A wheel speed measurement method, device and equipment

Abstract

The present invention provides a wheel speed measurement method, device and equipment. First, x wheel speed sensors are used to detect the outer steering wheel and the inner steering wheel of the vehicle respectively, and then the waveform diagrams of the x wheel speed sensors are obtained. Then, the number of pulses in each of the waveform diagrams within a preset period is extracted. Then, based on the equivalent coefficient, the equivalent pulse number of the pulse number in the waveform diagram of the target wheel speed sensor is calculated. Based on the equivalent pulse number and the pulse number in the waveform diagram of other wheel speed sensors, the average value of the pulse number corresponding to the x wheel speed sensors is calculated. Finally, the wheel speed of the measured object is calculated based on the average value of the pulse number, thereby reducing the measurement error and improving the robustness of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of speed measurement, and in particular to a wheel speed measurement method, device and equipment. Background Art

[0002] Wheel speed measurement is very important for automobile motion control, automobile electronic stability program, anti-lock braking system, transmission, etc. Existing wheel speed measurement equipment includes magnetoelectric wheel speed sensor and Hall wheel speed sensor. Among them, Hall wheel speed sensor is also called Hall sensor. Hall sensor uses Hall effect to convert displacement signal into potential signal, which has the characteristics of high sensitivity, small size and good stability.

[0003] At present, there are three main methods for measuring wheel speed using Hall-type wheel speed sensors, namely, frequency measurement method, period measurement method, and frequency and cycle measurement method. Among them, the frequency measurement method has been widely used because it is simpler and more convenient to implement. The commonly used frequency measurement method is single-signal wheel speed measurement, that is, a Hall-type wheel speed sensor is arranged near the single-signal wheel, and the speed of the single-signal wheel is measured by the Hall-type wheel speed sensor. On the one hand, this measurement method has low measurement accuracy, and on the other hand, the system robustness is poor. When the signal wheel fails or even breaks a tooth, the wheel speed measurement accuracy drops significantly. Summary of the invention

[0004] In view of this, embodiments of the present invention provide a wheel speed measurement method, device and equipment to achieve accurate measurement of the wheel speed of a measurement object.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] A wheel speed measurement method, comprising:

[0007] Obtaining waveforms of x wheel speed sensors, wherein x is a positive integer greater than 1, some of the x wheel speed sensors are used to measure the number of teeth that the inner wheel of the vehicle rotates when turning, and another part of the x wheel speed sensors are used to measure the number of teeth that the outer wheel of the vehicle rotates when turning;

[0008] Extracting the number of pulses in each of the waveforms within a preset period;

[0009] Calculating the equivalent pulse number of the pulse number in the waveform diagram of the target wheel speed sensor within the preset period based on the equivalent coefficient, the target wheel speed sensor being a wheel speed sensor for measuring the number of teeth of the inner steering wheel of the vehicle or a wheel speed sensor for measuring the number of teeth of the outer steering wheel of the vehicle;

[0010] Calculating the average of the pulse numbers corresponding to the x wheel speed sensors based on the equivalent pulse number and the pulse numbers in the waveform diagrams of other wheel speed sensors within the preset period, wherein the other wheel speed sensors are wheel speed sensors other than the target wheel speed sensor among the x wheel speed sensors;

[0011] The wheel speed of the target steering wheel is calculated based on the average value of the pulse number, and the target steering wheel is the vehicle steering wheel corresponding to the other wheel speed sensors.

[0012] Optionally, the above wheel speed measurement method further includes:

[0013] A dynamic analysis is performed on the outer steering wheel of the vehicle and the inner steering wheel of the vehicle to obtain a speed ratio between the outer steering wheel of the vehicle and the inner steering wheel of the vehicle, and the speed ratio is used as the equivalent coefficient.

[0014] Optionally, in the above wheel speed measurement method, performing a dynamic analysis on the vehicle outer steering wheel and the vehicle inner steering wheel to obtain a speed ratio between the vehicle outer steering wheel and the vehicle inner steering wheel includes:

[0015] Get the vehicle steering angle;

[0016] The speed ratio of the inner steering wheel of the vehicle and the inner steering wheel of the vehicle matching the steering angle of the vehicle is obtained based on a preset mapping relationship, wherein a mapping relationship between the steering angle of the vehicle and the speed ratio is stored in the preset mapping relationship.

[0017] Optionally, in the above wheel speed measurement method, calculating the average of the pulse numbers corresponding to the x wheel speed sensors based on the equivalent pulse number and the pulse numbers in the waveform diagrams of other wheel speed sensors within the preset period includes:

[0018] Based on the formula Calculate the average value of the pulse numbers corresponding to the x wheel speed sensors; k is the equivalent coefficient, m1, m2, ..., m i are the number of pulses detected by the target wheel speed sensor within the preset period, and the m i+1 ……m x are respectively the number of pulses detected by the other wheel speed sensors within the preset period;

[0019] The wheel speed of the target steering wheel is calculated based on the average value of the pulse number, including:

[0020] Based on the formula The wheel speed n of the target steering wheel is calculated; wherein the number of teeth corresponding to the inner steering wheel of the vehicle and the outer steering wheel of the vehicle is the same and equal to p, and T is a preset period.

[0021] Optionally, in the above wheel speed measurement method, the positions of the wheel speed sensors used to measure the number of teeth of the inner steering wheel of the vehicle may be the same or different, and the positions of the wheel speed sensors used to measure the number of teeth of the outer steering wheel of the vehicle may be the same or different.

[0022] Optionally, in the above wheel speed measurement method, wheel speed sensors used to measure the number of teeth of the inner steering wheel of the vehicle are distributed at equal angle intervals;

[0023] The wheel speed sensors used to measure the number of teeth on the vehicle's outer steering wheels are spaced at equal angles.

[0024] Optionally, the above wheel speed measurement method further includes:

[0025] Calculate the sum of the equivalent pulse number and the pulse number in the waveform diagram of other wheel speed sensors within the preset period, and record it as the total pulse;

[0026] Obtaining a maximum value among the equivalent pulse number and the pulse numbers of the waveform diagrams of other wheel speed sensors within the preset period, and recording it as a maximum pulse;

[0027] Calculate the ratio of the difference between the total pulse and the maximum pulse to z, where z=x-1;

[0028] Determining whether the difference between the maximum pulse and the ratio is greater than 1;

[0029] If it is greater than 1, it indicates a broken tooth fault.

[0030] Optionally, in the above wheel speed measurement method, when a broken tooth fault occurs,

[0031] The average value of the number of pulses obtained by subtracting the maximum pulse from the total pulses is taken as the corrected pulse number;

[0032] The target steering wheel speed is calculated based on the corrected pulse number.

[0033] A wheel speed measuring device, comprising:

[0034] A waveform acquisition unit, used to acquire waveform diagrams of x wheel speed sensors, wherein x is a positive integer greater than 1, some of the x wheel speed sensors are used to measure the number of teeth rotated by the inner wheel of the vehicle when turning, and another part of the x wheel speed sensors are used to measure the number of teeth rotated by the outer wheel of the vehicle when turning; a pulse extraction unit, used to extract the number of pulses in each of the waveform diagrams within a preset period;

[0035] a correction unit, configured to calculate an equivalent pulse number of the pulse number in the waveform diagram of the target wheel speed sensor within the preset period based on the equivalent coefficient, wherein the target wheel speed sensor is a wheel speed sensor for measuring the number of teeth of the inner steering wheel of the vehicle or a wheel speed sensor for measuring the number of teeth of the outer steering wheel of the vehicle;

[0036] The wheel speed calculation unit is used to calculate the average of the pulse numbers corresponding to the x wheel speed sensors based on the equivalent pulse number and the pulse number in the waveform diagram of other wheel speed sensors within the preset period, and the other wheel speed sensors are wheel speed sensors other than the target wheel speed sensor among the x wheel speed sensors; and to obtain the wheel speed of the target steering wheel based on the average of the pulse number, and the target steering wheel is the vehicle steering wheel corresponding to the other wheel speed sensors.

[0037] A wheel speed measuring device, comprising: a memory and a processor;

[0038] The memory is used to store programs;

[0039] The processor is used to execute the program to implement each step of any one of the above-mentioned wheel speed measurement methods.

[0040] Based on the above technical scheme, the scheme provided by the embodiment of the present invention first uses x wheel speed sensors to detect the vehicle's outer steering wheel and the vehicle's inner steering wheel respectively, and then obtains the waveform diagrams of the x wheel speed sensors, and then extracts the number of pulses in each of the waveform diagrams within a preset period, and then calculates the equivalent pulse number of the pulse number in the waveform diagram of the target wheel speed sensor based on the equivalent coefficient, and calculates the average of the pulse numbers corresponding to the x wheel speed sensors based on the equivalent pulse number and the pulse number in the waveform diagram of other wheel speed sensors; finally, the wheel speed of the measured object is calculated based on the average of the pulse numbers, which reduces the measurement error and improves the robustness of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0042] Figure 1 A schematic diagram of a process flow of a wheel speed measurement method disclosed in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of the arrangement of the wheel speed sensor disclosed in the embodiment of the present application;

[0044] Figure 3A schematic diagram of a wheel speed sensor measuring a signal when executing for a vehicle;

[0045] Figure 4 It is a structural schematic diagram of the wheel speed measuring device disclosed in the embodiment of the present application;

[0046] Figure 5 This is a schematic diagram of the structure of the wheel speed measuring device disclosed in the embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0048] The frequency measurement method mainly measures the number of pulses m measured by the Hall wheel speed sensor within a preset period T, and then calculates the wheel speed of the measured object based on formula (1);

[0049]

[0050] in

[0051] T is the preset period;

[0052] n is the wheel speed (r / min);

[0053] p is the number of teeth on the vehicle's steering wheel, that is, the theoretical number of pulses per wheel rotation;

[0054] The error of this wheel speed measurement method mainly comes from the pulse number m, where the error of the pulse number m is ±1.

[0055] The wheel speed error is

[0056]

[0057] From formula (2), we know that the wheel speed accuracy is closely related to the number of teeth p. When the gear teeth are sparse, the problem of low wheel speed measurement accuracy will occur.

[0058] In order to improve the measurement accuracy of wheel speed, the present application discloses a technical solution for realizing wheel speed measurement by using multiple wheel speed sensors to cooperate with each other, thereby improving the measurement accuracy of wheel speed.

[0059] For details, see Figure 1 A wheel speed measurement method disclosed in the present application may include: steps S101-S105.

[0060] Step S101: Obtain waveform diagrams of x wheel speed sensors.

[0061] In this solution, x is a positive integer greater than 1, and each wheel speed sensor is used to detect the rotation state of the measurement object, which is the vehicle's inner steering wheel and the vehicle's outer steering wheel; some of the x wheel speed sensors are used to measure the number of teeth rotated by the vehicle's inner steering wheel, and the other part of the wheel speed sensors are used to measure the number of teeth rotated by the vehicle's outer steering wheel, and the number of teeth rotated is displayed in the form of a waveform. Figure 2 For example, when the number of the wheel speed sensors is two, one of the wheel speed sensors is used to measure the number of teeth the inner steering wheel of the vehicle rotates, and the other wheel speed sensor is used to measure the number of teeth the outer steering wheel of the vehicle rotates. When the number of the wheel speed sensors is greater than two, such as three, two of the wheel speed sensors can be used to measure the number of teeth the inner steering wheel of the vehicle rotates, and the other wheel speed sensor is used to measure the number of teeth the outer steering wheel of the vehicle rotates. In the present embodiment, the wheel speed sensors are used to detect the changes in the number of teeth of the inner steering wheel of the vehicle and the outer steering wheel of the vehicle to detect the rotational speed of the inner steering wheel of the vehicle and the outer steering wheel of the vehicle. The number of teeth of the inner steering wheel of the vehicle and the outer steering wheel of the vehicle can be the same, that is, every time the inner steering wheel of the vehicle and the outer steering wheel of the vehicle rotate one circle, the number of pulses detected by the wheel speed sensor for detecting the inner steering wheel of the vehicle and the number of pulses detected by the wheel speed sensor for detecting the outer steering wheel of the vehicle are theoretically the same.

[0062] Step S102: extracting the number of pulses in each of the waveform diagrams within a preset period.

[0063] The measuring object has a pre-configured detection point. Each time the wheel speed sensor detects a detection point, a pulse signal is generated. The detection point may refer to the gears of the vehicle's inner steering wheel and the vehicle's outer steering wheel. Each time a gear rotates past the detection position of the wheel speed sensor, the wheel speed sensor generates a pulse signal. The preset period is a preset period of time, and its duration value can be set according to user needs. For example, it can be 10 seconds, 15 seconds, or other durations. After obtaining the waveforms detected by each wheel speed sensor, the number of pulses contained in each waveform is extracted. The number of pulses can represent the number of times the gears on the measuring object are detected within the preset period.

[0064] Step S103: calculating the equivalent pulse number of the pulse number in the waveform diagram of the target wheel speed sensor within a preset period based on the equivalent coefficient.

[0065] Among them, the equivalent coefficient is used to characterize the conversion relationship or equivalent relationship between the number of pulses of the target wheel speed sensor and the number of pulses of other wheel speed sensors. For example, 100 pulses of the target wheel speed sensor are theoretically equal to the number of pulses of other wheel speed sensors. When the number of teeth corresponding to the vehicle steering inner wheel and the vehicle steering outer wheel is the same, the equivalent coefficient is equal to the speed ratio of the vehicle steering outer wheel and the vehicle steering inner wheel. It can be understood that when the number of teeth corresponding to the vehicle steering inner wheel and the vehicle steering outer wheel is in a certain proportion, the equivalent coefficient is determined according to the speed ratio and proportional coefficient of the vehicle steering outer wheel and the vehicle steering inner wheel. In particular, when the number of teeth corresponding to the vehicle steering inner wheel and the vehicle steering outer wheel is in a certain proportion, the equivalent coefficient can also be equal to the speed ratio of the vehicle steering outer wheel and the vehicle steering inner wheel in theory, but when calculating the equivalent number of pulses at this time, it is also necessary to consider the influence of the proportional relationship between the number of teeth between the vehicle steering inner wheel and the vehicle steering outer wheel.

[0066] During the operation of the vehicle, the speed ratio of the vehicle's inner steering wheel and the vehicle's outer steering wheel will be different depending on the vehicle's driving state. In this solution, the speed ratio is recorded as an equivalent coefficient, and a dynamic analysis is performed on the vehicle's outer steering wheel and the vehicle's inner steering wheel to obtain the speed ratio of the vehicle's outer steering wheel and the vehicle's inner steering wheel.

[0067] Specifically, the speed ratio y of the vehicle's inner steering wheel and the vehicle's outer steering wheel has the relationship: Among them, n1 is the speed of the inner wheel of the vehicle, n2 is the speed of the outer wheel of the vehicle, and α is the steering angle of the vehicle. Therefore, in this solution, when calculating the speed ratio, the vehicle steering angle can be obtained, and the speed ratio of the inner steering wheel of the vehicle to the outer steering wheel of the vehicle that matches the vehicle steering angle is obtained based on a preset mapping relationship. The preset mapping relationship stores the mapping relationship between the vehicle steering angle and the speed ratio. Under different steering angles, the corresponding speed ratio is different. Assuming that the speed ratio of the inner steering wheel of the vehicle and the outer steering wheel of the vehicle is y, when the vehicle is moving straight, the speed ratio of the inner steering wheel of the vehicle and the outer steering wheel of the vehicle is 1, y=1, when the car is in a turning state, due to the fast speed of the outer wheel when turning, y<1.

[0068] In order to accurately measure the wheel speed of the vehicle, in this solution, it is necessary to use the equivalent coefficient to perform equivalent calculation on the number of pulses in the waveform of the target wheel speed sensor to obtain the equivalent number of pulses. The target wheel speed sensor is a wheel speed sensor for measuring the number of teeth of the vehicle's steering inner wheel or a wheel speed sensor for measuring the number of teeth of the vehicle's steering outer wheel. For example, when it is necessary to calculate the wheel speed of the vehicle's steering inner wheel, the target wheel speed sensor is a wheel speed sensor for detecting the vehicle's steering outer wheel. At this time, it is necessary to use the equivalent coefficient to perform equivalent calculation on the number of pulses in the waveform corresponding to the detected vehicle's steering outer wheel. When it is necessary to calculate the wheel speed of the vehicle's steering outer wheel, the target wheel speed sensor is a wheel speed sensor for detecting the vehicle's steering inner wheel. At this time, it is necessary to use the equivalent coefficient to perform equivalent calculation on the number of pulses in the waveform corresponding to the detected vehicle's steering inner wheel.

[0069] Step S104: calculating the average of the pulse numbers corresponding to the x wheel speed sensors based on the equivalent pulse number and the pulse numbers in the waveform diagrams of other wheel speed sensors within a preset period.

[0070] In this step, the other wheel speed sensors are wheel speed sensors other than the target wheel speed sensor among the x wheel speed sensors, and may also be referred to as non-target wheel speed sensors;

[0071] In this step, after the pulse number in the waveform of the target wheel speed sensor within a preset period is processed based on the equivalent coefficient to obtain the equivalent pulse number, the average of the pulse numbers corresponding to the x wheel speed sensors is calculated based on the equivalent pulse number and the pulse numbers in the waveform of other wheel speed sensors.

[0072] Specifically, we can use the formula The average value of the pulse numbers corresponding to the x wheel speed sensors is calculated. In the above formula, k is the equivalent coefficient, and m1, m2, ..., m i are the number of pulses detected by the target wheel speed sensor within a preset period, and the m i+1 ……m x are respectively the number of pulses detected by the other wheel speed sensors within a preset period.

[0073] Step S105: Calculating the wheel speed of a target steering wheel based on the average value of the pulse number, the target steering wheel is the vehicle steering wheel corresponding to the other wheel speed sensors.

[0074] In this scheme, the x pulse numbers are processed to obtain the average of the x pulse numbers, and then the average is used as the measurement pulse. Based on the measurement pulse, the preset period, and the mapping relationship between the number of pulses measured by the wheel speed sensor when the measurement object rotates one circle and the wheel speed of the measurement object (Formula (1)), the wheel speed of the target steering wheel is calculated.

[0075] At this time, the formula (1) can be transformed into That is, the wheel speed of the target steering wheel is calculated based on the average of the pulse numbers corresponding to the x wheel speed sensors, specifically: Based on the formula The wheel speed n of the target steering wheel is calculated, wherein the number of teeth corresponding to the inner steering wheel of the vehicle and the outer steering wheel of the vehicle is the same and equal to p, and T is a preset period.

[0076] In the technical solution disclosed in the embodiment of the present application, when the x wheel speed sensors detect the outer steering wheel of the vehicle and the inner steering wheel of the vehicle, the positions of the wheel speed sensors used to measure the number of teeth of the inner steering wheel of the vehicle can be the same or different, and the positions of the wheel speed sensors used to measure the number of teeth of the outer steering wheel of the vehicle can be the same or different. That is, when the wheel speed sensors are used to detect the inner steering wheel of the vehicle and the outer steering wheel of the vehicle, the multiple wheel speed sensors can detect the same position or different positions.

[0077] In the technical solution disclosed in the embodiment of the present application, the more uniform the distribution of the wheel speed sensors is, the smaller the error of the measurement result is. In order to improve the measurement accuracy, the wheel speed sensors used to measure the number of teeth of the vehicle's inner steering wheels are distributed at equal angles; the wheel speed sensors used to measure the number of teeth of the vehicle's outer steering wheels are distributed at equal angles.

[0078] Next, taking two wheel speed sensors as an example, the advantages of the above solution disclosed in the present application are described.

[0079] The two wheel speed sensors can be arranged as follows: Figure 2 As shown, when it is necessary to calculate the speed n1 of the inner wheel of the vehicle. The calculation formula of the speed n1 of the inner wheel of the vehicle is m1 is the number of pulses detected by the wheel speed sensor corresponding to the inner steering wheel of the vehicle within the preset period T, m2 is the number of pulses detected by the wheel speed sensor corresponding to the outer steering wheel of the vehicle within the preset period T, k is the equivalent coefficient between the inner steering wheel of the vehicle and the outer steering wheel of the vehicle, and the corresponding measurement error is The measurement error is reduced to less than the error when wheel speed measurement is performed using a single wheel speed sensor.

[0080] The corresponding proof process is as follows:

[0081] (1) When the vehicle is turning, the outer wheel turns faster and the inner wheel turns slower. At this time, k<1, and the corresponding inner wheel measurement error is: Smaller than the measurement error of a single wheel speed sensor

[0082] (2) When the vehicle is in a straight-ahead state, the speeds of the vehicle's outer steering wheel and the vehicle's inner steering wheel are equal, and the equivalent coefficient k = 1. The formula is still used. Calculate the rotation speed. Since the rotation speeds of the inner and outer wheels are equal at this time, assume that the maximum number of pulses in the two wheel speed sensors within the preset period T is m. There are g (1 or 2) wheel speed sensors with m pulses in the two wheel speed sensors, and the number of pulses of 2-g wheel speed sensors is m-1. At this time,

[0083] In actual operation, it is difficult for wheel speed sensor 1 and wheel speed sensor 2 to be completely synchronized. Figure 3 There is always a certain phase difference between the two (Ts is the waveform period of the wheel speed sensor corresponding to the inner wheel of the vehicle), and the phase difference is △t:

[0084]

[0085] From the above formula, we can get:

[0086]

[0087]

[0088] because Then there is

[0089]

[0090] Further deduction shows that, Right now,

[0091]

[0092] In this solution, the above method can improve the measurement accuracy while also improving the robustness and facilitating fault diagnosis. When measuring, the waveforms output by x wheel speed sensors can be obtained. In this solution, it is also possible to determine whether the vehicle steering inner wheel or the vehicle steering outer wheel has a fault based on the waveforms output by the x wheel speed sensors. Specifically, the judgment process is as follows: obtain the equivalent pulse number, calculate the sum of the equivalent pulse number and the pulse number in the waveform of other wheel speed sensors within the preset period, and record it as the total pulse; obtain the maximum value of the equivalent pulse number and the pulse number in the waveform of other wheel speed sensors within the preset period, and record it as the maximum pulse; calculate the ratio of the difference between the total pulse and the maximum pulse to z, where z=x-1; determine whether the difference between the maximum pulse and the ratio is greater than 1; if it is greater than 1, it indicates that a fault has occurred, and the measurement value of the wheel speed sensor (the wheel speed sensor corresponding to the maximum pulse number) can be ignored when measuring the wheel speed. Specifically, when a broken tooth fault occurs, the average value of the number of pulses obtained by subtracting the maximum pulse from the total pulse is used as the corrected pulse number; and the wheel speed of the target steering wheel is calculated based on the corrected pulse number.

[0093] This embodiment discloses a wheel speed measuring device. For the specific working contents of each unit in the device, please refer to the contents of the above method embodiment.

[0094] The wheel speed measuring device provided in an embodiment of the present invention is described below. The wheel speed measuring device described below and the wheel speed measuring method described above can be referred to each other.

[0095] See also Figure 4 , the wheel speed measuring device may include:

[0096] A waveform acquisition unit A is used to acquire waveforms of x wheel speed sensors, wherein x is a positive integer greater than 1, some of the x wheel speed sensors are used to measure the number of teeth rotated by the inner wheel of the vehicle when turning, and another part of the x wheel speed sensors are used to measure the number of teeth rotated by the outer wheel of the vehicle when turning;

[0097] A pulse extraction unit B, used for extracting the number of pulses in each of the waveform diagrams within a preset period;

[0098] a correction unit C, configured to calculate an equivalent pulse number of the pulse number in the waveform diagram of the target wheel speed sensor within the preset period based on the equivalent coefficient, wherein the target wheel speed sensor is a wheel speed sensor for measuring the number of teeth of the inner steering wheel of the vehicle or a wheel speed sensor for measuring the number of teeth of the outer steering wheel of the vehicle;

[0099] The wheel speed calculation unit D is used to calculate the average of the pulse numbers corresponding to the x wheel speed sensors based on the equivalent pulse number and the pulse number in the waveform diagram of other wheel speed sensors within the preset period, and the other wheel speed sensors are wheel speed sensors other than the target wheel speed sensor among the x wheel speed sensors; and to obtain the wheel speed of the target steering wheel based on the average of the pulse number, and the target steering wheel is the vehicle steering wheel corresponding to the other wheel speed sensors.

[0100] Corresponding to the above method, the above device may further include a fault judgment unit, which is used to:

[0101] Calculate the sum of the equivalent pulse number and the pulse number in the waveform diagram of other wheel speed sensors, and record it as the total pulse;

[0102] Obtaining the maximum value of the equivalent pulse number and the pulse number of the waveform diagram of other wheel speed sensors within the preset period, and recording it as the maximum pulse;

[0103] Calculate the ratio of the difference between the total pulse and the maximum pulse to z, where z=x-1;

[0104] Determining whether the difference between the maximum pulse and the ratio is greater than 1;

[0105] If it is greater than 1, it indicates a broken tooth fault.

[0106] Figure 5 For a hardware structure diagram of the server provided in the embodiment of the present invention, see Figure 5 As shown, it may include: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400;

[0107] In the embodiment of the present invention, the number of the processor 100, the communication interface 200, the memory 300, and the communication bus 400 is at least one, and the processor 100, the communication interface 200, and the memory 300 communicate with each other through the communication bus 400; obviously, Figure 5 The communication connections shown for the processor 100, the communication interface 200, the memory 300, and the communication bus 400 are merely optional;

[0108] Optionally, the communication interface 200 may be an interface of a communication module, such as an interface of a GSM module;

[0109] The processor 100 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0110] The memory 300 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0111] The processor 100 is specifically configured to:

[0112] Obtaining waveforms of x wheel speed sensors, wherein x is a positive integer greater than 1, some of the x wheel speed sensors are used to measure the number of teeth that the inner wheel of the vehicle rotates when turning, and another part of the x wheel speed sensors are used to measure the number of teeth that the outer wheel of the vehicle rotates when turning;

[0113] Extracting the number of pulses in each of the waveforms within a preset period;

[0114] Calculating the equivalent pulse number of the pulse number in the waveform diagram of the target wheel speed sensor within the preset period based on the equivalent coefficient, the target wheel speed sensor being a wheel speed sensor for measuring the number of teeth of the inner steering wheel of the vehicle or a wheel speed sensor for measuring the number of teeth of the outer steering wheel of the vehicle;

[0115] Calculating the average of the pulse numbers corresponding to the x wheel speed sensors based on the equivalent pulse number and the pulse numbers in the waveform diagrams of other wheel speed sensors within the preset period, wherein the other wheel speed sensors are wheel speed sensors other than the target wheel speed sensor among the x wheel speed sensors;

[0116] The wheel speed of the target steering wheel is calculated based on the average value of the pulse number, and the target steering wheel is the vehicle steering wheel corresponding to the other wheel speed sensors.

[0117] For the convenience of description, the above system is described as being divided into various modules according to their functions. Of course, when implementing the present invention, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0118] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0119] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0120] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0121] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0122] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wheel speed measurement method, characterized in that: include: Obtaining waveforms of x wheel speed sensors, wherein x is a positive integer greater than 1, some of the x wheel speed sensors are used to measure the number of teeth rotated by the inner wheel of the vehicle when turning, and another part of the x wheel speed sensors are used to measure the number of teeth rotated by the outer wheel of the vehicle when turning; Extracting the number of pulses in each of the waveform graphs within a preset period; Calculating the equivalent pulse number of the pulse number in the waveform diagram of the target wheel speed sensor within the preset period based on the equivalent coefficient, the target wheel speed sensor being a wheel speed sensor for measuring the number of teeth of the inner steering wheel of the vehicle or a wheel speed sensor for measuring the number of teeth of the outer steering wheel of the vehicle; Calculating the average of the pulse numbers corresponding to the x wheel speed sensors based on the equivalent pulse number and the pulse numbers in the waveform diagrams of other wheel speed sensors within the preset period, wherein the other wheel speed sensors are wheel speed sensors other than the target wheel speed sensor among the x wheel speed sensors; The wheel speed of the target steering wheel is calculated based on the average value of the pulse number, and the target steering wheel is the vehicle steering wheel corresponding to the other wheel speed sensors.

2. The wheel speed measurement method according to claim 1, characterized in that: Also includes: A dynamic analysis is performed on the outer steering wheel of the vehicle and the inner steering wheel of the vehicle to obtain a speed ratio between the outer steering wheel of the vehicle and the inner steering wheel of the vehicle, and the speed ratio is used as the equivalent coefficient.

3. The wheel speed measurement method according to claim 2, characterized in that: Performing a dynamic analysis on the outer steering wheel of the vehicle and the inner steering wheel of the vehicle to obtain a speed ratio of the outer steering wheel of the vehicle and the inner steering wheel of the vehicle includes: Get the vehicle steering angle; The speed ratio of the inner steering wheel of the vehicle and the inner steering wheel of the vehicle matching the steering angle of the vehicle is obtained based on a preset mapping relationship, wherein a mapping relationship between the steering angle of the vehicle and the speed ratio is stored in the preset mapping relationship.

4. The wheel speed measurement method according to claim 1, characterized in that: Calculating the average of the pulse numbers corresponding to the x wheel speed sensors based on the equivalent pulse number and the pulse numbers in the waveform diagrams of other wheel speed sensors within the preset period includes: Based on the formula Calculate the average value of the pulse numbers corresponding to the x wheel speed sensors; k is the equivalent coefficient, m1, m2, ..., m i are the number of pulses detected by the target wheel speed sensor within the preset period, and the m i+1 ……m x are respectively the number of pulses detected by the other wheel speed sensors within the preset period; The wheel speed of the target steering wheel is calculated based on the average value of the pulse number, including: Based on the formula The wheel speed n of the target steering wheel is calculated; wherein the number of teeth corresponding to the inner steering wheel of the vehicle and the outer steering wheel of the vehicle is the same and equal to p, and T is a preset period.

5. The wheel speed measurement method according to claim 1, characterized in that: The positions of the wheel speed sensors used to measure the number of teeth of the inner steering wheel of the vehicle may be the same or different, and the positions of the wheel speed sensors used to measure the number of teeth of the outer steering wheel of the vehicle may be the same or different.

6. The wheel speed measurement method according to claim 1, characterized in that: Wheel speed sensors for measuring the number of teeth of the inner steering wheel of the vehicle are arranged at equal angles; The wheel speed sensors used to measure the number of teeth on the vehicle's outer steering wheels are spaced at equal angles.

7. The wheel speed measurement method according to claim 1, characterized in that: Also includes: Calculate the sum of the equivalent pulse number and the pulse number in the waveform diagram of other wheel speed sensors within the preset period, and record it as the total pulse; Obtaining a maximum value among the equivalent pulse number and the pulse numbers of the waveform diagrams of other wheel speed sensors within the preset period, and recording it as a maximum pulse; Calculate the ratio of the difference between the total pulse and the maximum pulse to z, where z=x-1; Determining whether the difference between the maximum pulse and the ratio is greater than 1; If it is greater than 1, it indicates a broken tooth fault.

8. The wheel speed measurement method according to claim 7, characterized in that: When a broken tooth failure occurs, The average value of the number of pulses obtained by subtracting the maximum pulse from the total pulses is taken as the corrected pulse number; The target steering wheel speed is calculated based on the corrected pulse number.

9. A wheel speed measuring device, characterized in that: include: a waveform acquisition unit, configured to acquire waveforms of x wheel speed sensors, wherein x is a positive integer greater than 1, and some of the x wheel speed sensors are configured to measure the number of teeth rotated by the inner wheel when the vehicle is turning, and another part of the x wheel speed sensors are configured to measure the number of teeth rotated by the outer wheel when the vehicle is turning; A pulse extraction unit, used for extracting the number of pulses in each of the waveform diagrams within a preset period; a correction unit, configured to calculate an equivalent pulse number of the pulse number in the waveform diagram of the target wheel speed sensor within the preset period based on the equivalent coefficient, wherein the target wheel speed sensor is a wheel speed sensor for measuring the number of teeth of the inner steering wheel of the vehicle or a wheel speed sensor for measuring the number of teeth of the outer steering wheel of the vehicle; The wheel speed calculation unit is used to calculate the average of the pulse numbers corresponding to the x wheel speed sensors based on the equivalent pulse number and the pulse number in the waveform diagram of other wheel speed sensors within the preset period, and the other wheel speed sensors are wheel speed sensors other than the target wheel speed sensor among the x wheel speed sensors; and to obtain the wheel speed of the target steering wheel based on the average of the pulse number, and the target steering wheel is the vehicle steering wheel corresponding to the other wheel speed sensors.

10. A wheel speed measuring device, characterized in that: include: Memory and processor; The memory is used to store programs; The processor is used to execute the program to implement each step of the wheel speed measurement method according to any one of claims 1 to 8.

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