Method and device for determining center of mass velocity

Abstract

The present invention discloses a method and device for determining the mass center speed. The method comprises: obtaining the wheelbase information, yaw rate, mass center offset angle, and the current wheel speed corresponding to the wheels of the target vehicle at the current sampling moment; obtaining the initial mass center speed corresponding to the wheels according to the current wheel speed, wheelbase information, yaw rate, and mass center offset angle; performing fuzzy reasoning processing on the speed measurement value and the initial mass center speed of the target vehicle to obtain the first confidence level corresponding to the speed measurement value and the second confidence level corresponding to the initial mass center speed; obtaining the target mass center speed of the target vehicle according to the speed measurement value, the initial mass center speed, the first confidence level, and the second confidence level. The present invention solves the technical problem in the related art that the mass center speed has low accuracy and low robustness due to the poor adaptability of the vehicle to the differences in driving conditions.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to the field of vehicle speed estimation technology, and specifically to a method and device for determining center of mass speed. Background Art

[0002] At present, in the field of autonomous driving, the center of mass speed of the vehicle is often used to establish a vehicle dynamics model, and the vehicle dynamics model directly affects the control effect of the autonomous driving vehicle. Therefore, the accuracy of the center of mass speed has an important impact on the control accuracy. In related technologies, the center of mass speed is mainly obtained through wheel speed sensors or integrated navigation systems. Among them, the wheel speed sensor is likely to reduce the accuracy of vehicle speed estimation when the vehicle skids, and the integrated navigation system is easily affected by the driving environment. When the navigation signal is lost, it is difficult to obtain the accurate vehicle speed, resulting in poor adaptability of the autonomous driving vehicle to different driving environments and working conditions, which in turn leads to the problem of low accuracy of the center of mass speed.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for determining center of mass speed, so as to at least solve the technical problem in the related art that the center of mass speed has low accuracy and low robustness due to the poor adaptability of the vehicle to the difference in driving conditions.

[0005] According to one aspect of an embodiment of the present invention, a method for determining center of mass speed is provided, comprising: obtaining wheelbase information, yaw angular velocity, center of mass offset angle, and current wheel speed corresponding to the wheels of the target vehicle at the current sampling moment; obtaining the initial center of mass speed corresponding to the wheel according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle; performing fuzzy inference processing on the speed measurement value and the initial center of mass speed of the target vehicle to obtain a first confidence level corresponding to the speed measurement value and a second confidence level corresponding to the initial center of mass speed; obtaining the target center of mass speed of the target vehicle according to the speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level.

[0006] Optionally, in the case where the wheels include front wheels and rear wheels, the wheelbase information includes the front wheel track and the rear wheel track, and the current wheel speed includes the current front wheel speed corresponding to the front wheel and the current rear wheel speed corresponding to the rear wheel, obtaining the initial center of mass speed corresponding to the wheel according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle includes: determining the center of mass position, the front axle position, and the rear axle position of the target vehicle; determining a first distance difference between the center of mass position and the front axle position, and a second distance difference between the center of mass position and the rear axle position; based on the front wheel track, the center of mass offset angle, and the first and second distance differences between the center of mass position and the rear axle position; obtaining the initial center of mass speed corresponding to the wheel according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle; and obtaining the initial center of mass speed corresponding to the wheel according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle. a distance difference, to obtain a front wheel deviation value corresponding to the front wheel, wherein the front wheel deviation value is used to correct the current front wheel speed; an initial front wheel speed corresponding to the front wheel is obtained according to the front wheel deviation value, the current front wheel speed, and the yaw angular velocity; a rear wheel deviation value corresponding to the rear wheel is obtained based on the rear wheel track, the center of mass offset angle, and the second distance difference, wherein the rear wheel deviation value is used to correct the current rear wheel speed; an initial rear wheel speed corresponding to the rear wheel is obtained according to the rear wheel deviation value, the current rear wheel speed, and the yaw angular velocity; and the initial center of mass speed is obtained based on the initial front wheel speed and the initial rear wheel speed.

[0007] Optionally, in the case where the front wheels include a left front wheel and a right front wheel, obtaining the front wheel deviation value corresponding to the front wheel based on the front wheel track, the center of mass offset angle, and the first distance difference includes: obtaining the left front wheel deviation value corresponding to the left front wheel based on the front wheel track, the center of mass offset angle, and the first distance difference in the following manner:

[0008]

[0009] Among them, ΔR FL is the left front wheel deviation value, b F is the front wheel track, l F is the first distance difference, β is the mass center offset angle; based on the front wheel track, the mass center offset angle, and the first distance difference, the right front wheel deviation value corresponding to the right front wheel is obtained in the following manner:

[0010]

[0011] Among them, ΔR FR is the right front wheel deviation value; and the front wheel deviation value is obtained according to the left front wheel deviation value and the right front wheel deviation value.

[0012] Optionally, in the case where the rear wheels include a left rear wheel and a right rear wheel, obtaining the rear wheel deviation value corresponding to the rear wheel based on the rear wheel track, the center of mass offset angle, and the second distance difference comprises: obtaining the left rear wheel deviation value corresponding to the left rear wheel based on the rear wheel track, the center of mass offset angle, and the second distance difference in the following manner;

[0013]

[0014] Among them, ΔR RL is the left rear wheel deviation value, b R is the rear wheel track, l F is the first distance difference, β is the mass center offset angle; based on the rear wheel track, the mass center offset angle, and the second distance difference, the right rear wheel deviation value corresponding to the right rear wheel is obtained in the following manner:

[0015]

[0016] Among them, ΔR RR is the right rear wheel deviation value; and the rear wheel deviation value is obtained according to the left rear wheel deviation value and the right rear wheel deviation value.

[0017] Optionally, in the case where the front wheels include a left front wheel and a right front wheel, the rear wheels include a left rear wheel and a right rear wheel, the front wheel deviation value includes a left front wheel deviation value and a right front wheel deviation value, the rear wheel deviation value includes a left rear wheel deviation value and a right rear wheel deviation value, and the current wheel speed includes a current left front wheel speed corresponding to the left front wheel, a current right front wheel speed corresponding to the right front wheel, a current left rear wheel speed corresponding to the left rear wheel, and a current right rear wheel speed corresponding to the right rear wheel, obtaining the initial center of mass speed based on the initial front wheel speed and the initial rear wheel speed includes: obtaining the initial left front wheel speed corresponding to the left front wheel according to the left front wheel deviation value, the current left front wheel speed, and the yaw angular velocity in the following manner:

[0018]

[0019] Among them, v GFL is the initial left front wheel speed, v WFL is the current left front wheel speed, ΔR FL is the left front wheel deviation value, is the yaw angular velocity; according to the right front wheel deviation value, the current right front wheel speed, and the yaw angular velocity, the initial right front wheel speed corresponding to the right front wheel is obtained in the following manner:

[0020]

[0021] Among them, v GFR is the initial right front wheel speed, v WFR is the current right front wheel speed, ΔR FR is the right front wheel deviation value; according to the left rear wheel deviation value, the current left rear wheel speed, and the yaw angular velocity, the initial left rear wheel speed corresponding to the left rear wheel is obtained in the following manner:

[0022]

[0023] Among them, v GRL is the initial left rear wheel speed, v WRL is the current left rear wheel speed, ΔR RL is the left rear wheel deviation value; according to the right rear wheel deviation value, the current right rear wheel speed, and the yaw angular velocity, the initial right rear wheel speed corresponding to the right rear wheel is obtained in the following manner:

[0024]

[0025] Among them, v GRR is the initial right rear wheel speed, v WRR is the current right rear wheel speed, ΔR RR is the right rear wheel deviation value; based on the initial left front wheel speed and the initial right front wheel speed, the initial front wheel speed is obtained; based on the initial left rear wheel speed and the initial right rear wheel speed, the initial rear wheel speed is obtained; based on the initial front wheel speed and the initial rear wheel speed, the initial center of mass speed is obtained.

[0026] Optionally, the fuzzy reasoning processing is performed on the speed measurement value and the initial center of mass speed of the target vehicle to obtain a first confidence level corresponding to the speed measurement value and a second confidence level corresponding to the initial center of mass speed, including: obtaining the center of mass longitudinal acceleration corresponding to the target vehicle at the current sampling moment; determining the current operating condition corresponding to the target vehicle based on the center of mass longitudinal acceleration; determining a preset target fuzzy rule and membership function based on the current operating condition; obtaining the fuzzy reasoning input value corresponding to the wheel based on the initial center of mass speed and the previous target center of mass speed, wherein the previous target center of mass speed is the target center of mass speed corresponding to the sampling moment before the current sampling moment; and fuzzy reasoning processing is performed on the speed measurement value, the fuzzy reasoning input value, the target fuzzy rule, and the membership function to obtain the first confidence level and the second confidence level.

[0027] Optionally, obtaining the fuzzy reasoning input value corresponding to the wheel based on the initial center of mass speed and the previous target center of mass speed includes: determining wheel position information corresponding to the wheel, wherein the wheel position information is any one of the following: left front wheel position, right front wheel position, left rear wheel position, and right rear wheel position; based on the initial center of mass speed corresponding to the wheel position information and the previous target center of mass speed, obtaining the fuzzy reasoning input value in the following manner:

[0028]

[0029] Where Δv Gij is the fuzzy inference input value, v Gij (t) is the initial center of mass velocity, ij is the wheel position information, where i represents the front or rear position, j represents the left or right position, is the previous target center of mass velocity.

[0030] Optionally, obtaining the vehicle speed measurement value includes: obtaining the vehicle speed measurement value based on the center-of-mass longitudinal acceleration and the previous target center-of-mass speed by:

[0031]

[0032] Among them, v G5 is the vehicle speed measurement value, is the previous target mass center velocity, T s is the single sampling duration, a Gx is the longitudinal acceleration of the center of mass.

[0033] Optionally, the second confidence level includes a left front wheel confidence level, a right front wheel confidence level, a left rear wheel confidence level, and a right rear wheel confidence level, the initial center of mass speed includes an initial left front wheel speed, an initial right front wheel speed, an initial left rear wheel speed, and an initial right rear wheel speed, and obtaining a current target center of mass speed of the target vehicle according to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level includes: obtaining the current target center of mass speed of the target vehicle according to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, the left front wheel confidence level, the right front wheel confidence level, the left rear wheel confidence level, and the right rear wheel confidence level in the following manner:

[0034]

[0035] in, is the current target mass center speed, k1 is the left front wheel confidence, k2 is the right front wheel confidence, k3 is the left rear wheel confidence, k4 is the right rear wheel confidence, k5 is the first confidence, v GFL is the initial left front wheel speed, v GFR is the initial right front wheel speed, v GRL is the initial left rear wheel speed, V GRR is the initial right rear wheel speed.

[0036] According to another aspect of an embodiment of the present invention, a device for determining a center of mass speed is provided, comprising: a first acquisition module, used to acquire wheelbase information, yaw angular velocity, center of mass offset angle, and current wheel speed corresponding to the wheels of the target vehicle at the current sampling moment; a first calculation module, used to obtain the initial center of mass speed corresponding to the wheel according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle; a second calculation module, used to perform fuzzy inference processing on the vehicle speed measurement value and the initial center of mass speed of the target vehicle to obtain a first confidence level corresponding to the vehicle speed measurement value and a second confidence level corresponding to the initial center of mass speed; a first determination module, used to obtain the target center of mass speed of the target vehicle according to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level.

[0037] In the embodiment of the present invention, the idea of ​​fuzzy reasoning is adopted, by obtaining the wheel width information, yaw angular velocity, center of mass offset angle corresponding to the target vehicle at the current sampling moment, and the current wheel speed corresponding to the wheel of the target vehicle: according to the current wheel speed, the wheel width information, the yaw angular velocity, and the center of mass offset angle, the initial center of mass speed corresponding to the wheel is obtained; the vehicle speed measurement value and the initial center of mass speed of the target vehicle are subjected to fuzzy reasoning processing to obtain the first confidence level corresponding to the vehicle speed measurement value and the second confidence level corresponding to the initial center of mass speed; according to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level, the target center of mass speed of the target vehicle is obtained. The purpose of weight design based on different working conditions and improving the adaptability of the center of mass speed estimation method to working conditions is achieved, and the technical effect of improving the accuracy and robustness of the center of mass speed is achieved, thereby solving the technical problem of low accuracy and low robustness of the center of mass speed in the related art due to the poor adaptability of the vehicle to the difference in driving working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0039] Figure 1 is a flow chart of an optional method for determining center of mass velocity provided according to an embodiment of the present invention;

[0040] Figure 2 is a schematic diagram of an optional method for determining center of mass velocity provided according to an embodiment of the present invention;

[0041] Figure 3 is a membership diagram of an optional method for determining centroid velocity provided according to an embodiment of the present invention;

[0042] Figure 4 is a membership diagram of another optional method for determining centroid velocity provided according to an embodiment of the present invention;

[0043] Figure 5 is a schematic diagram of an optional device for determining center of mass velocity provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] For the convenience of description, some nouns or terms involved in the embodiments of the present application are explained below:

[0047] Fuzzy reasoning is a type of uncertain reasoning that uses fuzzy set theory as a basic description tool and expands the combing logic of description tools based on general set theory.

[0048] Traditional fuzzy reasoning method (Mamdani algorithm), a common fuzzy reasoning algorithm, is used to fuzzify each output variable fuzzy set to obtain specific results.

[0049] In the relevant autonomous driving vehicles, the vehicle sensors related to the center of mass speed include 4 wheel speed sensors (arranged on 4 wheels), integrated navigation, etc. Integrated navigation is a combination of global satellite positioning system navigation and inertial navigation, wherein the global satellite positioning system navigation can receive satellite positioning data and calculate the speed of the vehicle. When the global satellite positioning system navigation state is in a fixed solution state, the speed signal can be used as the center of mass speed signal of the vehicle. Global satellite positioning system navigation is easily affected by tall buildings, trees, building shelters, etc. For example, in a tunnel, the global satellite positioning system navigation cannot receive satellite positioning data at all. At this time, the calculation of the center of mass speed of the vehicle through the global satellite positioning system navigation becomes an invalid method. Inertial navigation can provide the attitude information of the vehicle, including the acceleration signal of the three axes in the vehicle coordinate system, the yaw angle, the pitch angle, the roll angle and other signals. When the inertial navigation and the wheel speed sensor are used together, the accuracy of the center of mass speed obtained directly based on the inertial navigation and the wheel speed sensor is low in the extreme working conditions of the vehicle, such as the special state of vehicle slippage.

[0050] In response to the above problems, an embodiment of the present invention provides a method embodiment of a method for determining a center of mass velocity. According to an embodiment of the present invention, a method embodiment of a method for determining a center of mass velocity is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0051] Figure 1 is a method for determining the centroid velocity according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0052] Step S102, obtaining wheelbase information, yaw angular velocity, center of mass offset angle corresponding to the target vehicle at the current sampling moment, and current wheel speed corresponding to the wheels of the target vehicle;

[0053] Step S104, obtaining the initial center of mass velocity corresponding to the wheel according to the current wheel speed, the wheel width information, the yaw angular velocity, and the center of mass offset angle;

[0054] Step S106, performing fuzzy reasoning processing on the vehicle speed measurement value of the target vehicle and the initial centroid speed to obtain a first confidence level corresponding to the vehicle speed measurement value and a second confidence level corresponding to the initial centroid speed;

[0055] Step S108, obtaining the target center of mass speed of the target vehicle according to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level.

[0056] Through the above steps, it is possible to achieve the purpose of weight design based on different working conditions, improve the adaptability of the center of mass speed estimation method to working conditions, and achieve the technical effect of improving the accuracy and robustness of the center of mass speed, thereby solving the technical problem of low accuracy and low robustness of the center of mass speed in related technologies due to the poor adaptability of the vehicle to differences in driving conditions.

[0057] In the method for determining the mass center speed provided in the embodiment of the present invention, in order to obtain the mass center speed of the vehicle with good accuracy, first, the wheelbase information, yaw rate, mass center offset angle, and current wheel speed corresponding to the target vehicle at the current sampling moment are obtained, and the initial mass center speed corresponding to each wheel of the target vehicle is obtained based on the wheelbase information, yaw rate, mass center offset angle, and current wheel speed. After that, the speed measurement value of the target vehicle is obtained, and fuzzy reasoning processing is performed based on the speed measurement value and the initial mass center speed to obtain the first confidence level corresponding to the speed measurement value and the second confidence level corresponding to each wheel. Finally, the target mass center speed of the target vehicle is obtained based on the speed measurement value, the initial mass center speed, the first confidence level, and the second confidence level.

[0058] Optionally, there may be multiple ways to obtain the yaw angular velocity and the center of mass offset angle, for example, obtaining the yaw angular velocity and the center of mass offset angle through an inertial navigation system.

[0059] Optionally, there may be multiple ways to obtain the current wheel speed, for example, obtaining the contact point speed of each wheel through a wheel speed sensor on each wheel as the current wheel speed.

[0060] Optionally, there may be multiple ways to obtain the vehicle speed measurement value, for example, obtaining the vehicle speed measurement value of the target vehicle through a global satellite positioning system.

[0061] Optionally, the target vehicle may be of various types, such as the number of wheels of the target vehicle may be of various types, such as the target vehicle may be a four-wheeled sedan, a six-wheeled truck, a sixteen-wheeled heavy truck, and the like.

[0062] Optionally, the fuzzy reasoning process may be performed in a variety of ways, for example, using a traditional fuzzy reasoning method to perform fuzzy reasoning process.

[0063] In an optional embodiment, when the wheels include front wheels and rear wheels, the wheelbase information includes the front wheel track and the rear wheel track, and the current wheel speed includes the current front wheel speed corresponding to the front wheel and the current rear wheel speed corresponding to the rear wheel, the initial center of mass speed corresponding to the wheels is obtained according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle, including: determining the center of mass position, front axle position and rear axle position of the target vehicle; determining a first distance difference between the center of mass position and the front axle position, and a second distance difference between the center of mass position and the rear axle position; based on the front wheel track and the center of mass offset angle, and the first distance difference, obtain the front wheel deviation value corresponding to the front wheel, wherein the front wheel deviation value is used to correct the current front wheel speed; obtain the initial front wheel speed corresponding to the front wheel according to the front wheel deviation value, the current front wheel speed, and the yaw angular velocity; obtain the rear wheel deviation value corresponding to the rear wheel based on the rear wheel track, the center of mass offset angle, and the second distance difference, wherein the rear wheel deviation value is used to correct the current rear wheel speed; obtain the initial rear wheel speed corresponding to the rear wheel according to the rear wheel deviation value, the current rear wheel speed, and the yaw angular velocity; obtain the initial center of mass speed based on the initial front wheel speed and the initial rear wheel speed.

[0064] It can be understood that in order to improve the accuracy of the initial center of mass speed, the front and rear wheels of the target vehicle are distinguished, the wheels include the front wheels and the rear wheels, the wheel track information includes the front wheel track and the rear wheel track, and the current wheel speed includes the current front wheel speed and the current rear wheel speed. Determine the first distance difference between the center of mass position of the target vehicle and the front axle position, and determine the second distance difference between the center of mass position of the target vehicle and the rear axle position. Based on the front wheel track, the center of mass offset angle, and the first distance difference, the front wheel deviation value is obtained. Based on the rear wheel track, the center of mass offset angle, and the first distance difference, the rear wheel deviation value is obtained. According to the front wheel deviation value, the current front wheel speed, and the yaw angular velocity, the initial front wheel speed corresponding to the front wheel is obtained; based on the rear wheel track, the center of mass offset angle, and the second distance difference, the rear wheel deviation value corresponding to the rear wheel is obtained, wherein the rear wheel deviation value is used to correct the current rear wheel speed; according to the rear wheel deviation value, the current rear wheel speed, and the yaw angular velocity, the initial rear wheel speed corresponding to the rear wheel is obtained; based on the initial front wheel speed and the initial rear wheel speed, the initial center of mass speed is obtained.

[0065] In an optional embodiment, optionally, in the case where the front wheels include a left front wheel and a right front wheel, obtaining the front wheel deviation value corresponding to the front wheel based on the front wheel track, the center of mass offset angle, and the first distance difference includes: obtaining the left front wheel deviation value corresponding to the left front wheel based on the front wheel track, the center of mass offset angle, and the first distance difference in the following manner:

[0066]

[0067] Among them, ΔR FL is the above-mentioned left front wheel deviation value, b F is the front wheel track, l F is the first distance difference, β is the mass center offset angle; based on the front wheel track, the mass center offset angle, and the first distance difference, the right front wheel deviation value corresponding to the right front wheel is obtained in the following manner:

[0068]

[0069] Among them, ΔR FR is the above-mentioned right front wheel deviation value; according to the above-mentioned left front wheel deviation value and the above-mentioned right front wheel deviation value, the above-mentioned front wheel deviation value is obtained.

[0070] It can be understood that on the basis of distinguishing the front and rear wheels, the front wheels are distinguished into the left front wheel and the right front wheel. In order to improve the accuracy of the obtained front wheel deviation value, based on the front wheel track, the center of mass offset angle, and the first distance difference, a mathematical expression is established to obtain the left front wheel deviation value corresponding to the left front wheel. Based on the front wheel track, the center of mass offset angle, and the first distance difference, a mathematical expression is established to obtain the right front wheel deviation value corresponding to the right front wheel. According to the left front wheel deviation value and the right front wheel deviation value, the front wheel deviation value is obtained.

[0071] Optionally, the left front wheel deviation is approximated. For example, when the center of mass slip angle is less than 10°, it can be approximately considered that sinβ=β and cosβ=1. The approximate left front wheel deviation value is expressed as follows:

[0072] Optionally, the right front wheel deviation is approximated. For example, when the center of mass slip angle is less than 10°, it can be approximately considered that sinβ=β, cosβ=1. The approximate right front wheel deviation value is expressed as follows:

[0073] In an optional embodiment, in the case where the rear wheels include a left rear wheel and a right rear wheel, obtaining the rear wheel deviation value corresponding to the rear wheel based on the rear wheel track, the center of mass offset angle, and the second distance difference includes: obtaining the left rear wheel deviation value corresponding to the left rear wheel based on the rear wheel track, the center of mass offset angle, and the second distance difference in the following manner:

[0074]

[0075] Among them, ΔR RL is the above-mentioned left rear wheel deviation value, bR is the above rear wheel track, l F is the first distance difference, β is the mass center offset angle; based on the rear wheel track, the mass center offset angle, and the second distance difference, the right rear wheel deviation value corresponding to the right rear wheel is obtained in the following manner:

[0076]

[0077] Among them, ΔR RR is the above-mentioned right rear wheel deviation value; according to the above-mentioned left rear wheel deviation value and the above-mentioned right rear wheel deviation value, the above-mentioned rear wheel deviation value is obtained.

[0078] It can be understood that on the basis of distinguishing the front and rear wheels, the rear wheels are distinguished into left rear wheels and right rear wheels. In order to improve the accuracy of the obtained rear wheel deviation value, based on the rear wheel track, the center of mass offset angle, and the second distance difference, a mathematical expression is established to obtain the left rear wheel deviation value corresponding to the left rear wheel. Based on the rear wheel track, the center of mass offset angle, and the second distance difference, a mathematical expression is established to obtain the right rear wheel deviation value corresponding to the right rear wheel. According to the left rear wheel deviation value and the right rear wheel deviation value, the rear wheel deviation value is obtained.

[0079] Optionally, the left rear wheel deviation is approximated. For example, when the center of mass slip angle is less than 10°, it can be approximately considered that sinβ=β and cosβ=1. The approximate left rear wheel deviation value is expressed as follows:

[0080] Optionally, the right rear wheel deviation is approximated. For example, when the center of mass slip angle is less than 10°, it can be approximately considered that sinβ=β, cosβ=1. The approximate right rear wheel deviation value is expressed as follows:

[0081] In an optional embodiment, when the front wheels include a left front wheel and a right front wheel, the rear wheels include a left rear wheel and a right rear wheel, the front wheel deviation value includes a left front wheel deviation value and a right front wheel deviation value, the rear wheel deviation value includes a left rear wheel deviation value and a right rear wheel deviation value, and the current wheel speed includes a current left front wheel speed corresponding to the left front wheel, a current right front wheel speed corresponding to the right front wheel, a current left rear wheel speed corresponding to the left rear wheel, and a current right rear wheel speed corresponding to the right rear wheel, the initial center of mass speed is obtained based on the initial front wheel speed and the initial rear wheel speed, including: obtaining the initial left front wheel speed corresponding to the left front wheel according to the left front wheel deviation value, the current left front wheel speed, and the yaw angular velocity in the following manner:

[0082]

[0083] Among them, v GFL is the initial left front wheel speed, v WFL is the current left front wheel speed, ΔR FL is the left front wheel deviation value mentioned above, is the yaw angular velocity; according to the right front wheel deviation value, the current right front wheel speed, and the yaw angular velocity, the initial right front wheel speed corresponding to the right front wheel is obtained in the following manner:

[0084]

[0085] Among them, v GFR is the initial right front wheel speed, v WFR is the current right front wheel speed, ΔR FR is the right front wheel deviation value; according to the left rear wheel deviation value, the current left rear wheel speed, and the yaw angular velocity, the initial left rear wheel speed corresponding to the left rear wheel is obtained in the following manner:

[0086]

[0087] Among them, v GRL is the initial left rear wheel speed, v WRL is the current left rear wheel speed, ΔR RL is the left rear wheel deviation value; according to the right rear wheel deviation value, the current right rear wheel speed, and the yaw angular velocity, the initial right rear wheel speed corresponding to the right rear wheel is obtained in the following manner:

[0088]

[0089] Among them, v GRR is the initial right rear wheel speed, v WRR is the current right rear wheel speed, ΔR RR is the above-mentioned right rear wheel deviation value; based on the above-mentioned initial left front wheel speed and the above-mentioned initial right front wheel speed, the above-mentioned initial front wheel speed is obtained; based on the above-mentioned initial left rear wheel speed and the above-mentioned initial right rear wheel speed, the above-mentioned initial rear wheel speed is obtained; based on the above-mentioned initial front wheel speed and the above-mentioned initial rear wheel speed, the above-mentioned initial center of mass speed is obtained.

[0090] It can be understood that in order to obtain the initial center of mass speed corresponding to each wheel, the wheels are divided into the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel. According to the left front wheel deviation value, the current left front wheel speed, and the yaw rate, the initial left front wheel speed corresponding to the left front wheel is obtained. According to the right front wheel deviation value, the current right front wheel speed, and the yaw rate, the initial right front wheel speed corresponding to the right front wheel is obtained. According to the left rear wheel deviation value, the current left rear wheel speed, and the yaw rate, the initial left rear wheel speed corresponding to the left rear wheel is obtained. According to the right rear wheel deviation value, the current right rear wheel speed, and the yaw rate, the initial right rear wheel speed corresponding to the right rear wheel is obtained. Based on the initial left front wheel speed and the initial right front wheel speed, the initial front wheel speed is obtained. Based on the initial left rear wheel speed and the initial right rear wheel speed, the initial rear wheel speed is obtained. Based on the initial front wheel speed and the initial rear wheel speed, the initial center of mass speed is obtained.

[0091] It should be noted that when the target vehicle is driving straight on a flat road surface, the driving states of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel are similar, so the initial left front wheel speed, the initial right front wheel speed, the initial left rear wheel speed, and the initial right rear wheel speed are basically equal, and the error is small. However, when driving on a curve or in a harsh driving environment, the above initial left front wheel speed, initial right front wheel speed, initial left rear wheel speed, and initial right rear wheel speed will be greatly different. Therefore, distinguishing the wheels from front to back and left to right is conducive to improving the accuracy of the center of mass speed.

[0092] In an optional embodiment, the above-mentioned fuzzy reasoning processing is performed on the vehicle speed measurement value and the above-mentioned initial center of mass speed of the above-mentioned target vehicle to obtain a first confidence level corresponding to the above-mentioned vehicle speed measurement value and a second confidence level corresponding to the above-mentioned initial center of mass speed, including: obtaining the center of mass longitudinal acceleration corresponding to the above-mentioned target vehicle at the above-mentioned current sampling moment; determining the current operating condition corresponding to the above-mentioned target vehicle based on the above-mentioned center of mass longitudinal acceleration; determining a preset target fuzzy rule and membership function based on the above-mentioned current operating condition; obtaining the fuzzy reasoning input value corresponding to the above-mentioned wheel based on the above-mentioned initial center of mass speed and the previous target center of mass speed, wherein the above-mentioned previous target center of mass speed is the target center of mass speed corresponding to the sampling moment before the above-mentioned current sampling moment; performing fuzzy reasoning processing on the above-mentioned vehicle speed measurement value, the above-mentioned fuzzy reasoning input value, the above-mentioned target fuzzy rule, and the above-mentioned membership function to obtain the above-mentioned first confidence level and the above-mentioned second confidence level.

[0093] It can be understood that in order to perform adaptive fuzzy reasoning on the center of mass speed of the vehicle under different working conditions, different target fuzzy rules are determined according to different working conditions. Since the target fuzzy rule determines the output result after defuzzification, that is, the specific values ​​of the first confidence and the second confidence, it can be seen that setting different target fuzzy rules is conducive to reflecting the differences in working conditions, thereby improving the robustness of the center of mass speed under differentiated working conditions. According to the longitudinal acceleration of the center of mass corresponding to the current sampling moment, the current working condition corresponding to the target vehicle is determined. Based on the current working condition, the pre-set target fuzzy rule and membership function are determined. Based on the initial center of mass speed and the previous target center of mass speed, the fuzzy reasoning input value corresponding to the wheel is obtained. The vehicle speed measurement value, the fuzzy reasoning input value, the target fuzzy rule, and the membership function are fuzzy reasoned to obtain the first confidence and the second confidence.

[0094] Optionally, the current operating condition may include a variety of situations, for example, the current operating condition of the target vehicle may include rapid acceleration, acceleration, constant speed, deceleration, rapid deceleration and other operating conditions.

[0095] Optionally, there are multiple methods for determining the current working condition of the target vehicle according to the longitudinal acceleration of the center of mass. For example, in order to cover most working conditions of the target vehicle and reduce the complexity of calculation, the longitudinal acceleration of the center of mass a is used. Gx By determining the working conditions, the pre-set target fuzzy rules are determined, and the corresponding relationship is set as follows:

[0096]

[0097] The first preset value may be 3 m / s. 2 (meters per second squared), the second preset value may be 0.2 m / s 2 , the third preset value can be -0.2m / s 2 , the fourth preset value may be -3m / s 2 , a positive value of the longitudinal acceleration of the center of mass indicates an acceleration state, and a negative value indicates a deceleration state.

[0098] Optionally, there may be multiple types of the second confidence level, for example, each wheel corresponds to a second confidence level.

[0099] Optionally, the target fuzzy rules may be multiple, for example, a preset target fuzzy rule is obtained through experiments or calibration.

[0100] Optionally, the membership function may be of multiple types, for example, the input membership function is a trapezoidal function, and the output membership function is a triangular function.

[0101] It should be noted that after fuzzy reasoning processing, the specific numerical value can be converted into a fuzzy language description, and based on the pre-set target fuzzy rules, the specific confidence level of defuzzification can be obtained.

[0102] In an optional embodiment, the fuzzy reasoning input value corresponding to the wheel is obtained based on the initial center of mass speed and the previous target center of mass speed, including: determining the wheel position information corresponding to the wheel, wherein the wheel position information is any one of the following: left front wheel position, right front wheel position, left rear wheel position, right rear wheel position; based on the initial center of mass speed corresponding to the wheel position information and the previous target center of mass speed, the fuzzy reasoning input value is obtained in the following manner:

[0103]

[0104] Where Δv Gij Input value for the above fuzzy reasoning, v Gij (t) is the initial mass center velocity, ij is the wheel position information, where i represents the front or rear position, j represents the left or right position, is the center-of-mass velocity of the previous target mentioned above.

[0105] Optionally, in order to obtain the fuzzy reasoning input value corresponding to each wheel, it is necessary to determine the wheel position and the corresponding initial center of mass speed. Taking the previous target center of mass speed into consideration, the fuzzy reasoning input value is obtained based on the initial center of mass speed corresponding to each wheel and the previous target center of mass speed.

[0106] In an optional embodiment, obtaining the vehicle speed measurement value includes: obtaining the vehicle speed measurement value based on the center of mass longitudinal acceleration and the previous target center of mass speed by the following method:

[0107]

[0108] Among them, v G5 is the above-mentioned vehicle speed measurement value, is the velocity of the center of mass of the previous target, T s is the single sampling duration, a Gx is the longitudinal acceleration of the center of mass mentioned above.

[0109] It can be understood that, through the speed integration method, the product of the center of mass longitudinal acceleration and the single sampling speed is added to the previous target center of mass speed, and the product of the center of mass longitudinal acceleration and the single sampling speed is regarded as the speed change between the current sampling time and the previous sampling time.

[0110] In an optional embodiment, the second confidence level includes a left front wheel confidence level, a right front wheel confidence level, a left rear wheel confidence level, and a right rear wheel confidence level, the initial center of mass speed includes an initial left front wheel speed, an initial right front wheel speed, an initial left rear wheel speed, and an initial right rear wheel speed, and according to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level, the current target center of mass speed of the target vehicle is obtained, including: according to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, the left front wheel confidence level, the right front wheel confidence level, the left rear wheel confidence level, and the right rear wheel confidence level, the current target center of mass speed of the target vehicle is obtained in the following manner:

[0111]

[0112] in, is the current target mass center speed, k1 is the left front wheel confidence, k2 is the right front wheel confidence, k3 is the left rear wheel confidence, k4 is the right rear wheel confidence, k5 is the first confidence, v GFL is the initial left front wheel speed, v GFR is the initial right front wheel speed, v GRL is the initial left rear wheel speed, v GRR is the initial right rear wheel speed mentioned above.

[0113] It can be understood that the current target mass center speed of the target vehicle is obtained according to the vehicle speed measurement value, the initial mass center speed, the first confidence, the left front wheel confidence, the right front wheel confidence, the left rear wheel confidence, and the right rear wheel confidence. The initial mass center speed corresponding to each wheel is combined with the second confidence corresponding to each wheel, and the vehicle speed measurement value is combined with the first confidence, which reflects the influence of different confidences on the target mass center speed. Different fuzzy rules are flexibly set according to the working conditions, which is conducive to adjusting the specific value of the confidence, thereby improving the accuracy of the target mass center speed.

[0114] Based on the above embodiments and optional embodiments, the present invention proposes an optional implementation mode, and a specific example is given for ease of understanding. Figure 2 is a schematic diagram of an optional method for determining the centroid velocity according to an embodiment of the present invention, such as Figure 2As shown, in order to calculate the vehicle center of mass velocity signal, a simple vehicle dual-track model is established, and the wheels are divided into the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel. Inertial navigation can provide the attitude information of the target vehicle, including the acceleration signals of the three axes in the vehicle coordinate system, the yaw angle, the pitch angle, the roll angle and other signals. Inertial navigation and wheel speed sensor are used in combination, and the speed output by the wheel speed sensor is approximately considered to be the speed of the wheel contact point. When the target vehicle turns, it is considered that the distance from each wheel contact point to the turning center is sufficiently larger than the distance from the contact point to the center of mass, and the distance difference between the wheel contact point and the distance from the center of mass to the turning center is approximately considered to be parallel to each other and perpendicular to the side where the center of mass sideslip angle β is located. The above wheel distance difference is regarded as the wheel deviation value, which corresponds to ΔR FL Indicates the left front wheel deviation, ΔR FR Indicates the right front wheel deviation, ΔR RL Indicates the left rear wheel deviation value, and ΔR RR Indicates the deviation value of the right rear wheel. Figure 2 As shown, b F is the front wheel track, b R is the rear wheel track, l F is the first distance difference between the center of mass position and the front axle position, l R is the second distance difference between the center of mass position and the rear axle position, β is the center of mass offset angle, ΔR F The offset distance of the front wheel caused by the center of mass offset angle, ΔR R is the offset distance of the rear wheel caused by the mass center offset angle, and ψ is the above yaw rate. The front wheel deviation value, right front wheel deviation value, left rear wheel deviation value, and right rear wheel deviation value are obtained by the following method:

[0115] ΔR F = l F *tanβ

[0116] ΔR R = l R *tanβ

[0117]

[0118]

[0119]

[0120]

[0121] When the sideslip angle of the center of mass is less than 10°, it can be approximately considered that sinβ=β, cosβ=1. The approximate front wheel deviation value, right front wheel deviation value, left rear wheel deviation value, and right rear wheel deviation value are established in the following way:

[0122]

[0123]

[0124]

[0125]

[0126] The current left front wheel speed, the current right front wheel speed, the front left rear wheel speed, and the current right rear wheel speed are obtained through the wheel speed sensor. The front wheel deviation value, the right front wheel deviation value, the left rear wheel deviation value, the right rear wheel deviation value, and the yaw angular velocity are used to obtain the initial left front wheel speed, the initial right front wheel speed, the initial left rear wheel speed, and the initial right rear wheel speed:

[0127] v GFL =v WFL +ψ*ΔR FL

[0128] v GFR =v WFR -ψ*ΔR FR

[0129] v GRL =v WRL +ψ*ΔR RL

[0130] v GRR =v WRR -ψ*ΔR RR Among them, v GFL is the initial left front wheel speed, v GFR is the initial right front wheel speed, v GRL is the initial left rear wheel speed, v GRR is the initial right rear wheel speed. The initial left front wheel speed, the initial right front wheel speed, the initial left rear wheel speed, and the initial right rear wheel speed represent the processing results from the wheel speed sensor and the inertial navigation system without allocating confidence. The vehicle measurement value from the global positioning navigation system is obtained by the following method based on the above-mentioned center of mass longitudinal acceleration and the previous target center of mass speed:

[0131]

[0132] Among them, v G5 is the vehicle speed measurement value, is the velocity of the previous target center of mass, T s is the single sampling duration, a Gx is the longitudinal acceleration of the center of mass.

[0133] When the target vehicle is driving straight on a good road, the initial center of mass speeds corresponding to the wheels are basically equal, with a small error. However, under conditions with harsh driving environments, the center of mass speeds of the above four vehicles are quite different, and it is necessary to further estimate the target center of mass speed of the target vehicle. Fuzzy reasoning is used to characterize the impact of working conditions on the target vehicle. In order to cover most of the working conditions of the target vehicle and reduce the complexity of the calculation, the center of mass longitudinal acceleration a is used. Gx By determining the working conditions, the pre-set target fuzzy rules are determined, and the corresponding relationship is set as follows:

[0134]

[0135] The first preset value may be 3 m / s. 2 (meters per second squared), the second preset value may be 0.2 m / s 2 , the third preset value can be -0.2m / s 2 , the fourth preset value may be -3m / s 2 , a positive value of the longitudinal acceleration of the center of mass indicates an acceleration state, and a negative value indicates a deceleration state.

[0136] In order to perform adaptive fuzzy reasoning on the vehicle's center of mass speed under different working conditions, first, the fuzzy reasoning input values ​​corresponding to the wheels are determined. Based on the initial center of mass speed corresponding to the wheel position information and the previous target center of mass speed, the fuzzy reasoning input values ​​are obtained in the following way:

[0137]

[0138] Where Δv Gij is the fuzzy inference input value, v Gij (t) is the initial center of mass velocity, ij is the wheel position information, where i represents the front or rear position, j represents the left or right position, is the velocity of the previous target center of mass. Through the above method, we can get, Δv GFL is the fuzzy inference input value corresponding to the left front wheel, Δv GFR is the fuzzy inference input value corresponding to the right front wheel, Δv GRL is the fuzzy inference input value corresponding to the left rear wheel, Δv GRR is the fuzzy reasoning input value corresponding to the right rear wheel. The differentiated fuzzy reasoning input values ​​reflect the different working conditions. Table 1 is a schematic diagram of the target fuzzy rules. Based on the target fuzzy rules, the Mamdani algorithm is used to use logical AND operations. Figure 3 is a schematic diagram of membership of an optional method for determining centroid velocity according to an embodiment of the present invention, such as Figure 3 As shown, the input membership function is a trapezoidal function. Figure 4FIG. 4 is a schematic diagram of membership of another optional method for determining centroid velocity according to an embodiment of the present invention. Figure 4 As shown in the figure, the output membership function is a triangular function. Since the target fuzzy rule determines the output result after defuzzification, that is, the specific values ​​of the first confidence and the second confidence, it can be seen that setting different target fuzzy rules is conducive to reflecting the differences in working conditions, thereby improving the robustness of the center of mass speed under differentiated working conditions. k1, k2, k3, k4 are obtained as the second confidence corresponding to the wheels respectively, and k5 is the first confidence of the vehicle speed measurement value.

[0139] Table 1

[0140] <![CDATA[Δv GFL ]]> <![CDATA[Δv GFR ]]> <![CDATA[Δv GRL ]]> <![CDATA[Δv GRR ]]> k1 k2 k3 k4 k5 mistake mistake Negative small Negative small Small Small big big big mistake Negative small Negative small Negative small Small middle big big big Negative small mistake Negative small Negative small middle Small big big big mistake Negative Negative small Negative small Small Small big big big Negative mistake Negative small Negative small Small Small big big big Negative Negative Negative Negative small Small Small Small middle big Negative Negative Negative small Negative Small Small middle Small big

[0141] According to the vehicle speed measurement value, the initial center of mass speed, the first confidence, the left front wheel confidence, the right front wheel confidence, the left rear wheel confidence, and the right rear wheel confidence, the current target center of mass speed of the target vehicle is obtained by the following method:

[0142]

[0143] in, is the current target center of mass speed, k1 is the left front wheel confidence, k2 is the right front wheel confidence, k3 is the left rear wheel confidence, k4 is the right rear wheel confidence, k5 is the first confidence, v GFL is the initial left front wheel speed, v GFR is the initial right front wheel speed, v GRL is the initial left rear wheel speed, V GRR The initial right rear wheel speed is combined with the initial center of mass speed corresponding to each wheel and the second confidence level corresponding to each wheel, and the vehicle speed measurement value is combined with the first confidence level, which reflects the influence of different confidence levels on the target center of mass speed. Different fuzzy rules can be flexibly set according to the working conditions, which is conducive to adjusting the specific value of the confidence level, thereby improving the accuracy of the target center of mass speed.

[0144] The optional implementation method described above can achieve at least one of the following effects: The vehicle center of mass velocity calculation is a specific practice of multiple sensor data fusion, including wheel speed sensor, inertial navigation system, global satellite positioning system and other sensors. The weight design of each sensor is carried out using the idea of ​​fuzzy reasoning, covering the working conditions of rapid acceleration, acceleration, constant speed, deceleration, rapid deceleration, etc., which can better cope with the special state of the target vehicle and effectively improve the accuracy and robustness of the center of mass velocity of the target vehicle.

[0145] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0146] In the present embodiment, a device for determining the velocity of the center of mass is also provided, and the device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the terms "module" and "device" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0147] According to an embodiment of the present invention, there is also provided an embodiment of a device for implementing a method for determining centroid velocity. Figure 5 is a schematic diagram of a device for determining center of mass velocity according to an embodiment of the present invention. Figure 5 As shown, the above-mentioned center of mass velocity determination device includes: a first acquisition module 502, a first calculation module 504, a second calculation module 506, and a first determination module 508. The device is described below.

[0148] The first acquisition module 502 is used to obtain the wheelbase information, yaw angular velocity, center of mass offset angle corresponding to the target vehicle at the current sampling moment, and the current wheel speed corresponding to the wheels of the target vehicle:

[0149] A first calculation module 504, connected to the first acquisition module 502, is used to obtain the initial center of mass velocity corresponding to the wheel according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle;

[0150] The second calculation module 506 is connected to the first calculation module 504 and is used to perform fuzzy reasoning on the speed measurement value of the target vehicle and the initial centroid speed to obtain a first confidence level corresponding to the speed measurement value and a second confidence level corresponding to the initial centroid speed;

[0151] The first determination module 508 is connected to the second calculation module 506, and is used to obtain the target center of mass speed of the target vehicle according to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level.

[0152] In a device for determining the center of mass speed provided by an embodiment of the present invention, a first acquisition module 502 is set to obtain the wheelbase information, yaw angular velocity, center of mass offset angle corresponding to the target vehicle at the current sampling moment, and the current wheel speed corresponding to the wheels of the target vehicle; a first calculation module 504 is connected to the first acquisition module 502, and is used to obtain the initial center of mass speed corresponding to the wheels according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle; a second calculation module 506 is connected to the first calculation module 504, and is used to perform fuzzy reasoning processing on the speed measurement value of the target vehicle and the initial center of mass speed to obtain the first confidence corresponding to the speed measurement value and the second confidence corresponding to the initial center of mass speed; a first determination module 508 is connected to the second calculation module 506, and is used to obtain the target center of mass speed of the target vehicle according to the speed measurement value, the initial center of mass speed, the first confidence, and the second confidence. The purpose of determining the center of mass speed is achieved, and the technical effect of determining the center of mass speed is realized, thereby solving the technical problem in related technologies of low accuracy and low robustness of the center of mass speed due to the poor adaptability of the vehicle to differences in driving conditions.

[0153] It should be noted that the above modules can be implemented by software or hardware. For example, for the latter, it can be implemented in the following ways: the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0154] It should be noted that the first acquisition module 502, the first calculation module 504, the second calculation module 506, and the first determination module 508 correspond to steps S102 to S108 in the embodiment, and the examples and application scenarios implemented by the modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the modules as part of the device can be run in a computer terminal.

[0155] It should be noted that the optional or preferred implementation of this embodiment can refer to the relevant description in the embodiment, which will not be repeated here.

[0156] The above-mentioned center of mass velocity determination device may also include a processor and a memory. The first acquisition module 502, the first calculation module 504, the second calculation module 506, the first determination module 508, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions.

[0157] The processor includes a kernel, which retrieves the corresponding program unit from the memory. There can be one or more kernels. The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one storage chip.

[0158] An embodiment of the present invention provides a non-volatile storage medium on which a program is stored. When the program is executed by a processor, a method for determining a centroid speed is implemented.

[0159] An embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a program stored in the memory and can be run on the processor. When the processor executes the program, the following steps are implemented: obtaining the wheelbase information, yaw rate, center of mass offset angle, and current wheel speed corresponding to the wheels of the target vehicle at the current sampling moment; obtaining the initial center of mass speed corresponding to the wheels according to the current wheel speed, the wheelbase information, the yaw rate, and the center of mass offset angle; performing fuzzy reasoning processing on the speed measurement value and the initial center of mass speed of the target vehicle to obtain the first confidence level corresponding to the speed measurement value and the second confidence level corresponding to the initial center of mass speed; obtaining the target center of mass speed of the target vehicle according to the speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level. The device in this article can be a server, a PC, etc.

[0160] The present invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that is initialized with the following method steps: obtaining the wheelbase information, yaw angular velocity, center of mass offset angle, and current wheel speed corresponding to the wheels of the target vehicle at the current sampling moment; obtaining the initial center of mass speed corresponding to the wheels based on the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle; performing fuzzy reasoning processing on the vehicle speed measurement value and the initial center of mass speed of the target vehicle to obtain a first confidence level corresponding to the vehicle speed measurement value and a second confidence level corresponding to the initial center of mass speed; obtaining the target center of mass speed of the target vehicle based on the vehicle speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level.

[0161] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0162] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0163] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0164] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0165] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0166] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0167] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0168] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0169] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0170] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A method for determining center of mass velocity, characterized in that: include: Obtaining wheelbase information, yaw angular velocity, center of mass offset angle, and current wheel speed of the wheels of the target vehicle at the current sampling moment; Obtaining an initial center of mass velocity corresponding to the wheel according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle; Performing fuzzy inference processing on the speed measurement value of the target vehicle and the initial centroid speed to obtain a first confidence level corresponding to the speed measurement value and a second confidence level corresponding to the initial centroid speed; Obtaining a target center-of-mass speed of the target vehicle according to the vehicle speed measurement value, the initial center-of-mass speed, the first confidence level, and the second confidence level; Wherein, the wheels include front wheels and rear wheels, the wheelbase information includes the front wheel track and the rear wheel track, the current wheel speed includes the current front wheel speed corresponding to the front wheel and the current rear wheel speed corresponding to the rear wheel, and the initial center of mass speed corresponding to the wheel is obtained according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle, including: determining the center of mass position, the front axle position and the rear axle position of the target vehicle; determining a first distance difference between the center of mass position and the front axle position, and a second distance difference between the center of mass position and the rear axle position; based on the front wheel track, the center of mass offset angle, and the first distance difference, obtain the front wheel deviation value corresponding to the front wheel, wherein the front wheel deviation value is used to correct the current front wheel speed; obtain the initial front wheel speed corresponding to the front wheel according to the front wheel deviation value, the current front wheel speed, and the yaw angular velocity; obtain the rear wheel deviation value corresponding to the rear wheel based on the rear wheel track, the center of mass offset angle, and the second distance difference, wherein the rear wheel deviation value is used to correct the current rear wheel speed; obtain the initial rear wheel speed corresponding to the rear wheel according to the rear wheel deviation value, the current rear wheel speed, and the yaw angular velocity; obtain the initial center of mass velocity based on the initial front wheel speed and the initial rear wheel speed; The front wheels include a left front wheel and a right front wheel, and obtaining the front wheel deviation value corresponding to the front wheel based on the front wheel track, the center of mass offset angle, and the first distance difference includes: obtaining the left front wheel deviation value corresponding to the left front wheel based on the front wheel track, the center of mass offset angle, and the first distance difference in the following manner: Among them, ΔR FL is the left front wheel deviation value, b F is the front wheel track, l F is the first distance difference, β is the mass center offset angle; based on the front wheel track, the mass center offset angle, and the first distance difference, the right front wheel deviation value corresponding to the right front wheel is obtained in the following manner: Among them, ΔR FR is the right front wheel deviation value; the front wheel deviation value is obtained according to the left front wheel deviation value and the right front wheel deviation value; Wherein, the rear wheels include a left rear wheel and a right rear wheel, and obtaining the rear wheel deviation value corresponding to the rear wheel based on the rear wheel track, the center of mass offset angle, and the second distance difference comprises: obtaining the left rear wheel deviation value corresponding to the left rear wheel based on the rear wheel track, the center of mass offset angle, and the second distance difference in the following manner; Among them, ΔR RL is the left rear wheel deviation value, b R is the rear wheel track, l R is the second distance difference, β is the mass center offset angle; based on the rear wheel track, the mass center offset angle, and the second distance difference, the right rear wheel deviation value corresponding to the right rear wheel is obtained in the following manner: Among them, ΔR RR is the right rear wheel deviation value; and the rear wheel deviation value is obtained according to the left rear wheel deviation value and the right rear wheel deviation value; Wherein, the front wheels include a left front wheel and a right front wheel, the rear wheels include a left rear wheel and a right rear wheel, the front wheel deviation value includes a left front wheel deviation value and a right front wheel deviation value, the rear wheel deviation value includes a left rear wheel deviation value and a right rear wheel deviation value, the current wheel speed includes a current left front wheel speed corresponding to the left front wheel, a current right front wheel speed corresponding to the right front wheel, a current left rear wheel speed corresponding to the left rear wheel, and a current right rear wheel speed corresponding to the right rear wheel, and obtaining the initial center of mass speed based on the initial front wheel speed and the initial rear wheel speed includes: obtaining the initial left front wheel speed corresponding to the left front wheel according to the left front wheel deviation value, the current left front wheel speed, and the yaw angular velocity in the following manner: Among them, v GFL is the initial left front wheel speed, v WFL is the current left front wheel speed, ΔR FL is the left front wheel deviation value, is the yaw angular velocity; according to the right front wheel deviation value, the current right front wheel speed, and the yaw angular velocity, the initial right front wheel speed corresponding to the right front wheel is obtained in the following manner: Among them, v GFR is the initial right front wheel speed, v WFR is the current right front wheel speed, ΔR FR is the right front wheel deviation value; according to the left rear wheel deviation value, the current left rear wheel speed, and the yaw angular velocity, the initial left rear wheel speed corresponding to the left rear wheel is obtained in the following manner: Among them, v GRL is the initial left rear wheel speed, v WRL is the current left rear wheel speed, ΔR RL is the left rear wheel deviation value; according to the right rear wheel deviation value, the current right rear wheel speed, and the yaw angular velocity, the initial right rear wheel speed corresponding to the right rear wheel is obtained in the following manner: Among them, v GRR is the initial right rear wheel speed, v WRR is the current right rear wheel speed, ΔR RR is the right rear wheel deviation value; based on the initial left front wheel speed and the initial right front wheel speed, the initial front wheel speed is obtained; based on the initial left rear wheel speed and the initial right rear wheel speed, the initial rear wheel speed is obtained; based on the initial front wheel speed and the initial rear wheel speed, the initial center of mass speed is obtained; The second confidence level includes a left front wheel confidence level, a right front wheel confidence level, a left rear wheel confidence level, and a right rear wheel confidence level, and the initial center of mass speed includes an initial left front wheel speed, an initial right front wheel speed, an initial left rear wheel speed, and an initial right rear wheel speed. According to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level, the target center of mass speed of the target vehicle is obtained, including: according to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, the left front wheel confidence level, the right front wheel confidence level, the left rear wheel confidence level, and the right rear wheel confidence level, the target center of mass speed of the target vehicle is obtained in the following manner: in, is the target center of mass speed, k1 is the left front wheel confidence, k2 is the right front wheel confidence, k3 is the left rear wheel confidence, k4 is the right rear wheel confidence, k5 is the first confidence, v GFL is the initial left front wheel speed, v GFR is the initial right front wheel speed, v GRL is the initial left rear wheel speed, v GRR is the initial right rear wheel speed, v G5 represents the vehicle speed measurement value.

2. The method according to claim 1, characterized in that The fuzzy inference processing is performed on the speed measurement value of the target vehicle and the initial centroid speed to obtain a first confidence level corresponding to the speed measurement value and a second confidence level corresponding to the initial centroid speed, including: Obtaining the longitudinal acceleration of the center of mass of the target vehicle corresponding to the current sampling time; Determining a current operating condition corresponding to the target vehicle according to the longitudinal acceleration of the center of mass; Based on the current working condition, determining a preset target fuzzy rule and a membership function; Based on the initial mass center speed and the previous target mass center speed, a fuzzy reasoning input value corresponding to the wheel is obtained, wherein the previous target mass center speed is the target mass center speed corresponding to the sampling moment before the current sampling moment; Fuzzy reasoning is performed on the vehicle speed measurement value, the fuzzy reasoning input value, the target fuzzy rule, and the membership function to obtain the first confidence level and the second confidence level.

3. The method according to claim 2, characterized in that The obtaining of the fuzzy reasoning input value corresponding to the wheel based on the initial mass center speed and the previous target mass center speed includes: Determine wheel position information corresponding to the wheel, wherein the wheel position information is any one of the following: left front wheel position, right front wheel position, left rear wheel position, right rear wheel position; Based on the initial center-of-mass speed corresponding to the wheel position information and the previous target center-of-mass speed, the fuzzy reasoning input value is obtained in the following manner: Where Δv Gij is the fuzzy inference input value, v Gij (t) is the initial center of mass velocity, ij is the wheel position information, where i represents the front or rear position, j represents the left or right position, is the previous target center of mass velocity.

4. The method according to claim 2, characterized in that: Obtaining the vehicle speed measurement value, including: Based on the center-of-mass longitudinal acceleration and the previous target center-of-mass speed, the vehicle speed measurement value is obtained in the following manner: Among them, v G5 is the vehicle speed measurement value, is the previous target mass center velocity, T s is the single sampling duration, a Gx is the longitudinal acceleration of the center of mass.

5. A device for determining center of mass velocity, characterized in that: include: The first acquisition module is used to obtain the wheelbase information, yaw angular velocity, center of mass offset angle corresponding to the target vehicle at the current sampling moment, and the current wheel speed corresponding to the wheels of the target vehicle; A first calculation module, configured to obtain an initial center of mass velocity corresponding to the wheel according to the current wheel speed, the wheelbase information, the yaw angular velocity, and the center of mass offset angle; A second calculation module is used to perform fuzzy reasoning processing on the vehicle speed measurement value and the initial centroid speed of the target vehicle to obtain a first confidence level corresponding to the vehicle speed measurement value and a second confidence level corresponding to the initial centroid speed; A first determination module, configured to obtain a target center of mass speed of the target vehicle according to the vehicle speed measurement value, the initial center of mass speed, the first confidence level, and the second confidence level; Wherein, the wheels include front wheels and rear wheels, the wheel track information includes the front wheel track and the rear wheel track, the current wheel speed includes the current front wheel speed corresponding to the front wheel and the current rear wheel speed corresponding to the rear wheel, and the first calculation module is also used to: determine the center of mass position, front axle position and rear axle position of the target vehicle; determine a first distance difference between the center of mass position and the front axle position, and a second distance difference between the center of mass position and the rear axle position; based on the front wheel track, the center of mass offset angle, and the first distance difference, obtain the front wheel deviation value corresponding to the front wheel, wherein, The front wheel deviation value is used to correct the current front wheel speed; according to the front wheel deviation value, the current front wheel speed, and the yaw rate, the initial front wheel speed corresponding to the front wheel is obtained; based on the rear wheel track, the center of mass offset angle, and the second distance difference, the rear wheel deviation value corresponding to the rear wheel is obtained, wherein the rear wheel deviation value is used to correct the current rear wheel speed; according to the rear wheel deviation value, the current rear wheel speed, and the yaw rate, the initial rear wheel speed corresponding to the rear wheel is obtained; based on the initial front wheel speed and the initial rear wheel speed, the initial center of mass speed is obtained; The front wheels include a left front wheel and a right front wheel, and the first calculation module is further used to obtain a left front wheel deviation value corresponding to the left front wheel based on the front wheel track, the center of mass offset angle, and the first distance difference in the following manner: Among them, ΔR FL is the left front wheel deviation value, b F is the front wheel track, l F is the first distance difference, β is the mass center offset angle; based on the front wheel track, the mass center offset angle, and the first distance difference, the right front wheel deviation value corresponding to the right front wheel is obtained in the following manner: Among them, ΔR FR is the right front wheel deviation value; the front wheel deviation value is obtained according to the left front wheel deviation value and the right front wheel deviation value; Wherein, the rear wheels include a left rear wheel and a right rear wheel, and the first calculation module is further used for: obtaining a left rear wheel deviation value corresponding to the left rear wheel based on the rear wheel track, the center of mass offset angle, and the second distance difference in the following manner; Among them, ΔR RL is the left rear wheel deviation value, b R is the rear wheel track, l R is the second distance difference, β is the mass center offset angle; based on the rear wheel track, the mass center offset angle, and the second distance difference, the right rear wheel deviation value corresponding to the right rear wheel is obtained in the following manner: Among them, ΔR RR is the right rear wheel deviation value; and the rear wheel deviation value is obtained according to the left rear wheel deviation value and the right rear wheel deviation value; Wherein, the front wheels include a left front wheel and a right front wheel, the rear wheels include a left rear wheel and a right rear wheel, the front wheel deviation value includes a left front wheel deviation value and a right front wheel deviation value, the rear wheel deviation value includes a left rear wheel deviation value and a right rear wheel deviation value, the current wheel speed includes a current left front wheel speed corresponding to the left front wheel, a current right front wheel speed corresponding to the right front wheel, a current left rear wheel speed corresponding to the left rear wheel, and a current right rear wheel speed corresponding to the right rear wheel, and the first calculation module is further used to: according to the left front wheel deviation value, the current left front wheel speed, and the yaw angular velocity, obtain an initial left front wheel speed corresponding to the left front wheel in the following manner: Among them, v GFL is the initial left front wheel speed, v WFL is the current left front wheel speed, ΔR FL is the left front wheel deviation value, is the yaw angular velocity; according to the right front wheel deviation value, the current right front wheel speed, and the yaw angular velocity, the initial right front wheel speed corresponding to the right front wheel is obtained in the following manner: Among them, v GFR is the initial right front wheel speed, v WFR is the current right front wheel speed, ΔR FR is the right front wheel deviation value; according to the left rear wheel deviation value, the current left rear wheel speed, and the yaw angular velocity, the initial left rear wheel speed corresponding to the left rear wheel is obtained in the following manner: Among them, v GRL is the initial left rear wheel speed, v WRL is the current left rear wheel speed, ΔR RL is the left rear wheel deviation value; according to the right rear wheel deviation value, the current right rear wheel speed, and the yaw angular velocity, the initial right rear wheel speed corresponding to the right rear wheel is obtained in the following manner: Among them, v GRR is the initial right rear wheel speed, v WRR is the current right rear wheel speed, ΔR RR is the right rear wheel deviation value; based on the initial left front wheel speed and the initial right front wheel speed, the initial front wheel speed is obtained; based on the initial left rear wheel speed and the initial right rear wheel speed, the initial rear wheel speed is obtained; based on the initial front wheel speed and the initial rear wheel speed, the initial center of mass speed is obtained; wherein the second confidence includes the left front wheel confidence, the right front wheel confidence, the left rear wheel confidence, and the right rear wheel confidence, the initial center of mass speed includes the initial left front wheel speed, the initial right front wheel speed, the initial left rear wheel speed, and the initial right rear wheel speed, and the first determination module is also used for: according to the vehicle speed measurement value, the initial center of mass speed, the first confidence, the left front wheel confidence, the right front wheel confidence, the left rear wheel confidence, and the right rear wheel confidence, the target center of mass speed of the target vehicle is obtained in the following manner: in, is the target center of mass speed, k1 is the left front wheel confidence, k2 is the right front wheel confidence, k3 is the left rear wheel confidence, k4 is the right rear wheel confidence, k5 is the first confidence, v GFL is the initial left front wheel speed, v GFR is the initial right front wheel speed, v GRL is the initial left rear wheel speed, v GRR is the initial right rear wheel speed, v G5 represents the vehicle speed measurement value.

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