Method and apparatus for correcting a velocity signal

Abstract

This application proposes a method and system for correcting the speed signal of a rotating device. The method includes obtaining a speed signal of the rotating device from a speed sensor; obtaining various operating parameters of the speed sensor to determine a compensation coefficient for the speed sensor, wherein the operating parameters are at least associated with the operating environment of the speed sensor; and correcting the speed signal based on the determined compensation coefficient and correction constraints. This method and system can improve the accuracy and speed of speed signal correction.

Description

Technical Field

[0001] The present application relates to signal correction and, more particularly, to methods, apparatus, and computer storage media for correcting a speed signal of a rotating device such as a wheel. Background Art

[0002] In the vehicle's power signal observation module, wheel speed sensors are used to collect wheel speed signals. However, the accuracy of the collected signals can be affected by factors such as the sensor's inherent characteristics. To mitigate the risk of power detection caused by reduced speed signal accuracy, the speed signals collected by the wheel speed sensors must be corrected and compensated.

[0003] The sensor's sampling interval is usually used to calculate the compensation coefficient for compensating the speed signal. However, the accuracy of compensating and correcting the speed signal based solely on data related to the sampling interval is not high enough.

[0004] Therefore, there is a need to improve the compensation and correction of the speed signal, especially the determination scheme of the compensation coefficient for correcting the speed signal. Summary of the Invention

[0005] In view of this, the present application proposes a method and device for correcting a speed signal, which can improve the accuracy of the speed signal.

[0006] According to one aspect of the present application, a method for correcting a speed signal of a rotating device is proposed, comprising:

[0007] obtaining a speed signal of the rotating device from a speed sensor;

[0008] Acquiring a plurality of operating parameters of the speed sensor to determine a compensation coefficient of the speed sensor, wherein the operating parameters are at least associated with a use environment of the speed sensor; and

[0009] The speed signal is corrected based on the determined compensation coefficient and the correction constraint.

[0010] According to another aspect of the present application, a system for correcting a speed signal of a rotating device is provided, comprising:

[0011] an input device configured to obtain a speed signal of the rotating device from a speed sensor, a plurality of operating parameters of the speed sensor, and a relationship between a compensation coefficient of the speed sensor and the plurality of operating parameters;

[0012] The correction device is configured to determine a compensation coefficient of the speed sensor based on multiple operating parameters of the speed sensor, the operating parameters being at least associated with a use environment of the speed sensor; and correct the speed signal based on the determined compensation coefficient and compensation restriction conditions.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the method described above is implemented.

[0014] According to yet another aspect of the present application, an electronic device is provided, comprising a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the executable instructions to implement the method described above.

[0015] The speed signal correction method and system of this application overcomes the poor compensation effect caused by using the sampling interval as a single error source to determine the sensor compensation coefficient. By comprehensively analyzing and determining the speed sensor compensation coefficient, the speed sensor's compensation coefficient is determined based on the operating environment and various complex operating conditions of the rotating device, including sensor speed and speed gradient, which are factors that affect speed signal accuracy. Compared to existing solutions, the resulting compensation coefficient is more accurate, becoming the optimal solution corresponding to the current operating parameters, thereby obtaining a more accurate compensated speed signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0017] Figure 1 4 is a schematic flow chart of a method for correcting a speed signal of a rotating device according to an embodiment of the present application.

[0018] Figure 2 The diagram is a schematic structural block diagram of a system for correcting a speed signal of a rotating device according to an embodiment of the present application.

[0019] Figure 3 1 is a schematic structural block diagram of an electronic device for correcting a speed signal of a rotating device according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] The exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the disclosure of this application will be thorough and complete and will fully convey the concepts of the exemplary embodiments to those skilled in the art. In the drawings, the dimensions of some elements may be exaggerated or distorted for clarity. Identical reference numerals in the drawings represent identical or similar structures, and thus their detailed descriptions will be omitted.

[0021] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, elements etc. can be adopted. In other cases, known structures, methods or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0022] This application takes the compensation and correction of the rotational speed of the wheels in a vehicle as an example to introduce a method and system for correcting the speed signal of a rotating device. The method and system can be used in a vehicle power signal observation module that measures and monitors the wheel speed, and the vehicle power signal observation module can be used as a part of a vehicle radar device. In addition to the wheel speed sensor that measures the wheel speed signal, the vehicle power signal observation module can also include other speed-related sensors such as angular velocity sensors and acceleration sensors. However, the solution for correcting the speed signal of a rotating device proposed in this application is not limited to the speed signal of the wheel, and the speed signal of any rotating device can adopt the correction and compensation solution proposed in this application. The rotational speed sensor is used to measure the rotational speed signal of a rotating device such as an axle (it can also be regarded as an angular velocity sensor). According to the relationship between angular velocity and linear velocity, the linear velocity of the measured rotating device can be calculated based on the angular velocity. Therefore, the correction and compensation solution of this application is also applicable to speed signals collected by various types of speed sensors including linear velocity sensors.

[0023] The speed sensor's compensation coefficient is used to correct the error between the speed measurement and the actual speed value of the speed signal collected by the speed sensor. This error can be affected by the sensor's sampling settings. These settings include the speed sensor's sampling interval. Shorter sampling intervals better reflect instantaneous speed changes, but expressions based on the sampling interval are more complex, resulting in larger sampling and computational workloads, increasing the computational and storage load on the processing device. Longer sampling intervals reduce these workloads, but this comes at the cost of the speed sensor's measurement not being able to respond to speed changes in a timely manner, leading to reduced measurement accuracy. Therefore, the length of the sampling interval can lead to an error between the speed sensor's measured value and the actual value, making the sampling interval a factor in determining the accuracy of the speed sensor's measurement. Existing methods for correcting and compensating speed signals rely on a mathematical expression representing the relationship between a pre-calibrated sampling interval and the speed sensor's compensation coefficient. However, this compensation coefficient calculation method only considers a single error source, originating from the sampling setting parameters, resulting in a non-optimal compensation coefficient for the current operating parameters.

[0024] During the correction / compensation process of the speed signal, in addition to the factors from the sensor acquisition settings, there are other factors that affect the measurement accuracy of the speed sensor, such as factors from the speed sensor's operating environment and operating process. Among them, the measurement accuracy of the sensor is affected by the temperature of its operating environment, that is, there is temperature drift. The measurement value of the speed sensor should also track the instantaneous or short-term changes in speed in real time, so the measurement accuracy is also related to the speed of the object measured by the speed sensor. The introduction of speed change conditions can be more suitable for measurement scenarios where the wheel speed changes quickly and frequently. The acquisition time interval, sensor temperature and speed change conditions can be called operating parameters associated with the speed sensor's operating environment.

[0025] The speed change can be characterized, for example, by a speed change gradient. In this application, the speed change gradient represents the speed and degree of change in speed over time. It can be calculated using the quotient of the speed change within a sampling interval and the length of the sampling interval, or it can be calculated using the derivative of the speed change and the sampling interval. In the calculation, the first-order derivative of the speed change and the sampling interval is generally used, but higher-order derivatives can also be calculated as needed. Other parameters that characterize the speed change can also be used.

[0026] These speed sensor operating parameters characterize the state and environment of the speed sensor during speed signal measurement and correction. Those skilled in the art will appreciate that these parameters include not only those listed herein but also other parameters related to the sensor's operating environment and detection process, or the sensor's inherent characteristics.

[0027] In this document, the term "relationship" refers to a correlation or dependency between two or more objects. A relationship can be represented and embodied by a data set in the form of a function, curve, data table, or database that includes two or more variables or parameters. For example, the relationship between the compensation coefficient and sensor temperature can be represented by a function or curve showing how the compensation coefficient changes with sensor temperature. More conveniently, it can also be represented by a table or database containing data items including the compensation coefficient and sensor temperature.

[0028] The following combination Figure 1 The method flow for correcting the speed signal of a rotating device is shown and Figure 2 A system for correcting a speed signal of a rotating device is shown to introduce the principles and exemplary solutions of the present application.

[0029] like Figure 1As shown, the method for correcting the speed signal of a rotating device of the present application mainly includes step S110 of acquiring the speed signal, step S120 of acquiring various operating parameters of the speed sensor to determine the compensation coefficient, and step S130 of correcting the speed signal based on the constraints of the determined compensation coefficient and / or compensation limit conditions.

[0030] In step S110, a speed signal of the rotating device (i.e., the vehicle's wheels) is first acquired from the speed sensor 101. For a motor vehicle, the speed signal typically includes rotational speed signals for a total of four wheels on the vehicle's front and rear axles (the left and right front wheels on the front axle, and the left and right rear wheels on the rear axle). If the motor vehicle includes more axles, the speed signal also includes rotational speed signals for one or more wheels on these axles. Typically, a vehicle speed sensor is provided at each wheel to detect the speed signal of that wheel.

[0031] Next, in step S120 , various operating parameters of the speed sensor are acquired to determine a compensation coefficient of the speed sensor, wherein these operating parameters should at least be associated with the use environment of the speed sensor.

[0032] Step S120 may further include a sub-step S122 of acquiring multiple current operating parameters of the speed sensor, a sub-step S123 of acquiring the relationship between the compensation coefficient and the multiple operating parameters, and a sub-step S124 of determining the compensation coefficient corresponding to the current operating parameters of the speed sensor based on the acquired relationship between the compensation coefficient and the multiple operating parameters for use in speed signal correction of the rotating device (i.e., the wheel).

[0033] Before sub-step S122 , step S120 may further include a determination sub-step S121 for determining whether the speed signal from the speed sensor is valid and meets the speed limit.

[0034] The judgment sub-step S121 is used to verify the validity and compensability of the speed signal, which serves as a preliminary screening for calculating the compensation coefficient. The validity of the speed signal state indicates whether the speed sensor is in a normal working state. A valid speed signal indicates that the current speed sensor is in a normal working state and the collected speed signal is a true speed signal (although the speed signal may contain errors and need to be corrected). If the speed signal is invalid, it indicates that the speed sensor is in an abnormal working state or is in a faulty state, and the collected speed signal cannot reflect the true speed of the measured rotating device (such as a wheel), even if the speed signal appears to have a value within the normal range.

[0035] As another screening condition, the compensability of the speed signal indicates whether the collected speed signal can be compensated by a compensation coefficient to achieve the purpose of correction. Only speed signals that meet the speed limit conditions can be compensated using the compensation coefficient. The speed limit conditions may include a normal speed range or a rated speed range in which the speed signal should be. The normal speed range is characterized by a speed threshold range defined by a maximum speed threshold and a minimum speed threshold. If the value (e.g., absolute value) of the speed signal is within the speed threshold range, the speed signal can be compensated by the compensation coefficient, otherwise the compensation coefficient cannot be used for compensation.

[0036] The above-mentioned two conditions of speed signal validity and compensability must be met at the same time (that is, the result of sub-step S121 is "yes") before the process of compensating the speed signal based on the compensation coefficient starting from sub-step S122 can be adopted to obtain the optimal compensation coefficient of the current speed signal. If any one of the two conditions is not met (that is, the speed signal is invalid "or" the speed signal does not meet the speed limit condition), the process starting from sub-step S122 cannot be continued. At this time, the judgment result is "no", and the method determines that the currently collected speed signal is abnormal. In this case, the value of the compensation coefficient is set to 1. Since the compensated speed signal is calculated by multiplying the collected original speed signal by the corresponding compensation coefficient, a compensation coefficient of 1 means that the current speed signal is no longer compensated.

[0037] In the case where the rotating device is a wheel of a vehicle, speed signals including four wheel speed signals are collected by four speed sensors on the left front wheel, right front wheel, left rear wheel and right rear wheel on the front and rear axles of the vehicle respectively. The wheel speed of the wheel is usually controlled based on the axle. When driving in a straight line, the wheel speed of the four wheels is basically the same. However, when turning or the road conditions of the four wheels are inconsistent, there is a difference between the wheel speeds of the two wheels on the front axle and the two wheels on the rear axle. Therefore, the front and rear axles are generally distinguished and the wheel speeds of the wheels are evaluated in units of axles. For example, the average wheel speed of the wheels on the same axle is taken as the wheel speed of the axle, and the average wheel speed of the wheels belonging to different axles is not calculated. In this way, the average wheel speed of the front and rear axles of the vehicle can be calculated respectively by the following formulas (1) and (2):

[0038] (N FL +N FR ) / 2=NF ave (1)

[0039] (N RL +N RR ) / 2=NR ave (2)

[0040] Among them, N FL 、N FR 、NRL 、N RR NF ave NR ave They are respectively the wheel speed of the vehicle's front left wheel (left front wheel), the wheel speed of the front right wheel (right front wheel), the wheel speed of the rear left wheel (left rear wheel), the wheel speed of the rear right wheel (right rear wheel), the average wheel speed of the front axle and the average wheel speed of the rear axle.

[0041] When judging the validity and compensability of the speed signal, the average wheel speed NF of the front and rear axles is used. ave and NR ave For example, NF ave and NR ave The status of NF is valid, which means that these wheels meet the validity of the speed signal. ave and NR ave Both are within the speed threshold range, indicating that these wheels meet the compensability, for example, for NF ave , the minimum wheel speed threshold N should be met min ≤Front axle average wheel speed NF ave ≤ Maximum wheel speed threshold N max ,NR ave similar.

[0042] In sub-step S122, various operating parameters of the speed sensor under the current operating conditions are obtained. Among these operating parameters, the sampling interval 102 is a factor related to the sensor's acquisition settings, while the sensor temperature 103 and the speed gradient 104 are factors related to the sensor's operating environment. The sensor temperature 103 can be derived from a temperature sensor mounted on or near the vehicle speed sensor. The speed gradient 104 can be calculated using the calculation method described above, based on the wheel speed signal obtained in step S110 and the sampling interval 102.

[0043] The compensation coefficient corresponds to the vehicle speed sensor. Therefore, correction and compensation of the wheel speed signal requires measuring the corresponding operating parameters for each wheel and determining the corresponding compensation coefficient. For simplicity, the same sensor temperature 103 can be used for each wheel's speed sensor. However, each wheel's speed signal is different, and the acquisition interval 102 of the speed sensor used to measure each wheel's speed signal may also be different, requiring the speed change gradient 104 to be determined separately.

[0044] According to an embodiment of the present application, the relationship between the compensation coefficient and the various operating parameters of the current operating condition can be characterized as a calibration data set including a plurality of predetermined calibration data. The calibration data includes operating condition data represented by the various operating condition parameters and calibration compensation coefficient data corresponding to the operating condition data.

[0045] The calibration compensation coefficient data can be obtained by Figure 1 The pre-processing process shown in steps S151 to S153 is predetermined before the compensation and correction process of the speed signal. In step S151, the calibration can be automatically completed by an automatic calibration program script on a calibration test bench dedicated to calibration of the compensation coefficient of the speed sensor. The calibration test bench may include a speed sensor to be calibrated, a high-precision speed sensor that provides a reference speed signal, a rotating device whose rotation speed is to be measured, and other related components. A plurality of calibration test conditions can be set according to the use environment and operation process of the speed sensor, and the changes in the compensation coefficient of the speed sensor under these calibration test conditions with influencing factors such as the sampling interval time 102, the sensor temperature 103, and the speed change gradient 104 can be tested and recorded respectively.

[0046] Because the operating parameters include at least a sampling interval 102, sensor temperature 103, and speed gradient 104, a controlled variable approach is employed during the calibration test to facilitate calculation. Specifically, when calibrating the speed sensor's compensation coefficient as it varies with one operating parameter, the other operating parameters are set to a constant state, thereby determining an independent relationship between the compensation coefficient and each operating parameter. Thus, calibration of the compensation coefficient can include calibration based on the relationship between the sampling interval and the compensation coefficient, calibration based on the relationship between the sensor temperature and the compensation coefficient, and calibration based on the relationship between the speed gradient and the compensation coefficient. These calibration processes can be performed sequentially or in parallel.

[0047] Then, in step S152 , the pre-processing process generates a calibration data set based on the calibration test condition and the calibration compensation coefficient corresponding to the calibration test condition.

[0048] Specifically, a plurality of set calibration test conditions (including a plurality of operating parameters) and the calibrated corresponding compensation coefficients constitute the calibration data. These calibration data serve as the initial calibration data. On the basis of the initial calibration data, the data processing of the calibration data generated by the calibration compensation coefficient is continued. The data processing can be automatically completed by the data processing script, and the relationship between the compensation coefficient and the selected type of operating parameters, especially the functional relationship, is determined based on the calibration compensation coefficient, so as to lay the foundation for determining the compensation coefficient under any set operating parameters. For example, according to the type of selected operating parameters, the relationship data of the compensation coefficient with the sampling interval time 102, the sensor temperature 103 and the speed change gradient 104 can be obtained respectively. As mentioned above, the relationship data can be embodied or stored in the form of a function or curve, a data table or a database.

[0049] The data processing of the calibration data may include screening the calibration compensation coefficient based on the selected numerical range of the operating condition parameter, determining the resolution of the operating condition parameter, and determining the relationship between the calibration compensation coefficient and the selected operating condition parameter. In the screening calibration compensation coefficient step, the data range of interest of the three operating condition parameters of the speed sensor acquisition time interval 102, sensor temperature 103 and speed change gradient 104 can be set respectively, and data (noise data) that is irrelevant to the application scenario of the speed sensor or affects the accuracy of the relationship determination is screened out. In the step of determining the resolution of the operating condition parameter, the resolution of these three operating condition parameters is set to adjust the calculation accuracy and calculation amount of the (function) relationship between the operating condition parameter and the compensation coefficient based on the calibration compensation coefficient. Finally, in the step of determining the above relationship, the relationship between the compensation coefficient and the selected operating condition parameter is determined based on the screened calibration compensation coefficient and the corresponding numerical value of the selected operating condition parameter. This relationship can be represented by a function expression, preferably a linear function. The relationship determination process is the function fitting process.

[0050] The calibration data and / or the fitted relationship can constitute a calibration data set. As described above, the calibration data set can be embodied in the form of a data table or a database. According to an embodiment of the present application, the calibration data set can be integrated into code and a query code can be designed for performing data queries on the calibration data set. In this way, the calibration data set is equivalent to the input data pre-generated in the pre-processing process and provided to the method for correcting the velocity signal.

[0051] The pre-processing process may further include, after step S152 , an optional step S153 of further expanding the calibration data set on the basis of generating the calibration data set based on the calibration test condition and the calibration compensation coefficient corresponding to the calibration test condition.

[0052] Optionally, the function fitting process can, for example, use an interpolation method to generate compensation coefficients corresponding to other operating parameters that are different from the operating parameter values ​​of the calibration test condition. The compensation coefficients are called extended compensation coefficients. The linear interpolation method can effectively reduce the amount of calculation while meeting the fitting accuracy. The order of linear interpolation can be set in advance. The higher the order, the more accurate the function relationship fitted by the interpolation method, and the more accurate the linear interpolation values ​​of other operating parameters generated based on the function relationship. An extended calibration data set can be generated based on the extended calibration data consisting of the original calibration data and the extended compensation coefficients and their corresponding operating parameters. The extended calibration data set can include more pre-set operating conditions and their compensation coefficients, covering more usage environments and the states of the speed sensor involved in the operation process.

[0053] Now returning to sub-step S124, the method determines the compensation coefficient corresponding to the current operating parameters of the speed sensor based on the relationship between the obtained compensation coefficient and multiple operating parameters (for example, in the form of a calibration data set) for use in speed signal correction of a rotating device (such as a wheel of a vehicle).

[0054] Different from the pre-processing process, sub-step S124 determines the compensation coefficient corresponding to the current operating condition parameters in real time based on a predetermined relationship (such as a calibration data set). The real-time determination of the compensation coefficient may further include sub-step S1241 and / or sub-step S1242. Sub-step S1241 is used to query the calibration data set and, when the calibration data includes operating condition records whose operating condition parameters are the same as multiple operating condition parameters of the current operating condition (i.e., the same operating condition is queried), extract the corresponding calibration compensation coefficient included in the calibration data as the compensation coefficient corresponding to the current operating condition parameters. If no calibration data including operating condition records whose operating condition parameters are the same as the operating condition parameters of the current operating condition is found after querying the calibration data set, the compensation coefficient corresponding to the current operating condition parameters can be determined in sub-step S1242 by performing an interpolation operation on the calibration data including the operating condition whose operating condition parameters are close to the current operating condition parameters. The selection criteria for the working condition whose working condition parameters are close to the current working condition parameters can be a working condition in which at least one or more working condition parameters are the same as the current working condition parameters, such as a working condition in which the sensor temperature and the acquisition interval are the same but the speed change gradient is different. A working condition in which the various working condition parameters are closer than the current working condition parameters as a whole can also be selected. For example, the overall closeness of the first working condition in which the sensor temperature and the acquisition interval are closest but the speed change gradient is significantly different to the current working condition is lower than the overall closeness of the second working condition in which the sensor temperature, acquisition interval and speed change gradient are all close (but not as close as the sensor temperature and acquisition interval in the first working condition) to the working condition parameters of the current working condition but there is no significantly different speed change gradient. In other words, the second working condition is more suitable as a close working condition for interpolation operation.

[0055] This real-time calculation through table lookup and interpolation (especially linear interpolation) is obviously shorter than relational data calculation based on functional relationships such as mathematical expressions, and has lower requirements on program processing capabilities.

[0056] For the wheels of a vehicle, the compensation factor can be calculated for the speed sensor of each wheel separately because the compensation factor is specific to the speed sensor and not the axle.

[0057] After obtaining the compensation coefficient, the method corrects the speed signal based on the determined compensation coefficient and the correction constraint in step S130. The speed signal correction process may include a sub-step of limiting the compensation coefficient (S131), a sub-step of compensating the speed signal (S132), and a sub-step of limiting the speed signal (S133).

[0058] Sub-step S131 limits the compensation coefficient according to the compensation coefficient threshold range 105 before calculating the compensation signal of the speed signal. The compensation coefficient threshold range 105 can be defined by a minimum compensation coefficient amplitude threshold and a maximum compensation coefficient amplitude threshold. The limited compensation coefficient is calculated as follows: if the value of the determined compensation coefficient is greater than or equal to the maximum compensation coefficient amplitude threshold, the current compensation coefficient value is set to the maximum compensation coefficient amplitude threshold; if the value of the determined compensation coefficient is less than or equal to the minimum compensation coefficient amplitude threshold, the current compensation coefficient value is set to the minimum compensation coefficient amplitude threshold. In other words, the compensation coefficient is limited to within the compensation coefficient threshold range. Therefore, the compensation coefficient limiting process can limit the output range of the speed sensor's compensation coefficient.

[0059] In sub-step S132 , the limited compensation coefficient obtained in sub-step S131 is multiplied by the current speed signal to obtain a compensated speed signal.

[0060] For the four wheels of the vehicle, the compensated speed signals can be calculated using the following formulas (3) to (6):

[0061] N FL *A offset_FL =N compensated_FL (3)

[0062] N FR *A offset_FR =N compensated_FR (4)

[0063] N RL *A offset_RL =N compensated_RL (5)

[0064] N RR *A offset_RR =N compensated_RR (6)

[0065] Where A offset_FL 、A offset_FR 、A offset_RL 、A offset_RRThey are the compensation coefficients of the speed sensor of the vehicle's front left wheel (left front wheel), front right wheel (right front wheel), rear left wheel (left rear wheel), and rear right wheel (right rear wheel), respectively. N compensated_FL 、N compensated_FR 、N compensated_RL 、N compensated_RR They are respectively the compensated speed signal of the front left wheel (left front wheel), the compensated speed signal of the front right wheel (right front wheel), the compensated speed signal of the rear left wheel (left rear wheel), and the compensated speed signal of the rear right wheel (right rear wheel).

[0066] Similar to the compensation coefficient limiting process, sub-step S133 further limits the compensated speed signal based on the speed signal threshold range 106. The speed signal threshold range 106 can be limited by the minimum speed signal amplitude threshold and the maximum speed signal amplitude threshold. The limited speed signal is calculated as follows: if the (absolute) value of the compensated speed signal is ≥ the maximum speed signal amplitude threshold, the value of the compensated speed signal is set to the maximum compensation coefficient amplitude threshold; if the (absolute) value of the compensated speed signal is ≤ the minimum compensation coefficient amplitude threshold, the value of the compensated speed signal is set to the minimum compensation coefficient amplitude threshold. In other words, the speed signal is limited to the compensation coefficient threshold range. Therefore, the speed signal limiting process can limit the output range of the speed signal. Similarly, for the wheels of the vehicle, the compensated speed signal is limited for each wheel separately.

[0067] Through a series of processing from sub-steps S131 to S133 , a corrected speed signal can be obtained and output.

[0068] Figure 2 A system 200 for correcting a speed signal of a rotating device according to an embodiment of the present application is shown. The system 200 comprises at least an input device 201 and a correction device 202 .

[0069] The input device 201 is used to obtain a speed signal from a rotating device (such as a wheel) of a speed sensor, various operating parameters of the speed sensor, and relationship data (such as a calibration data set) between a compensation coefficient from the speed sensor and the various operating parameters, wherein the relationship data is predetermined in a pre-processing process and stored in a data storage device 203 (such as one associated with a calibration test bench).

[0070] The correction device 202 is used to determine the compensation coefficient of the speed sensor based on at least a plurality of operating parameters of the speed sensor and to correct the speed signal based on the determined compensation coefficient and compensation constraint. The correction device 202 can also perform the following operations: Figure 1For the sake of brevity, the specific contents of the relevant steps are not described in detail here.

[0071] The speed signal correction method and system of the present application as described above can overcome the problem of poor compensation effect caused by using the sampling time interval as a single error source factor to determine the sensor compensation coefficient. Taking into account the use environment of the rotating device and the various complex working conditions existing during operation, more error source factors affecting the accuracy of the speed signal, including sensor speed and speed change gradient, are used to comprehensively analyze and determine the compensation coefficient of the speed sensor. Compared with the existing scheme, the determined compensation coefficient is more accurate and faster, becoming the optimal solution corresponding to the current working condition parameters, so as to obtain a more accurate compensated speed signal. At the same time, in the pre-processing process, an automatic program code script is used to calibrate the compensation coefficient of the sensor under the calibration test condition, and a data set (such as a data table or database) is generated according to the data processing script on the changes in the compensation coefficient with working condition parameters such as sampling interval time, sensor temperature and speed change gradient, further improving the efficiency of speed signal compensation and correction. By looking up a table or performing interpolation calculations based on this predetermined data set, the optimal speed signal compensation coefficient corresponding to the current various operating parameters can be quickly found. Compared with complex function calculations and iterations based on mathematical expressions related to the acquisition interval time, this can significantly reduce the amount of calculation and calculation time, and is more suitable for actual situations with shorter operating cycles and rapid and frequent speed changes. In addition, introducing compensation constraints during the correction process can further improve the accuracy, efficiency, and speed of signal compensation and correction, and reduce costs. The use of general algorithms and automated scripts can reduce manpower requirements and reduce subsequent development costs and complexity.

[0072] It should be noted that although several modules or units of the system for correcting the speed signal of the rotating device are mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiment of the present application, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized. The components displayed as modules or units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present application scheme. Those of ordinary skill in the art can understand and implement it without paying any creative work.

[0073] In exemplary embodiments of the present application, a computer-readable storage medium is further provided, on which a computer program is stored. The program includes executable instructions that, when executed by, for example, a processor, can implement the steps of the method for correcting the speed signal of a rotating device described in any of the aforementioned embodiments. In some possible implementations, various aspects of the present application can also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps described in the method for correcting the speed signal of a rotating device according to various exemplary embodiments of the present application.

[0074] According to an embodiment of the present application, a program product for implementing the above method can be a portable compact disc read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0075] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0076] The computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein the readable program code is carried. The data signal propagated may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or component. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0077] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0078] In an exemplary embodiment of the present application, an electronic device is further provided, which may include a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the steps of the method for correcting a speed signal of a rotating device in any of the above embodiments by executing the executable instructions.

[0079] Those skilled in the art will appreciate that various aspects of the present application can be implemented as systems, methods, or program products. Therefore, various aspects of the present application can be specifically implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation that combines hardware and software aspects, which may be collectively referred to herein as a "circuit," "module," or "system."

[0080] Refer to the following Figure 3 hereinafter, an electronic device 300 according to this embodiment of the present application is described. Figure 3 The electronic device 300 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0081] like Figure 3 As shown, electronic device 300 is implemented as a general-purpose computing device. Components of electronic device 300 may include, but are not limited to, at least one processing unit 310, at least one storage unit 320, a bus 330 connecting various system components (including storage unit 320 and processing unit 310), a display unit 340, and the like.

[0082] The storage unit stores a program code, which can be executed by the processing unit 310, so that the processing unit 310 performs the steps of various exemplary embodiments of the present application described in the method for correcting the speed signal of a rotating device in this specification. For example, the processing unit 310 can perform the following steps: Figure 1 Follow the steps shown in .

[0083] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 3201 and / or a cache memory unit 3202 , and may further include a read-only memory unit (ROM) 3203 .

[0084] The storage unit 320 may also include a program / utility 3204 having a set (at least one) of program modules 3205, such program modules 3205 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0085] Bus 330 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0086] The electronic device 300 can also communicate with one or more external devices 400 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 300, and / or any device that enables the electronic device 300 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 350. Furthermore, the electronic device 300 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 360. The network adapter 360 can communicate with other modules of the electronic device 300 via the bus 330. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device 300, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0087] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the method for correcting the speed signal of a rotating device according to the embodiments of the present application.

[0088] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present application are indicated by the appended claims.

Claims

1. A method for correcting a speed signal of a rotating device, comprising: obtaining a speed signal of the rotating device from a speed sensor; Acquiring a plurality of operating parameters of the speed sensor to determine a compensation coefficient of the speed sensor, wherein the operating parameters are at least associated with a use environment of the speed sensor; as well as Correcting the velocity signal based on the determined compensation coefficient and correction constraint; Wherein, obtaining multiple operating parameters of the speed sensor to determine the compensation coefficient of the speed sensor includes: Acquiring multiple current operating parameters of the speed sensor; Obtaining the relationship between the compensation coefficient and the plurality of operating parameters; and determining a compensation coefficient corresponding to the current operating condition parameter of the speed sensor based on the relationship; wherein the relationship is characterized as a calibration data set including a plurality of predetermined calibration data, wherein the calibration data includes a plurality of operating parameters and calibration compensation coefficients corresponding to the plurality of operating parameters; The calibration data set is generated by: determining, based on a plurality of calibration test conditions, calibration compensation coefficients corresponding to operating condition parameters of the calibration test conditions; and generating the calibration data set based on the operating condition parameters of the calibration test conditions and the calibration compensation coefficients corresponding to the calibration test conditions; Wherein, generating the calibration data set further comprises: screening the calibration compensation coefficient based on the selected numerical range of the operating condition parameter; setting the resolution of the operating condition parameter; generating the calibration data based on the screened calibration compensation coefficient and the corresponding operating condition parameter; Alternatively, generating the calibration data set further includes: determining an extended compensation coefficient corresponding to operating condition parameters of other operating conditions different from the calibration test operating condition through an interpolation method; and expanding the calibration data set based on the extended compensation coefficient and the operating condition parameters corresponding to the extended compensation coefficient.

2. The method according to claim 1, characterized in that The operating condition parameter includes at least one of a sampling interval of the speed sensor, a sensor temperature, and a speed change gradient, wherein the sensor temperature and the speed change gradient are associated with the use environment.

3. The method according to claim 2, characterized in that The speed change gradient is calculated by the quotient of the speed change within the sampling interval and the sampling interval or the derivative of the speed change and the sampling interval.

4. The method according to claim 1, wherein Determining a compensation coefficient corresponding to the current operating condition parameter of the speed sensor further includes: determining, by querying the calibration data set, a calibration compensation coefficient in the calibration data including the current operating parameter of the speed sensor as a compensation coefficient corresponding to the current operating parameter of the speed sensor; and / or The compensation coefficient corresponding to the current operating condition parameter of the speed sensor is determined by performing an interpolation operation on calibration data including operating condition parameters close to the current operating condition parameters.

5. The method according to claim 1 or 2, characterized in that Determining the compensation coefficient of the speed sensor further includes: determining a compensation coefficient of the speed sensor based on the plurality of operating parameters when the speed signal is valid and satisfies a speed limit condition; and In the case that the speed signal is invalid or does not meet the speed limit condition, the speed signal is not compensated.

6. The method according to claim 1 or 2, characterized in that The correction constraint includes a compensation coefficient threshold range, and correcting the speed signal based on the determined compensation coefficient and the correction constraint includes: In a case where the determined compensation coefficient exceeds the compensation coefficient threshold range, the compensation coefficient is limited to within the compensation coefficient threshold range.

7. The method according to claim 6, characterized in that The correction constraint includes a speed threshold range, and correcting the speed signal based on the determined compensation coefficient and the correction constraint includes: In the event that the compensated speed signal exceeds the speed threshold range, the corrected speed signal is limited to within the speed threshold range.

8. The method according to claim 1 or 2, characterized in that The rotating device is a wheel of a vehicle.

9. The method according to claim 8, characterized in that Determining the compensation coefficient of the speed sensor further includes: determining a compensation coefficient of the speed sensor based on the plurality of operating parameters when the speed signal is valid and satisfies a speed limit condition; and If the speed signal is invalid or does not meet the speed limit condition, the speed signal is not compensated. The speed limiting condition includes that an average value of speed signals of wheels located on the same axle is within a speed threshold range.

10. A system for correcting a speed signal of a rotating device, comprising: an input device configured to obtain a speed signal of the rotating device from a speed sensor, a plurality of operating parameters of the speed sensor, and a relationship between a compensation coefficient of the speed sensor and the plurality of operating parameters; Calibration device configured to implement the steps of the method according to any one of claims 1 to 9.

11. A computer-readable storage medium having a computer program stored thereon, the computer program comprising executable instructions, and when the executable instructions are executed by a processor, the method according to any one of claims 1 to 9 is implemented.

12. An electronic device, characterized in that: include: processor; as well as a memory for storing executable instructions of the processor; The processor is configured to execute the executable instructions to implement the method according to any one of claims 1 to 9.

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