Wheel speed compensation method and device, and vehicle

Abstract

The present invention discloses a wheel speed compensation method, device and vehicle. The method comprises: in response to a target vehicle satisfying a preset condition, obtaining a first wheel speed and a second wheel speed of the target vehicle, wherein the first wheel speed is the maximum wheel speed among the wheel speeds corresponding to multiple wheels of the target vehicle, and the second wheel speed is the average of the wheel speeds other than the first wheel speed among the wheel speeds corresponding to the multiple wheels; correcting the first wheel speed based on the second wheel speed to obtain a first corrected wheel speed; compensating the first corrected wheel speed based on a reference wheel speed to obtain a target wheel speed, wherein the reference wheel speed is the minimum wheel speed among the historical wheel speeds corresponding to multiple wheels in a historical compensation cycle; and controlling the running state of the target vehicle based on the target wheel speed. The present invention solves the technical problem of vehicle clutch wear caused by large differences in tire rolling radius in the related art.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicles, and in particular to a wheel speed compensation method and device, and a vehicle. Background Art

[0002] In the vehicle control system, the vehicle will perform anti-skid control based on the wheel speed signal. When the rolling radius of a tire becomes smaller due to a spare tire, underpressure, or abnormal wear, the wheel speed of the wheel will be greater than the actual vehicle speed. The system will mistakenly think that the wheel is slipping and trigger the anti-skid control function to reduce the speed of the slipping wheel. When the rolling radius of the tires differs greatly, the vehicle control system will control the clutch to engage for a long time due to the current erroneously triggered anti-skid driving state, causing the clutch to remain in a slipping state, affecting the service life of the transfer case and even damaging the transfer case.

[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 wheel speed compensation method and device, and a vehicle, so as to at least solve the technical problem in the related art that the vehicle clutch is worn due to the large difference in the rolling radius of the tires.

[0005] According to one aspect of an embodiment of the present invention, a wheel speed compensation method is provided, comprising: in response to a target vehicle satisfying a preset condition, obtaining a first wheel speed and a second wheel speed of the target vehicle, wherein the first wheel speed is the maximum wheel speed among the wheel speeds corresponding to a plurality of wheels of the target vehicle, and the second wheel speed is the average of the wheel speeds corresponding to the plurality of wheels except the first wheel speed; correcting the first wheel speed based on the second wheel speed to obtain a first corrected wheel speed; compensating the first corrected wheel speed based on a reference wheel speed to obtain a target wheel speed, wherein the reference wheel speed is the minimum wheel speed among the historical wheel speeds corresponding to the plurality of wheels in a historical compensation period; and controlling the operating state of the target vehicle based on the target wheel speed.

[0006] Optionally, the first wheel speed is corrected based on the second wheel speed to obtain a first corrected wheel speed, including: determining a first difference between the first wheel speed and the second wheel speed; determining a first target threshold based on the product of the first wheel speed and a first preset value; judging whether the first difference is greater than the first target threshold; in response to the first difference being greater than the first target threshold, determining a first correction coefficient based on a preset correction coefficient, the first wheel speed and the second wheel speed, wherein the preset correction coefficient is a correction coefficient corresponding to a historical correction period; and correcting the first wheel speed based on the first correction coefficient to obtain a first corrected wheel speed.

[0007] Optionally, the method further includes: in response to the first difference being less than or equal to the first target threshold, determining the second preset value as a first correction coefficient; and correcting the first wheel speed based on the first correction coefficient to obtain a first corrected wheel speed.

[0008] Optionally, determining the first correction coefficient based on a preset correction coefficient, the first wheel speed and the second wheel speed includes: determining a first division of the first wheel speed and the second wheel speed; determining a first product of the first division and the correction period; and determining the first correction coefficient based on the sum of the first product and the preset correction coefficient.

[0009] Optionally, the first corrected wheel speed is compensated based on the reference wheel speed to obtain the target wheel speed, including: compensating the first corrected wheel speed based on the first compensation coefficient to obtain the compensated wheel speed, wherein the first compensation coefficient is the compensation coefficient corresponding to the historical compensation period; determining the second division product of the reference wheel speed and the first corrected wheel speed; determining the instantaneous compensation coefficient based on the difference between the second division product and the second preset value; determining multiple temporary compensation coefficients corresponding to the target vehicle based on the instantaneous compensation coefficient and the first compensation coefficient, wherein the multiple temporary compensation coefficients are temporary compensation coefficients corresponding to multiple tires of the target vehicle; compensating the compensated wheel speed based on the multiple temporary compensation coefficients to obtain the target wheel speed.

[0010] Optionally, compensating the compensation wheel speed based on multiple temporary compensation coefficients to obtain a target wheel speed includes: determining a first temporary compensation coefficient and a second temporary compensation coefficient among the multiple temporary compensation coefficients, wherein the first temporary compensation coefficient is the maximum temporary compensation coefficient among the multiple temporary compensation coefficients, and the second temporary compensation coefficient is the minimum temporary compensation coefficient among the multiple temporary compensation coefficients; determining a second difference between the first temporary compensation coefficient and the second temporary compensation coefficient; judging whether the second difference is less than a second preset value and the second difference is greater than a third preset value; in response to the second difference being less than the second preset value and greater than the third preset value, compensating the compensation wheel speed based on the first compensation coefficient to obtain the target wheel speed.

[0011] Optionally, the method further includes: in response to the second difference being less than or equal to a third preset value, directly determining the compensated wheel speed as the target wheel speed.

[0012] Optionally, the method further includes: in response to the second difference being greater than or equal to a second preset value, correcting the compensated wheel speed to obtain a second corrected wheel speed; and compensating the second corrected wheel speed based on the reference wheel speed and the second corrected wheel speed to obtain a target wheel speed.

[0013] According to another aspect of an embodiment of the present invention, a wheel speed compensation device is also provided, including: an acquisition module, used to acquire a first wheel speed and a second wheel speed of the target vehicle in response to the target vehicle satisfying a preset condition, wherein the first wheel speed is the maximum wheel speed among the wheel speeds corresponding to multiple wheels of the target vehicle, and the second wheel speed is the average of the wheel speeds corresponding to the multiple wheels except the first wheel speed; a correction module, used to correct the first wheel speed based on the second wheel speed to obtain a first corrected wheel speed; a compensation module, used to compensate the first corrected wheel speed based on a reference wheel speed to obtain a target wheel speed, wherein the reference wheel speed is the minimum wheel speed among the historical wheel speeds corresponding to the multiple wheels in a historical compensation period; and a control module, used to control the operating state of the target vehicle based on the target wheel speed.

[0014] According to another aspect of an embodiment of the present invention, a target vehicle is provided, comprising: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by one or more processors, the one or more processors execute the wheel speed compensation method of any one of the above embodiments.

[0015] According to one aspect of an embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the wheel speed compensation method of any one of the above embodiments.

[0016] According to one aspect of an embodiment of the present invention, a processor is provided, and the processor is used to run a program, wherein the wheel speed compensation method of any one of the above embodiments is executed when the program is run.

[0017] In an embodiment of the present invention, when the target vehicle meets the tire rolling compensation condition, the maximum wheel speed of the target vehicle and the average wheel speed of the remaining wheels are obtained as the first wheel speed and the second wheel speed, and the maximum wheel speed is corrected based on the average wheel speed to obtain the first corrected wheel speed, so as to achieve a large range of wheel speed adjustment, and then the minimum wheel speed of multiple wheels in the historical compensation cycle is used as the reference wheel speed, and the first corrected wheel speed is compensated based on the reference wheel speed to obtain the target wheel speed, so as to achieve a small range of wheel speed adjustment and discrimination, and finally the running state of the target vehicle is controlled based on the target wheel speed. It is easy to notice that the scheme determines whether the current tire radius needs to be compensated based on the fastest wheel speed and the average wheel speed of multiple tires. The tire rolling radius compensation process includes: performing large rolling radius difference correction and obtaining the first corrected wheel speed; performing small rolling radius difference compensation and obtaining the compensated wheel speed. The process accurately adjusts the wheel speed in steps, and finally obtains the target wheel speed, controls the target vehicle to drive normally, and thus solves the technical problem of vehicle clutch wear caused by large tire rolling radius differences in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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:

[0019] Figure 1 is a flow chart of a wheel speed compensation method according to an embodiment of the present invention;

[0020] Figure 2 is a flow chart of an optional tire rolling radius compensation according to an embodiment of the present invention;

[0021] Figure 3 is a schematic diagram of a wheel speed compensation device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] 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.

[0023] 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.

[0024] Example 1

[0025] According to an embodiment of the present invention, a wheel speed compensation method embodiment 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 can be executed in an order different from that shown here.

[0026] Figure 1 is a flow chart of a wheel speed compensation method according to an embodiment of the present invention. Figure 1As shown, the method comprises the following steps:

[0027] Step S102, in response to the target vehicle satisfying a preset condition, obtaining a first wheel speed and a second wheel speed of the target vehicle, wherein the first wheel speed is a maximum wheel speed among wheel speeds corresponding to a plurality of wheels of the target vehicle, and the second wheel speed is an average of wheel speeds other than the first wheel speed among wheel speeds corresponding to the plurality of wheels;

[0028] Step S104, correcting the first wheel speed based on the second wheel speed to obtain a first corrected wheel speed;

[0029] Step S106, compensating the first corrected wheel speed based on the reference wheel speed to obtain a target wheel speed, wherein the reference wheel speed is the minimum wheel speed among the historical wheel speeds corresponding to the multiple wheels in the historical compensation cycle;

[0030] Step S108, controlling the running state of the target vehicle based on the target wheel speed.

[0031] It should be noted that in addition to proposing a large difference identification method for tire rolling radius, a large difference correction algorithm, and a small difference compensation algorithm, the solution also proposes activation conditions for the tire rolling radius identification function, including:

[0032] 1. The vehicle is not skidding, locked, or braking. The vehicle status can be determined by identifying the wheel slip rate, or by referring to the function flags, such as TCS (Traction Control System), ABS (Antilock Brake System), MSR (Motor Control Slide Retainer), ESP (Electronic Stalbility Program), AEB (Autonomous Emergency Braking), CDP (Controller Deceleration Parking), etc.

[0033] 2. The wheel speed is stable. For example, the wheel acceleration of each wheel is greater than 2m / s 2 If the duration is greater than 5s, the wheel is considered stable. If the wheel acceleration of any wheel is greater than 2m / s 2 When , it is judged that the wheel is unstable;

[0034] 3. The vehicle is driving at a medium / high speed. For example, the vehicle speed is greater than 20km / h;

[0035] 4. The vehicle is not turning. For example, the steering wheel angle is less than 150 degrees;

[0036] 5. Tire rolling radius compensation has not been completed.

[0037] Among them, the preset condition may be that after the tire rolling radius recognition function is activated, the wheel speed of the target vehicle needs to be corrected or compensated. The first corrected wheel speed may be the wheel speed after the maximum wheel speed is corrected, and the fastest wheel speed may be significantly corrected. The target wheel speed may be the wheel speed that meets the requirements after a small compensation for the first corrected wheel speed. The operating state may refer to the driving state of the target vehicle controlled by the target wheel speed, and the driving state will not accidentally trigger the anti-skid control function and cause clutch wear on the vehicle.

[0038] It should be noted that when the rolling radius of a tire becomes smaller due to a spare tire, underpressure, or abnormal wear, the wheel speed of the wheel will become faster than that of an unworn wheel at the same vehicle speed. Therefore, the wear of the tire can be determined by the wheel speed, and the wheel speed can be corrected and compensated to avoid the clutch in the target vehicle from being worn out due to a large wheel speed difference. After the tire rolling radius recognition function is activated, the tire rolling radius compensation process is divided into multiple cycles, and the wheel speed is continuously corrected and compensated iteratively until the target wheel speed is obtained.

[0039] In an optional embodiment, Figure 2 is a flow chart of an optional tire rolling radius compensation according to an embodiment of the present invention, such as Figure 2 As shown, when performing tire rolling radius compensation, it is determined whether the target vehicle meets the preset conditions, that is, it meets the five activation conditions of the tire rolling radius recognition function at the same time. If the activation conditions are met, the large rolling radius difference correction is performed, otherwise it continues to determine whether to activate. When performing large rolling radius difference correction, the wheel speeds of multiple tires at this moment are obtained, and the first wheel speed is the maximum wheel speed v max , the second wheel speed is the average wheel speed v of the multiple wheel speeds except the first wheel speed mean , based on the maximum wheel speed v at this time max and average wheel speed v mean Get the radius large difference correction coefficient and calculate the first corrected wheel speed v coor . Determine whether the large rolling radius difference recognition is completed. If not, perform large rolling radius difference correction again. If completed, compensate the large rolling radius difference correction wheel speed, that is, the first correction wheel speed. When performing small rolling radius difference compensation, determine whether the small rolling radius difference compensation is completed. If not, continue to compensate. If completed, obtain the minimum wheel speed of the historical wheel speeds corresponding to multiple wheels in the historical compensation cycle as the reference wheel speed v ref , get the rolling radius small difference compensation coefficient, for the first correction wheel v coor Compensation is performed to obtain the target wheel speed. The vehicle controls the target vehicle to travel normally according to the obtained target wheel speed.

[0040] In an embodiment of the present invention, when the target vehicle meets the tire rolling compensation condition, the maximum wheel speed of the target vehicle and the average wheel speed of the remaining wheels are obtained as the first wheel speed and the second wheel speed, and the maximum wheel speed is corrected based on the average wheel speed to obtain the first corrected wheel speed, so as to achieve a large range of wheel speed adjustment, and then the minimum wheel speed of multiple wheels in the historical compensation cycle is used as the reference wheel speed, and the first corrected wheel speed is compensated based on the reference wheel speed to obtain the target wheel speed, so as to achieve a small range of wheel speed adjustment and discrimination, and finally the running state of the target vehicle is controlled based on the target wheel speed. It is easy to notice that the scheme determines whether the current tire radius needs to be compensated based on the fastest wheel speed and the average wheel speed of multiple tires. The tire rolling radius compensation process includes: performing a large rolling radius difference correction and obtaining the first corrected wheel speed; then performing a small rolling radius difference compensation and obtaining the compensated wheel speed. The process accurately adjusts the wheel speed in steps, and finally obtains the target wheel speed, controls the target vehicle to drive normally, and thus solves the technical problem of vehicle clutch wear caused by large tire rolling radius differences in the related art.

[0041] Optionally, according to the above-mentioned embodiment of the invention, the first wheel speed is corrected based on the second wheel speed to obtain a first corrected wheel speed, including: determining a first difference between the first wheel speed and the second wheel speed; determining a first target threshold based on the product of the first wheel speed and a first preset value; judging whether the first difference is greater than the first target threshold; in response to the first difference being greater than the first target threshold, determining a first correction coefficient based on a preset correction coefficient, the first wheel speed and the second wheel speed, wherein the preset correction coefficient is a correction coefficient corresponding to a historical correction period; and correcting the first wheel speed based on the first correction coefficient to obtain a first corrected wheel speed.

[0042] It should be noted that the tire rolling radius compensation process is divided into multiple cycles, and the total rolling radius compensation time t=T×n, where T represents the length of a cycle, and n represents the nth cycle at this moment. The current tire rolling radius correction process may be in the nth cycle.

[0043] The first difference may be the result obtained by subtracting the average wheel speed from the maximum wheel speed, that is, v max -v mean The first preset value may be a coefficient of the lower limit of the wheel speed difference for a large rolling radius difference. The first target threshold may be a speed threshold for distinguishing whether the rolling radius difference is large or small. The first correction coefficient may be a correction coefficient calculated for the nth cycle. The preset correction coefficient may be a correction coefficient corresponding to the n-1th cycle.

[0044] In an optional embodiment, if Figure 2 As shown, if the activation conditions are met, the large difference in rolling radius is identified based on the first wheel speed v maxand the second wheel speed v mean , confirm the first difference v max -v mean . Start calculating the first target threshold and set the lower limit coefficient m of the wheel speed difference with large rolling radius difference low For example, you can set m low =0.05, then the lower limit of the wheel speed difference with large rolling radius difference, i.e. the first target threshold Δv up The calculation formula (1) is as follows:

[0045] Δv up =v mean ×m low (1)

[0046] Compare the first difference with the first target threshold. If the first difference is greater than the first target threshold, that is, v max -v mean >Δv up , it is determined that the rolling radius is greatly different at this time. Based on the preset correction coefficient k(n-1), the first wheel speed v max and the second wheel speed v mean , determine the first correction coefficient k(n) of the nth cycle, and adjust the first wheel speed v based on the correction coefficient k(n) max Make corrections and get the first corrected wheel speed v coor , the calculation formula (2) is as follows:

[0047] v coor =v max ×k(n) (2)

[0048] Optionally, according to the above-mentioned embodiment of the invention, the method further includes: in response to the first difference being less than or equal to the first target threshold, determining the second preset value as a first correction coefficient; and correcting the first wheel speed based on the first correction coefficient to obtain a first corrected wheel speed.

[0049] The second preset value may be a fixed tire radius correction coefficient.

[0050] In an optional embodiment, if Figure 2 As shown, if the activation condition is met, the large difference in rolling radius is identified according to the wheel speed. In the nth cycle, if the first difference is less than or equal to the first target threshold, that is, v max -v mean ≤Δv up , then set the second preset value k(n) = 1, and bring in the first modified wheel speed v coor Calculate the formula to get v coor =v max , that is, the maximum wheel speed is not corrected and small rolling differences can be compensated directly.

[0051] It should be noted that, in addition to limiting the lower limit of the difference of the large rolling radius according to the above method, the upper limit can also be set to form a tolerance band. The upper limit is mainly set to prevent the algorithm from calculating incorrectly. upper For example, you can set m upper >0.55, the upper limit of the difference in wheel speed for large rolling radius difference Δv low The calculation formula (3) is as follows:

[0052] Δv low =v mean ×m upper (3)

[0053] The wheel speed tolerance band with large rolling radius difference is Δv up To Δv low When the first difference is within the wheel speed tolerance band for large rolling radius differences, it is determined as a large tire rolling radius difference. If it is less than the lower limit of the tolerance band, it is determined as a small tire rolling radius difference. The large tire rolling radius difference recognition time can be set to 1s.

[0054] Optionally, according to the above-mentioned embodiment of the invention, a first correction coefficient is determined based on a preset correction coefficient, a first wheel speed and a second wheel speed, including: determining a first division product of the first wheel speed and the second wheel speed; determining a first product of the first division product and a correction period; and determining the first correction coefficient based on the sum of the first product and the preset correction coefficient.

[0055] In an optional embodiment, in the nth cycle, the first product is the product of the maximum wheel speed and the average wheel speed, that is, v mean / v max The first product is the product of the first division product and the inverse of the correction period n, that is, (1 / n)×(v mean / v max ). Based on the first product and the preset correction coefficient k(n-1), the first correction coefficient k(n) is calculated, and the calculation formula (4) is as follows:

[0056] k(n)=(1-1 / n)×k(n-1)+(1 / n)×(v mean / v max ) (4)

[0057] Optionally, according to the above-mentioned embodiment of the invention, the first corrected wheel speed is compensated based on the reference wheel speed to obtain the target wheel speed, including: compensating the first corrected wheel speed based on the first compensation coefficient to obtain the compensated wheel speed, wherein the first compensation coefficient is the compensation coefficient corresponding to the historical compensation period; determining the second division product of the reference wheel speed and the first corrected wheel speed; determining the instantaneous compensation coefficient based on the difference between the second division product and the second preset value; determining multiple temporary compensation coefficients corresponding to the target vehicle based on the instantaneous compensation coefficient and the first compensation coefficient, wherein the multiple temporary compensation coefficients are temporary compensation coefficients corresponding to multiple tires of the target vehicle; compensating the compensated wheel speed based on the multiple temporary compensation coefficients to obtain the target wheel speed.

[0058] Among them, the first compensation coefficient may be the compensation coefficient corresponding to the previous compensation cycle. The compensated wheel speed may be the wheel speed calculated based on the compensation coefficient of the previous cycle. The instantaneous compensation coefficient may be the compensation coefficient obtained based on the compensated wheel speed of the current cycle. In an optional embodiment, the slowest compensated wheel speed of the current cycle may be used as a reference wheel speed to calculate the compensation coefficient of the current cycle. Multiple temporary compensation coefficients may be compensation coefficients obtained by continuously superimposing instantaneous compensation coefficients and historical compensation coefficients of multiple tires of the vehicle, which are used to determine whether the tire rolling radius of the current cycle meets the requirements and whether the compensation is completed.

[0059] It should be noted that the target vehicle is assumed to have four tires, which are arranged in the form of a two-dimensional matrix ij with two rows and two columns. i can be F (Front,) front, R (Rear, rear), j can be L (Left, left), R (Right, right), so the four tires can be represented as FL (Front Left, left front) wheel, FR (Front Right, right front) wheel, RL (Rear Left, left rear) wheel, and RR (Rear Right, right rear) wheel respectively.

[0060] In an optional embodiment, in the nth cycle, after obtaining the first corrected wheel speed, small difference compensation of rolling radius is performed. coor and the compensation coefficient f corresponding to the n-1th period ij (n-1), compensated wheel speed The calculation formula (5) is as follows:

[0061]

[0062] Based on the reference wheel speed, i.e. the slowest compensated wheel speed v ref , and the first corrected wheel speed v coor , determine the second product to be v ref / v coor , and based on the second product and the second preset value k(n)=1, calculate the instantaneous compensation coefficient The calculation formula (6) is as follows:

[0063]

[0064] Based on the instantaneous compensation coefficient and the first compensation coefficient f ij (n-1), multiple temporary compensation coefficients corresponding to multiple wheels of the target vehicle The calculation formula (7) is as follows:

[0065]

[0066] Four temporary compensation factors Desirable: (temporary compensation coefficient of left front wheel), (Right front wheel temporary compensation coefficient), (temporary compensation coefficient of left rear wheel), (Right rear wheel temporary compensation coefficient), based on the four temporary compensation coefficients, determine whether it is necessary to calculate the compensation coefficient f of the nth cycle ij (n), and in the n+1th cycle the wheel speed is compensated The target wheel speed is finally obtained by performing compensation again, and the driving state of the target vehicle is controlled.

[0067] Optionally, according to the above-mentioned embodiment of the invention, the compensation wheel speed is compensated based on multiple temporary compensation coefficients to obtain a target wheel speed, including: determining a first temporary compensation coefficient and a second temporary compensation coefficient among the multiple temporary compensation coefficients, wherein the first temporary compensation coefficient is the maximum temporary compensation coefficient among the multiple temporary compensation coefficients, and the second temporary compensation coefficient is the minimum temporary compensation coefficient among the multiple temporary compensation coefficients; determining a second difference between the first temporary compensation coefficient and the second temporary compensation coefficient; judging whether the second difference is less than a third preset value, and the second difference is greater than a fourth preset value; in response to the second difference being less than the third preset value and greater than the fourth preset value, compensating the compensation wheel speed based on the first compensation coefficient to obtain the target wheel speed.

[0068] The third preset value may be an upper limit coefficient of a small difference in rolling radius. In the embodiment of the present application, the third preset value is equal to the lower limit coefficient m of a large difference in rolling radius. low The fourth preset value may be the lower limit coefficient m of the rolling radius small difference, for example, m=0.002 may be set. Therefore, the tolerance range of the rolling radius small difference compensation coefficient may be m to m low .

[0069] In an optional embodiment, in the nth cycle, a plurality of temporary compensation coefficients include: and Determine the maximum value As the first temporary compensation coefficient, determine the minimum value As the second temporary compensation coefficient. The second difference is the difference between the first temporary compensation coefficient and the second temporary compensation coefficient, that is, When the second difference is less than the second preset value m low And is greater than the third preset value m, that is, Determine that the compensation coefficient is within the tolerance band of the rolling radius small difference compensation coefficient at this time. The compensated wheel speed at this time needs to be compensated again. Calculate the first compensation coefficient formula f(n) for the nth cycle: ij , the calculation formula (8) is as follows:

[0070]

[0071] Using the first compensation coefficient formula f(n) obtained ij The compensated wheel speed is continuously compensated in the (n+1)th cycle, and finally a target wheel speed that meets the requirements is obtained.

[0072] Optionally, according to the above embodiment of the invention, the method further comprises: in response to the second difference being less than or equal to a third preset value, directly determining the compensated wheel speed as the target wheel speed.

[0073] In an optional embodiment, in the nth cycle, when the second difference is less than or equal to the third preset value, that is, When the wheel speed is small and lasts for a certain period of time, it can be determined that the wheel state at this time does not need compensation for small rolling radius differences, and the compensated wheel speed at this time is used as the final target wheel speed to control the driving state of the target vehicle.

[0074] It should be noted that, in addition to the above-mentioned judgment conditions, the tire rolling radius compensation end can also be judged based on multiple instantaneous compensation coefficients. include: and Determine the maximum value and the minimum value when And if it continues for a certain period of time, it can also be determined that the compensation for small rolling radius differences is completed.

[0075] Optionally, according to the above-mentioned embodiment of the invention, the method also includes: in response to the second difference being greater than or equal to a third preset value, correcting the compensated wheel speed to obtain a second corrected wheel speed; compensating the second corrected wheel speed based on the reference wheel speed and the second corrected wheel speed to obtain the target wheel speed.

[0076] The second corrected wheel speed may be a corrected wheel speed obtained by correcting the compensation wheel speed in the (n+1)th cycle.

[0077] In an optional embodiment, when the wheel speed compensation of the nth cycle is completed, , it means that after the nth cycle compensation is completed, the difference between the fastest wheel speed and the average wheel speed of the multiple compensated wheel speeds is still in the rolling radius large difference tolerance zone, and it needs to be corrected again. The correction is performed again according to the above method to obtain the second corrected wheel speed. The second corrected wheel speed is compensated and judged again according to the above method until the second difference is less than or equal to the third preset value. The compensated wheel speed at this time is directly determined as the target wheel speed.

[0078] Example 2

[0079] According to another aspect of an embodiment of the present invention, a wheel speed compensation device is further provided, which can execute the wheel speed compensation method in the above embodiment. The specific implementation method and preferred application scenario are the same as those in the above embodiment and will not be described in detail here.

[0080] Figure 3 is a schematic diagram of a wheel speed compensation device according to an embodiment of the present invention. Figure 3 As shown, the device comprises:

[0081] an acquisition module 32, configured to acquire a first wheel speed and a second wheel speed of the target vehicle in response to the target vehicle satisfying a preset condition, wherein the first wheel speed is a maximum wheel speed among wheel speeds corresponding to a plurality of wheels of the target vehicle, and the second wheel speed is an average of wheel speeds other than the first wheel speed among wheel speeds corresponding to the plurality of wheels;

[0082] A correction module 34, configured to correct the first wheel speed based on the second wheel speed to obtain a first corrected wheel speed;

[0083] A compensation module 36, configured to compensate the first modified wheel speed based on a reference wheel speed to obtain a target wheel speed, wherein the reference wheel speed is a minimum wheel speed among historical wheel speeds corresponding to a plurality of wheels in a historical compensation cycle;

[0084] The control module 38 is used to control the running state of the target vehicle based on the target wheel speed.

[0085] Among them, the acquisition module can be a wheel speed detection device of the target vehicle, and the maximum wheel speed among multiple wheel speeds is determined as the first wheel speed, and the average of the remaining wheel speeds is calculated as the second wheel speed. The correction module is used to correct the maximum wheel speed. When the difference between the maximum wheel speed and the average wheel speed is within the tolerance band of the large rolling radius difference wheel speed, the correction coefficient is less than 1. When the difference between the maximum wheel speed and the average wheel speed is within the tolerance band of the small rolling radius difference wheel speed, the correction coefficient is equal to 1. Correction is performed based on the calculated correction coefficient to obtain the first corrected wheel speed. The compensation module is used to compensate the first corrected wheel speed. Based on the wheel speeds of multiple corrected wheels, a temporary compensation coefficient and an instantaneous compensation coefficient are calculated. If the difference between the maximum and minimum values ​​of the instantaneous compensation coefficient is within the tolerance band of the small rolling radius difference coefficient, the compensated wheel speed is compensated again to obtain the target wheel speed. The control module is used to control the running state of the target vehicle according to the obtained target wheel speed.

[0086] Optionally, according to the above-mentioned embodiments of the invention, the correction module includes: a wheel speed identification unit, used to determine a first difference between a first wheel speed and a second wheel speed; determine a first target threshold value based on the product of the first wheel speed and a first preset value; determine whether the first difference is greater than the first target threshold value; a large difference correction coefficient unit, used to determine a first correction coefficient based on a preset correction coefficient, the first wheel speed and the second wheel speed in response to the first difference being greater than the first target threshold value, wherein the preset correction coefficient is a correction coefficient corresponding to a historical correction period; and a wheel speed correction unit, used to correct the first wheel speed based on the first correction coefficient to obtain a first corrected wheel speed.

[0087] Optionally, according to the above-mentioned embodiment of the invention, the large difference correction coefficient unit is also used to determine the second preset value as the first correction coefficient in response to the first difference being less than or equal to the first target threshold; the wheel speed correction unit is also used to correct the first wheel speed based on the first correction coefficient to obtain a first corrected wheel speed.

[0088] Optionally, according to the above-mentioned embodiment of the invention, the large difference correction coefficient unit is also used to determine the first division product of the first wheel speed and the second wheel speed; determine the first product of the first division product and the correction period; and determine the first correction coefficient based on the sum of the first product and the preset correction coefficient.

[0089] Optionally, according to the above-mentioned embodiment of the invention, the compensation module includes: a first compensation unit, used to compensate the first corrected wheel speed based on a first compensation coefficient to obtain a compensated wheel speed, wherein the first compensation coefficient is a compensation coefficient corresponding to a historical compensation period; an instantaneous compensation coefficient unit, used to determine a second division product of a reference wheel speed and the first corrected wheel speed; based on the difference between the second division product and a second preset value, determine an instantaneous compensation coefficient; a temporary compensation coefficient unit, used to determine multiple temporary compensation coefficients corresponding to the target vehicle based on the instantaneous compensation coefficient and the first compensation coefficient, wherein the multiple temporary compensation coefficients are temporary compensation coefficients corresponding to multiple tires of the target vehicle; a second compensation unit, used to compensate the compensated wheel speed based on multiple temporary compensation coefficients to obtain a target wheel speed.

[0090] Optionally, according to the above-mentioned embodiment of the invention, the second compensation unit includes: a temporary compensation coefficient subunit, used to determine a first temporary compensation coefficient and a second temporary compensation coefficient among multiple temporary compensation coefficients, wherein the first temporary compensation coefficient is the maximum temporary compensation coefficient among the multiple temporary compensation coefficients, and the second temporary compensation coefficient is the minimum temporary compensation coefficient among the multiple temporary compensation coefficients; determine a second difference between the first temporary compensation coefficient and the second temporary compensation coefficient; determine whether the second difference is less than a second preset value, and the second difference is greater than a third preset value; a wheel speed compensation subunit, in response to the second difference being less than the second preset value and greater than the third preset value, compensates the compensation wheel speed based on the first compensation coefficient to obtain a target wheel speed.

[0091] Optionally, according to the above-mentioned embodiment of the invention, the wheel speed compensation subunit is further configured to directly determine the compensated wheel speed as the target wheel speed in response to the second difference being less than or equal to a third preset value.

[0092] Optionally, according to the above-mentioned embodiment of the invention, the compensation module is also used to correct the compensated wheel speed in response to the second difference being greater than or equal to the second preset value to obtain a second corrected wheel speed; and compensate the second corrected wheel speed based on the reference wheel speed and the second corrected wheel speed to obtain the target wheel speed.

[0093] Example 3

[0094] According to another aspect of an embodiment of the present invention, a target vehicle is provided, comprising: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by one or more processors, the one or more processors execute the wheel speed compensation method of any one of the above embodiments.

[0095] Example 4

[0096] According to one aspect of an embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the wheel speed compensation method of any one of the above embodiments.

[0097] Example 5

[0098] According to one aspect of an embodiment of the present invention, a processor is provided, and the processor is used to run a program, wherein the wheel speed compensation method of any one of the above embodiments is executed when the program is run.

[0099] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0100] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0102] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0103] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0105] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A wheel speed compensation method, characterized in that: include: In response to the target vehicle satisfying a preset condition, obtaining a first wheel speed and a second wheel speed of the target vehicle, wherein the first wheel speed is a maximum wheel speed among wheel speeds corresponding to a plurality of wheels of the target vehicle, and the second wheel speed is an average of wheel speeds other than the first wheel speed among wheel speeds corresponding to a plurality of wheels; Correcting the first wheel speed based on the second wheel speed to obtain a first corrected wheel speed; Compensating the first corrected wheel speed based on a reference wheel speed to obtain a target wheel speed, wherein the reference wheel speed is a minimum wheel speed among historical wheel speeds corresponding to the multiple wheels in a historical compensation cycle; The operating state of the target vehicle is controlled based on the target wheel speed.

2. The method according to claim 1, characterized in that Correcting the first wheel speed based on the second wheel speed to obtain a first corrected wheel speed includes: determining a first difference between the first wheel speed and the second wheel speed; determining a first target threshold based on a product of the first wheel speed and a first preset value; determining whether the first difference is greater than the first target threshold; In response to the first difference being greater than the first target threshold, determining a first correction coefficient based on a preset correction coefficient, the first wheel speed, and the second wheel speed, wherein the preset correction coefficient is a correction coefficient corresponding to a historical correction period; The first wheel speed is corrected based on the first correction coefficient to obtain the first corrected wheel speed.

3. The method according to claim 2, characterized in that The method further comprises: In response to the first difference being less than or equal to the first target threshold, determining a second preset value as the first correction coefficient; The first wheel speed is corrected based on the first correction coefficient to obtain the first corrected wheel speed.

4. The method according to claim 2, characterized in that: Determining a first correction coefficient based on a preset correction coefficient, the first wheel speed, and the second wheel speed includes: determining a first divided product of the first wheel speed and the second wheel speed; determining a first product of the first division product and a correction period; The first correction coefficient is determined based on a sum of the first product and the preset correction coefficient.

5. The method according to claim 1, characterized in that Compensating the first modified wheel speed based on the reference wheel speed to obtain a target wheel speed includes: Compensating the first corrected wheel speed based on a first compensation coefficient to obtain a compensated wheel speed, wherein the first compensation coefficient is a compensation coefficient corresponding to a historical compensation cycle; determining a second divided product of the reference wheel speed and the first corrected wheel speed; Determining an instantaneous compensation coefficient based on a difference between the second divided product and a second preset value; Determining a plurality of temporary compensation coefficients corresponding to the target vehicle based on the instantaneous compensation coefficient and the first compensation coefficient, wherein the plurality of temporary compensation coefficients are temporary compensation coefficients corresponding to a plurality of tires of the target vehicle; The compensation wheel speed is compensated based on the multiple temporary compensation coefficients to obtain the target wheel speed.

6. The method according to claim 5, characterized in that Compensating the compensated wheel speed based on the multiple temporary compensation coefficients to obtain the target wheel speed includes: Determine a first temporary compensation coefficient and a second temporary compensation coefficient among the multiple temporary compensation coefficients, wherein the first temporary compensation coefficient is a maximum temporary compensation coefficient among the multiple temporary compensation coefficients, and the second temporary compensation coefficient is a minimum temporary compensation coefficient among the multiple temporary compensation coefficients; determining a second difference between the first temporary compensation coefficient and the second temporary compensation coefficient; Determine whether the second difference is less than a second preset value, and the second difference is greater than a third preset value; In response to the second difference being smaller than the second preset value and larger than the third preset value, the compensated wheel speed is compensated based on the first compensation coefficient to obtain the target wheel speed.

7. The method according to claim 6, characterized in that The method further comprises: In response to the second difference being less than or equal to the third preset value, the compensated wheel speed is directly determined as the target wheel speed.

8. The method according to claim 6, characterized in that The method further comprises: In response to the second difference being greater than or equal to the second preset value, correcting the compensated wheel speed to obtain a second corrected wheel speed; The second corrected wheel speed is compensated based on the reference wheel speed and the second corrected wheel speed to obtain the target wheel speed.

9. A wheel speed compensation device, characterized in that: include: an acquisition module, configured to acquire a first wheel speed and a second wheel speed of the target vehicle in response to the target vehicle satisfying a preset condition, wherein the first wheel speed is a maximum wheel speed among wheel speeds corresponding to a plurality of wheels of the target vehicle, and the second wheel speed is an average of wheel speeds other than the first wheel speed among wheel speeds corresponding to a plurality of wheels; a correction module, configured to correct the first wheel speed based on the second wheel speed to obtain a first corrected wheel speed; a compensation module, configured to compensate the first modified wheel speed based on a reference wheel speed to obtain a target wheel speed, wherein the reference wheel speed is a minimum wheel speed among historical wheel speeds corresponding to the plurality of wheels in a historical compensation cycle; A control module is used to control the running state of the target vehicle based on the target wheel speed.

10. A target vehicle, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors execute the wheel speed compensation method according to any one of claims 1 to 8.

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