicle speed of the target vehicle at the current moment.

[0073] The average wheel speed at the current moment may be a wheel speed obtained by calculating the average wheel speed of each wheel at the current moment.

[0074] Specifically, if the target vehicle is in a non-slip state at the current moment, the corrected wheel speed of each wheel at the current moment can be averaged, and then the average wheel speed at the current moment can be obtained. Then, the average wheel speed at the current moment can be used as the actual vehicle speed of the target vehicle at the current moment.

[0075] Optionally, if the target vehicle is in a non-slip state at the current moment, the actual speed of the target vehicle at the current moment can be calculated according to the following formula:

[0076]

[0077] Among them, v v Indicates the actual speed of the target vehicle at the current moment when it is not slipping. represents the average wheel speed of each wheel of the target vehicle at the current moment, v w1k represents the corrected wheel speed of the left front wheel at the current moment, v w2k represents the corrected wheel speed of the right front wheel at the current moment, v w3k represents the corrected wheel speed of the left rear wheel at the current moment, v w4k Indicates the corrected wheel speed of the right rear wheel at the current moment.

[0078] Optionally, the actual speed of the target vehicle at the current moment may be determined according to the vehicle driving state of the target vehicle at the current moment according to the following steps:

[0079] Step 1. If the target vehicle is in a slipping state at the current moment, the vehicle acceleration of the target vehicle at the current moment is corrected according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment to obtain the corrected vehicle acceleration of the target vehicle at the current moment.

[0080] The corrected vehicle acceleration may be an acceleration obtained by correcting the vehicle acceleration of the vehicle.

[0081] Specifically, if the driving state of the target vehicle at the current moment is a slipping state, the vehicle acceleration of the target vehicle at the current moment can be corrected according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, and thus, the corrected vehicle acceleration of the target vehicle at the current moment can be obtained.

[0082] Optionally, the vehicle acceleration of the target vehicle at the current moment may be corrected according to the following formula to obtain the corrected vehicle acceleration of the target vehicle at the current moment:

[0083]

[0084] Where A represents the state space matrix of the prediction vector, Where T represents the sampling period. k-1 represents the state vector at the previous moment, Among them, v wk-1 represents the average wheel speed of each wheel at the previous moment, a vk-1 Indicates the corrected body acceleration of the target vehicle at the previous moment. represents the state prediction vector at the current moment, in, represents the average predicted wheel speed of each wheel at the current moment, Represents the predicted acceleration of the target vehicle at the current moment.

[0085] Among them, S k-1 Represents the state prediction error value of the previous moment, where the initial value Q2 represents the error covariance value. It indicates the state prediction error value at the current moment. It should be noted that the value of Q2 can be set based on experience, and its specific value is not limited here.

[0086] Where K2 represents the Kalman gain. H represents the state space matrix of the measurement system. R2 represents the measurement error covariance value. It should be noted that the value of R2 can be set based on experience, and its specific value is not limited here.

[0087] Among them, y k Represents the data of the target vehicle at the current moment, in, represents the average wheel speed of each wheel of the target vehicle at the current moment, a k Indicates the vehicle acceleration of the target vehicle at the current moment. k represents the corrected state vector of the target vehicle at the current moment, Among them, v wk represents the average wheel speed of each wheel at the previous moment, a vk Indicates the corrected body acceleration of the target vehicle at the previous moment.

[0088] Among them, S k Indicates the current state prediction correction value.

[0089] Step 2: Determine the actual speed of the target vehicle at the current moment based on the corrected vehicle acceleration of the target vehicle at the current moment and the current moment.

[0090] Specifically, after the corrected vehicle acceleration of the target vehicle at the current moment is determined, the actual vehicle speed of the target vehicle at the current moment may be determined based on the corrected vehicle acceleration of the target vehicle at the current moment and the current moment.

[0091] Optionally, the actual speed of the target vehicle at the current moment may be determined according to the corrected vehicle acceleration of the target vehicle at the current moment and the current moment according to the following steps:

[0092] Step 1: Calculate the average value of the corrected wheel speed of each wheel at the previous moment to obtain the average wheel speed at the previous moment.

[0093] The average wheel speed at the previous moment may be a wheel speed obtained by calculating the average value of the corrected wheel speed of each wheel at the previous moment.

[0094] Specifically, the corrected wheel speed of each wheel at the previous moment can be averaged, and then the average wheel speed at the previous moment can be obtained. It should be noted that the calculation method of calculating the corrected wheel speed of each wheel at the previous moment can be the same as the calculation method of calculating the corrected wheel speed of each wheel at the current moment.

[0095] Optionally, the average wheel speed at the previous moment can be calculated according to the following formula:

[0096]

[0097] in, represents the average wheel speed of each wheel of the target vehicle at the previous moment, v w1k-1 represents the corrected wheel speed of the left front wheel at the current moment, v w2k-1 represents the corrected wheel speed of the right front wheel at the current moment, v w3k-1 represents the corrected wheel speed of the left rear wheel at the current moment, v w4k-1 Indicates the corrected wheel speed of the right rear wheel at the current moment.

[0098] Step 2: Determine the actual speed of the target vehicle at the current moment based on the average wheel speed at the previous moment, the corrected vehicle acceleration of the target vehicle at the current moment, and the current moment.

[0099] Specifically, according to the average wheel speed at the previous moment, the corrected vehicle acceleration of the target vehicle at the current moment and the current moment, the actual vehicle speed of the target vehicle at the current moment can be determined.

[0100] Optionally, the actual speed of the target vehicle at the current moment may be determined according to the following formula:

[0101]

[0102] Among them, v v ′ represents the actual speed of the target vehicle at the current moment in the slipping state, represents the average wheel speed at the previous moment, a vk represents the corrected vehicle acceleration of the target vehicle at the current moment, and T represents the sampling period.

[0103] It should be noted that the sampling period may be the time interval between the current time and the initial collection time.

[0104] The technical solution of this embodiment obtains the wheel speed of each wheel of the target vehicle at the previous moment and the wheel speed at the current moment, as well as the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration at the current moment. According to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, the wheel speed of each wheel at the current moment is corrected to obtain the corrected wheel speed of each wheel at the current moment. Among them, by correcting the wheel speed of each wheel, the accuracy of calculating the vehicle speed can be improved. According to the corrected wheel speed of each wheel at the current moment, the vehicle driving state of the target vehicle at the current moment is determined. According to the vehicle driving state of the target vehicle at the current moment, the actual vehicle speed of the target vehicle at the current moment is determined, and the vehicle speed of the vehicle on the test bench is calculated, which solves the technical problem that the vehicle speed on the test bench in the prior art has a large error in calculating the vehicle speed and a reduced speed accuracy, and achieves the effect of improving user experience.

[0105] Embodiment 2

[0106] Figure 3 It is a flow chart of a vehicle calculation method provided in the second embodiment of the present invention. On the basis of the foregoing embodiment, optionally, the vehicle driving state of the target vehicle at the current moment is determined according to the corrected wheel speed of each wheel at the current moment, including: determining the wheel state of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment; determining the vehicle driving state of the target vehicle at the current moment according to the wheel state of each wheel at the current moment.

[0107] Among them, technical terms that are the same as or corresponding to the above embodiments are not repeated here.

[0108] like Figure 3 As shown, the method of this embodiment may specifically include:

[0109] S210, obtaining the wheel speed of each wheel of the target vehicle at a previous moment and the wheel speed at a current moment, and the vehicle acceleration of the target vehicle at a previous moment and the vehicle acceleration at a current moment.

[0110] S220. According to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment, and the vehicle acceleration of the target vehicle at the current moment, the wheel speed of each wheel at the current moment is corrected to obtain the corrected wheel speed of each wheel at the current moment.

[0111] S230: Determine the wheel state of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment.

[0112] The wheel state may be the state of each wheel, and may include the following states: a locked state and a normal state.

[0113] Specifically, after the corrected wheel speed of each wheel at the current moment is obtained, the wheel state of each wheel at the current moment can be determined according to the corrected wheel speed of each wheel at the current moment.

[0114] Optionally, the wheel state of each wheel at the current moment may be determined according to the corrected wheel speed of each wheel at the current moment through the following steps:

[0115] Step 1: Obtain the wheel acceleration of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment.

[0116] Specifically, after the corrected wheel speed of each wheel at the current moment, the wheel acceleration of each wheel at the current moment can be determined according to the corrected wheel speed of each wheel at the previous moment and the corrected wheel speed of each wheel at the current moment.

[0117] Taking the left front wheel as an example, in order to improve the accuracy of calculating the wheel acceleration of each wheel at the current moment, the wheel acceleration of the left front wheel at the current moment can also be obtained according to the following formula:

[0118]

[0119] Among them, i=1 represents the left front wheel, j represents the time, v wik-j-1 -v wik-j represents the difference in corrected wheel speed of the left front wheel at adjacent moments, and T represents the sampling period. wik-j Indicates the wheel acceleration of each wheel at the current moment.

[0120] Specifically, after the corrected wheel speed of each wheel at the current moment, the wheel acceleration of each wheel at the current moment can be calculated according to the formula for obtaining the wheel acceleration of the left front wheel at the current moment. The corrected wheel speed of each wheel at the previous moment and at the current moment can be used to obtain a difference calculation result, and then the ratio of the difference calculation result to the sampling period is used as the wheel acceleration of each wheel at the current moment.

[0121] It should be noted that j=0 represents the current moment, j=1 represents the previous moment, j=2 represents the previous two moments, and j=3 represents the previous three moments, among which the previous moment can be the moment before the current moment, the previous two moments can be the moment before the previous moment, and the previous three moments can be the moment before the previous two moments.

[0122] It should also be noted that when j = 0, v wik-1 -v wikIndicates the difference between the wheel speed of the left front wheel at the previous moment and the corrected wheel speed at the current moment. The wheel acceleration a of the left front wheel at the current moment can be obtained wik By analogy, when j = 1, we can get the wheel acceleration a of the left front wheel at the previous moment: wik-1 , when j = 2, we can get the wheel acceleration a of the left front wheel at the first two moments wik-2 , when j = 3, we can get the wheel acceleration a of the left front wheel at the first three moments wik-3 .

[0123] Optionally, in order to improve the accuracy of the calculation, the wheel acceleration of each wheel at the current moment may be obtained in the following manner:

[0124] For a wheel, the wheel acceleration of the current wheel at the current moment, the wheel acceleration of the wheel acceleration at the previous moment, the wheel acceleration of the wheel acceleration at the previous moment, and the wheel acceleration of the wheel acceleration at the previous moment can be calculated. The calculated wheel acceleration of the current wheel at the current moment, the wheel acceleration of the wheel acceleration at the previous moment, and the wheel acceleration of the wheel acceleration at the previous moment are compared in magnitude, and the maximum wheel acceleration and the minimum wheel acceleration corresponding to the current wheel are deleted to obtain the two wheel accelerations corresponding to the current wheel after deletion. Then the average value of the two wheel accelerations corresponding to the current wheel after deletion is calculated to obtain the average value of the current wheel acceleration, and the average value of the current wheel acceleration is used as the wheel acceleration of the current wheel at the current moment.

[0125] Step 2: Calculate the difference ratio between the wheel acceleration of each wheel at the current moment and the vehicle acceleration of the target vehicle at the current moment, and obtain the acceleration change of each wheel at the current moment.

[0126] The acceleration change may be a difference ratio between the wheel acceleration of each wheel at the current moment and the vehicle acceleration of the target vehicle at the current moment.

[0127] The difference calculation result is obtained by performing a difference calculation between the wheel acceleration of each wheel at the current moment and the vehicle acceleration of the target vehicle at the current moment, and then the ratio of the difference calculation result to the vehicle acceleration of the target vehicle at the current moment is used as the acceleration change of each wheel at the current moment.

[0128] Optionally, the acceleration change of each wheel at the current moment can be obtained according to the following formula:

[0129]

[0130] Among them, Δa i Indicates the acceleration change of each wheel at the current moment, a wirepresents the wheel acceleration of each wheel at the current moment, a vk Indicates the vehicle acceleration of the target vehicle at the current moment.

[0131] Specifically, the absolute value of the wheel acceleration of each wheel at the current moment and the absolute value of the vehicle acceleration of the target vehicle at the current moment are difference calculated to obtain a difference calculation result, and then the ratio of the difference calculation result to the vehicle acceleration of the target vehicle at the current moment is used as the acceleration change at the current moment.

[0132] Step 3: Determine the wheel state of each wheel at the current moment according to the acceleration change of each wheel at the current moment and the corrected wheel speed of each wheel at the current moment.

[0133] Specifically, after obtaining the acceleration change of each wheel at the current moment, the wheel state of each wheel at the current moment can be determined according to the acceleration change of each wheel at the current moment and the corrected wheel speed of each wheel at the current moment.

[0134] Optionally, the wheel state of each wheel at the current moment may be determined according to the acceleration change of each wheel at the current moment and the corrected wheel speed of each wheel at the current moment in the following manner:

[0135] The acceleration variation of each wheel at the current moment can be compared with the corrected wheel speed of each wheel at the current moment to obtain a comparison result. Further, the wheel state of each wheel at the current moment can be determined based on the comparison result.

[0136] Optionally, the wheel state of each wheel at the current moment may be determined according to the acceleration change of each wheel at the current moment and the corrected wheel speed of each wheel at the current moment in the following manner:

[0137] For each wheel, if the acceleration change of the current wheel at the current moment is greater than the preset wheel acceleration change threshold, and the corrected wheel speed of the current wheel at the current moment is greater than the preset wheel speed threshold, then the wheel state of the current wheel at the current moment is a locked state.

[0138] The wheel acceleration change threshold can be set based on experience, and its specific value is not limited here. The wheel speed threshold can be set based on experience, and its specific value is not limited here.

[0139] Specifically, a wheel acceleration change threshold and a wheel speed threshold may be preset. For each wheel, if the acceleration change of the current wheel at the current moment is greater than the preset wheel acceleration change threshold, and the corrected wheel speed of the current wheel at the current moment is greater than the preset wheel speed threshold, then it can be determined that the wheel state of the current wheel at the current moment is a locked state.

[0140] Taking the left front wheel (i=1) as an example, the preset wheel acceleration change threshold is Δa c , the preset wheel speed threshold is v wc If Δa i >Δa c (i=1) and v wik <v wc (i=1), then it can be determined that the left front wheel is in a locked state at the current moment. i Indicates the acceleration change of the left front wheel at the current moment, v wik Indicates the corrected wheel speed of the left front wheel at the current moment.

[0141] It should be noted that the method for determining the wheel state of each wheel of the target vehicle may be the same as the method for determining the wheel state of the left front wheel described above.

[0142] S240: Determine the vehicle driving state of the target vehicle at the current moment according to the wheel state of each wheel at the current moment.

[0143] Specifically, after the wheel state of each wheel at the current moment is obtained, the vehicle driving state of the target vehicle at the current moment can be determined according to the wheel state of each wheel at the current moment.

[0144] Optionally, the vehicle driving state of the target vehicle at the current moment may be determined according to the wheel state of each wheel at the current moment in the following manner:

[0145] If the wheel state of each wheel of the target vehicle at the current moment has at least one locked state, the vehicle driving state of the target vehicle at the current moment may be a slipping state. If the wheel state of each wheel of the target vehicle at the current moment is a normal state, the vehicle driving state of the target vehicle at the current moment may be a non-slipping state.

[0146] S250: Determine the actual speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment.

[0147] The technical solution of this embodiment determines the wheel state of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment. By determining the vehicle driving state of the target vehicle at the current moment according to the wheel state of each wheel at the current moment, it is possible to judge the vehicle driving state according to the wheel state of the target vehicle, thereby improving the accuracy of the vehicle speed and achieving the effect of improving the user experience.

[0148] Embodiment 3

[0149] Figure 4It is a schematic diagram of a vehicle speed calculation device module provided in Example 3 of the present invention. The present invention provides a vehicle speed calculation device, which includes: a vehicle data acquisition module 310, a corrected wheel speed acquisition module 320, a vehicle driving state determination module 330 and a vehicle speed determination module 340.

[0150] Among them, the vehicle data acquisition module 310 is used to obtain the wheel speed of each wheel of the target vehicle at the previous moment and the wheel speed at the current moment, as well as the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration at the current moment; the corrected wheel speed acquisition module 320 is used to correct the wheel speed of each wheel at the current moment according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, so as to obtain the corrected wheel speed of each wheel at the current moment; the vehicle driving state determination module 330 is used to determine the vehicle driving state of the target vehicle at the current moment according to the corrected wheel speed of each wheel at the current moment; the vehicle speed determination module 340 is used to determine the actual vehicle speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment.

[0151] The technical solution of this embodiment is to obtain the wheel speed of each wheel of the target vehicle at the previous moment and the wheel speed at the current moment, as well as the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration at the current moment through the vehicle data acquisition module. The wheel speed of each wheel at the current moment is corrected by the corrected wheel speed acquisition module according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, so as to obtain the corrected wheel speed of each wheel at the current moment. Among them, by correcting the wheel speed of each wheel, the accuracy of calculating the vehicle speed can be improved. The vehicle driving state of the target vehicle at the current moment is determined by the vehicle driving state determination module according to the corrected wheel speed of each wheel at the current moment. The actual speed of the target vehicle at the current moment is determined by the vehicle speed determination module according to the vehicle driving state of the target vehicle at the current moment, so as to realize the calculation of the vehicle speed on the test bench, solve the technical problems that the speed of the vehicle on the test bench in the prior art is calculated with large speed error and reduced speed accuracy, and achieve the effect of improving user experience.

[0152] Optionally, the vehicle driving state determination module 330 includes a wheel state determination unit and a vehicle driving state determination unit; wherein the wheel state determination unit is used to determine the wheel state of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment; the vehicle driving state determination unit is used to determine the vehicle driving state of the target vehicle at the current moment according to the wheel state of each wheel at the current moment.

[0153] Optionally, a wheel state determination unit is used to obtain the wheel acceleration of each wheel at the current moment based on the corrected wheel speed of each wheel at the current moment; calculate the difference ratio between the wheel acceleration of each wheel at the current moment and the vehicle acceleration of the target vehicle at the current moment to obtain the acceleration change of each wheel at the current moment; determine the wheel state of each wheel at the current moment based on the acceleration change of each wheel at the current moment and the corrected wheel speed of each wheel at the current moment.

[0154] Optionally, a wheel state determination unit is used to determine, for each wheel, that if the acceleration change of the current wheel at the current moment is greater than a preset wheel acceleration change threshold, and the corrected wheel speed of the current wheel at the current moment is greater than a preset wheel speed threshold, then the wheel state of the current wheel at the current moment is a locked state.

[0155] Optionally, the vehicle speed determination module 340 is used to calculate the average value of the corrected wheel speed of each wheel at the current moment to obtain the average wheel speed at the current moment if the driving state of the target vehicle at the current moment is a non-slip state, and use the average wheel speed at the current moment as the actual vehicle speed of the target vehicle at the current moment.

[0156] Optionally, the vehicle speed determination module 340 includes a corrected vehicle acceleration obtaining unit and a target vehicle speed determination unit, wherein the corrected vehicle acceleration obtaining unit is used to correct the vehicle acceleration of the target vehicle at the current moment if the driving state of the target vehicle at the current moment is a slipping state according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment to obtain the corrected vehicle acceleration of the target vehicle at the current moment; the target vehicle speed determination unit is used to determine the actual vehicle speed of the target vehicle at the current moment according to the corrected vehicle acceleration of the target vehicle at the current moment and the current moment.

[0157] Optionally, the target vehicle speed determination unit is used to calculate the average value based on the corrected wheel speed of each wheel at the previous moment to obtain the average wheel speed at the previous moment; and determine the actual speed of the target vehicle at the current moment based on the average wheel speed at the previous moment, the corrected vehicle acceleration of the target vehicle at the current moment and the current moment.

[0158] The above-mentioned device can execute the vehicle speed calculation method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the vehicle speed calculation method.

[0159] It is worth noting that the various units and modules included in the above-mentioned vehicle speed calculation device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present invention.

[0160] Embodiment 4

[0161] Figure 5 It is a structural schematic diagram of an electronic device provided in Embodiment 4 of the present invention. Figure 5 A block diagram of an exemplary electronic device 12 suitable for implementing any of the embodiments of the present invention is shown. Figure 5 The electronic device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The device 12 is typically an electronic device that is responsible for processing configuration information.

[0162] like Figure 5 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 connecting the various components (including the memory 28 and the processing unit 16).

[0163] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0164] The electronic device 12 typically includes a variety of computer readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0165] The memory 28 may include computer device readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 Not shown, usually referred to as a "hard drive"). Although not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (such as a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (such as a read-only optical disk (Compact Disc-Read Only Memory, CD-ROM), a digital video disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) can be provided. In these cases, each drive can be connected to the bus 18 via one or more data medium interfaces. The memory 28 can include at least one program product 40, which has a set of program modules 42, which are configured to perform the functions of various embodiments of the present invention. The program product 40 can be stored in, for example, the memory 28, and such program modules 42 include but are not limited to one or more application programs, other program modules and program data, each of which or some combination of these examples may include the implementation of a network environment. The program module 42 generally performs the functions and / or methods in the embodiments described in the present invention.

[0166] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, mouse, camera, etc., and display), may also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed through an input / output (I / O) interface 22. In addition, the electronic device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 through a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) devices, tape drives, and data backup storage devices.

[0167] The processing unit 16 executes various functional applications and data processing by running the program stored in the memory 28, for example, implementing the vehicle speed calculation method provided in the above embodiment of the present invention, which includes:

[0168] Obtain the wheel speed of each wheel of the target vehicle at a previous moment and the wheel speed at the current moment, as well as the vehicle acceleration of the target vehicle at a previous moment and the vehicle acceleration at the current moment; correct the wheel speed of each wheel at the current moment according to the wheel speed of each wheel at a previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at a previous moment and the vehicle acceleration of the target vehicle at the current moment to obtain the corrected wheel speed of each wheel at the current moment; determine the vehicle driving state of the target vehicle at the current moment according to the corrected wheel speed of each wheel at the current moment; determine the actual vehicle speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment.

[0169] Of course, those skilled in the art can understand that the processor can also implement the vehicle speed calculation method provided by any embodiment of the present invention.

[0170] Embodiment 5

[0171] Embodiment 5 of the present invention further provides a computer-readable storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, for example, the vehicle speed calculation method provided in the above embodiment of the present invention includes:

[0172] Obtaining the wheel speed of each wheel of the target vehicle at a previous moment and at a current moment, as well as the vehicle acceleration of the target vehicle at a previous moment and at a current moment;

[0173] According to the wheel speed of each wheel at a previous moment, the wheel speed of each wheel at a current moment, the vehicle acceleration of the target vehicle at a previous moment, and the vehicle acceleration of the target vehicle at a current moment, the wheel speed of each wheel at a current moment is corrected to obtain a corrected wheel speed of each wheel at the current moment;

[0174] Determining the vehicle driving state of the target vehicle at the current moment according to the corrected wheel speed of each wheel at the current moment;

[0175] According to the vehicle driving state of the target vehicle at the current moment, the actual vehicle speed of the target vehicle at the current moment is determined.

[0176] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0177] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0178] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0179] Computer program code for performing the operation of embodiments of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0180] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle speed calculation method, applicable to a scenario where a vehicle is calculating its speed on a conveyor belt of a test bench, characterized in that: include: Obtaining the wheel speed of each wheel of the target vehicle at a previous moment and at a current moment, as well as the vehicle acceleration of the target vehicle at a previous moment and at a current moment; According to the wheel speed of each wheel at a previous moment, the wheel speed of each wheel at a current moment, the vehicle acceleration of the target vehicle at a previous moment, and the vehicle acceleration of the target vehicle at a current moment, the wheel speed of each wheel at a current moment is corrected to obtain a corrected wheel speed of each wheel at the current moment; Determine the wheel state of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment; Determine the vehicle driving state of the target vehicle at the current moment according to the wheel state of each wheel at the current moment; wherein the wheel state includes a locked state and a normal state, and the vehicle driving state includes a non-slip state and a slip state; if the wheel state of each wheel of the target vehicle at the current moment has at least one locked state, then the vehicle driving state of the target vehicle at the current moment is a slip state; if the wheel state of each wheel of the target vehicle at the current moment is a normal state, then the vehicle driving state of the target vehicle at the current moment is a non-slip state; Determining the actual speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment; Wherein, determining the wheel state of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment includes: According to the corrected wheel speed of each wheel at the current moment, the wheel acceleration of each wheel at the current moment is obtained; wherein the wheel acceleration at the current moment is obtained by calculating the wheel acceleration at the current moment, the previous moment, the two previous moments, and the three previous moments, and comparing the four values, removing the maximum value and the minimum value, and then averaging the remaining two wheel accelerations; Calculating the difference ratio between the wheel acceleration of each wheel at the current moment and the vehicle acceleration of the target vehicle at the current moment, to obtain the acceleration change of each wheel at the current moment; For each wheel, if the acceleration change of the current wheel at the current moment is greater than a preset wheel acceleration change threshold, and the corrected wheel speed of the current wheel at the current moment is less than the preset wheel speed threshold, then the wheel state of the current wheel at the current moment is a locked state; Wherein, determining the actual speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment includes: If the driving state of the target vehicle at the current moment is a slipping state, the vehicle acceleration of the target vehicle at the current moment is corrected according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, so as to obtain the corrected vehicle acceleration of the target vehicle at the current moment; The actual vehicle speed of the target vehicle at the current moment is determined according to the corrected vehicle acceleration of the target vehicle at the current moment and the current moment.

2. The method according to claim 1, characterized in that Determining the actual speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment includes: If the target vehicle is in a non-slip state at the current moment, the average value of the corrected wheel speed of each wheel at the current moment is calculated to obtain the average wheel speed at the current moment, and the average wheel speed at the current moment is used as the actual vehicle speed of the target vehicle at the current moment.

3. The method according to claim 1, characterized in that Determining the actual speed of the target vehicle at the current moment according to the corrected vehicle acceleration of the target vehicle at the current moment and the current moment includes: The average wheel speed at the previous moment is obtained by calculating the average value according to the corrected wheel speed of each wheel at the previous moment; The actual vehicle speed of the target vehicle at the current moment is determined according to the average wheel speed at the previous moment, the corrected vehicle acceleration of the target vehicle at the current moment, and the current moment.

4. A vehicle speed calculation device, characterized in that: include: A vehicle data acquisition module, used to acquire the wheel speed of each wheel of the target vehicle at a previous moment and at a current moment, and the vehicle acceleration of the target vehicle at a previous moment and at a current moment; A corrected wheel speed obtaining module is used to correct the wheel speed of each wheel at the current moment according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, so as to obtain the corrected wheel speed of each wheel at the current moment; The vehicle driving state determination module includes a wheel state determination unit and a vehicle driving state determination unit; wherein, The wheel state determination unit is used to determine the wheel state of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment; The vehicle driving state determination unit is used to determine the vehicle driving state of the target vehicle at the current moment according to the wheel state of each wheel at the current moment; wherein the wheel state includes a locked state and a normal state, and the vehicle driving state includes a non-slip state and a slip state; if the wheel state of each wheel of the target vehicle at the current moment has at least one locked state, then the vehicle driving state of the target vehicle at the current moment is a slip state; if the wheel state of each wheel of the target vehicle at the current moment is a normal state, then the vehicle driving state of the target vehicle at the current moment is a non-slip state; Wherein, the wheel state determination unit comprises: The wheel acceleration acquisition subunit is used to obtain the wheel acceleration of each wheel at the current moment according to the corrected wheel speed of each wheel at the current moment; wherein the wheel acceleration at the current moment is obtained by calculating the wheel acceleration at the current moment, the previous moment, the two previous moments, and the three previous moments, and comparing the four values, removing the maximum value and the minimum value, and then averaging the remaining two wheel accelerations; The acceleration variation determination subunit is used to calculate the difference ratio between the wheel acceleration of each wheel at the current moment and the vehicle acceleration of the target vehicle at the current moment, so as to obtain the acceleration variation of each wheel at the current moment; A locking state determination subunit, for each wheel, if the acceleration change of the current wheel at the current moment is greater than a preset wheel acceleration change threshold, and the corrected wheel speed of the current wheel at the current moment is less than the preset wheel speed threshold, then the wheel state of the current wheel at the current moment is a locking state; a vehicle speed determination module, for determining the actual vehicle speed of the target vehicle at the current moment according to the vehicle driving state of the target vehicle at the current moment; A vehicle speed determination module, comprising a corrected vehicle acceleration obtaining unit and a target vehicle speed determination unit; The corrected vehicle acceleration obtaining unit is used to correct the vehicle acceleration of the target vehicle at the current moment according to the wheel speed of each wheel at the previous moment, the wheel speed of each wheel at the current moment, the vehicle acceleration of the target vehicle at the previous moment and the vehicle acceleration of the target vehicle at the current moment, if the driving state of the target vehicle at the current moment is a slipping state, so as to obtain the corrected vehicle acceleration of the target vehicle at the current moment; The target vehicle speed determination unit is used to determine the actual vehicle speed of the target vehicle at the current moment according to the corrected vehicle acceleration of the target vehicle at the current moment and the current moment.

5. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs; When the program is executed by the processor, the processor implements the vehicle speed calculation method as described in any one of claims 1-3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle speed calculation method as described in any one of claims 1 to 3 is implemented.

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