Vehicle speed arbitration calculation method and system for power domain controller

Abstract

The application discloses a kind of speed arbitration calculation method and system of power domain controller, its based on vehicle speed accuracy to each vehicle speed acquisition module of vehicle is prioritized to vehicle speed calculation, and each vehicle speed acquisition module is set corresponding vehicle speed correction coefficient;So when vehicle occurs different vehicle condition, can be according to its current state, according to priority order obtains the highest accuracy virtual vehicle speed under current vehicle condition, and utilizes vehicle speed correction coefficient to correct virtual vehicle speed, obtains the current actual vehicle speed of power domain controller, improves the accuracy of vehicle speed calculation when vehicle skidding, locking, jolt, gear shifting, tire wear, tire pressure deficiency;To vehicle GPS signal weak, occur spin variation fault, ABS fault, TCU fault, CAN, or ethernet communication fault etc., vehicle motion closed-loop control speed demand has good robustness under the condition, so that vehicle will not cause vehicle closed-loop control no available vehicle speed due to one of the faults.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method and system for calculating vehicle speed arbitration in a power domain controller. Background Technology

[0002] Currently, the vehicle speed used in vehicle control and instrument display only comes from one or two sources: ABS speed, drive motor speed (calculated as vehicle speed), and transmission input / output shaft speed. When the motor, transmission, or ABS fails, there is no effective usable vehicle speed; when the vehicle is shifting gears, in neutral, experiencing tire slippage, or locking up, there is no effective usable vehicle speed.

[0003] Existing methods calculate vehicle speed based on wheel end speed and tire rolling radius. When the vehicle load changes, the tire pressure changes, or the tire wear is severe, the rolling radius will change, thus reducing the accuracy of vehicle speed calculation.

[0004] In view of the current status of vehicle speed calculation and arbitration, a vehicle speed arbitration calculation method and system for a power domain controller is proposed. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a vehicle speed arbitration calculation method and system for a power domain controller, which solves the problems of limited vehicle speed sources, weak robustness, and low accuracy in existing systems.

[0006] To achieve the above-mentioned technical objectives, the first aspect of the technical solution of the present invention provides a method for calculating vehicle speed arbitration of a power domain controller, which includes the following steps:

[0007] Based on the vehicle speed accuracy, the vehicle speed acquisition modules are prioritized for speed calculation; and corresponding speed correction coefficients are set for each vehicle speed acquisition module.

[0008] The current virtual vehicle speed of the power domain controller is obtained through the positioning system;

[0009] When the vehicle skids or locks up, the vehicle speed is calculated by integrating the longitudinal acceleration from the acceleration sensor and used as the current actual vehicle speed of the power domain controller.

[0010] When the vehicle is in a shift or neutral state without slipping or locking up, the current virtual vehicle speed of the power domain controller is determined according to the vehicle speed segment threshold, and the current actual vehicle speed of the power domain controller is calculated by selecting the vehicle speed detected by the corresponding vehicle speed acquisition module and its corresponding correction coefficient.

[0011] When the vehicle is not slipping or locking up and is not in a shift or neutral state, the vehicle speed acquisition modules are checked sequentially according to the priority of vehicle speed accuracy until a normal vehicle speed acquisition module is detected. Then, the current actual vehicle speed of the power domain controller is calculated based on the vehicle speed detected by the normal vehicle speed acquisition module and its corresponding correction coefficient.

[0012] A second aspect of the present invention provides a vehicle speed arbitration calculation system for a power domain controller, which includes the following functional modules:

[0013] The preset module is used to prioritize the vehicle speed calculation of various vehicle speed acquisition modules based on the vehicle speed accuracy, and to set corresponding vehicle speed correction coefficients for each vehicle speed acquisition module.

[0014] The virtual vehicle speed acquisition module is used to obtain the current virtual vehicle speed of the power domain controller through the positioning system;

[0015] The slippage / lock speed calculation module is used to calculate the vehicle speed as the current actual vehicle speed of the power domain controller when the vehicle slips or locks up, by using the longitudinal acceleration integral of the acceleration sensor.

[0016] The shift / neutral vehicle speed calculation module is used to determine the current virtual vehicle speed segment of the power domain controller based on the vehicle speed segment threshold when the vehicle is in shift or neutral without slipping or locking up. It then selects the vehicle speed detected by the corresponding vehicle speed acquisition module and its corresponding correction coefficient to calculate the current actual vehicle speed of the power domain controller.

[0017] The vehicle speed calculation module is used to troubleshoot the vehicle speed acquisition modules in sequence according to the priority of vehicle speed accuracy when the vehicle is not slipping or locking up and the vehicle is not in a shifting or neutral state. Until a normal vehicle speed acquisition module is detected, the current actual vehicle speed of the power domain controller is calculated based on the vehicle speed detected by the normal vehicle speed acquisition module and its corresponding correction coefficient.

[0018] A third aspect of the present invention provides a server, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method for vehicle speed arbitration calculation of a power domain controller.

[0019] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for vehicle speed arbitration calculation of a power domain controller.

[0020] Compared with existing technologies, the vehicle speed arbitration calculation method and system of the power domain controller described in this invention prioritizes the vehicle speed calculation of various vehicle speed acquisition modules based on vehicle speed accuracy and sets corresponding vehicle speed correction coefficients for each module. Thus, when the vehicle experiences different driving conditions, it can obtain the virtual vehicle speed with the highest accuracy under the current driving condition based on the priority ranking, and correct the virtual vehicle speed using the vehicle speed correction coefficients to obtain the current actual vehicle speed of the power domain controller. This improves the accuracy of vehicle speed calculation when the vehicle is slipping, locking up, experiencing bumps, shifting gears, experiencing tire wear, or insufficient tire pressure. It also exhibits excellent robustness to vehicle speed requirements in situations such as weak GPS signals, resolver failures, ABS failures, TCU failures, CAN or Ethernet communication failures, ensuring that the vehicle's closed-loop control does not lack usable speed due to any one of these faults. Attached Figure Description

[0021] Figure 1 This is a flowchart of the vehicle speed arbitration calculation method for the power domain controller according to an embodiment of the present invention;

[0022] Figure 2 This is a flowchart of the steps of the vehicle speed arbitration calculation method for the power domain controller according to an embodiment of the present invention;

[0023] Figure 3 This is a block diagram of the vehicle speed arbitration calculation system of the power domain controller according to an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a method for calculating vehicle speed arbitration for a power domain controller, which includes the following steps:

[0026] S1. Prioritize the vehicle speed calculations of various vehicle speed acquisition modules based on vehicle speed accuracy, and set corresponding vehicle speed correction coefficients for each vehicle speed acquisition module.

[0027] The priority order of vehicle speed calculation for each of the vehicle speed acquisition modules is as follows:

[0028] Rotary transformer > Gearbox output shaft speed sensor > Gearbox input shaft speed sensor > ABS module.

[0029] The vehicle speed correction coefficients for each vehicle speed acquisition module are as follows:

[0030] Vehicle speed correction factor K1 for rotary transformer: K1 = GPS / Beidou positioning vehicle speed ÷ motor speed to calculate vehicle speed;

[0031] ABS speed correction factor K2: K2 = GPS / Beidou positioning speed ÷ ABS speed value;

[0032] Vehicle speed correction coefficient K3 for transmission output shaft sensor: K3 = GPS / Beidou positioning vehicle speed ÷ transmission output shaft speed to calculate vehicle speed value;

[0033] Vehicle speed correction coefficient K4 for the gearbox input shaft sensor: K4 = GPS / Beidou positioning vehicle speed ÷ gearbox input shaft speed to calculate vehicle speed value.

[0034] In the above calculation of vehicle speed correction coefficients, the acquisition period of the vehicle speed value detected by each vehicle speed acquisition module is longer than the acquisition period of the vehicle speed detection module in the subsequent calculation of the current actual vehicle speed of the power domain controller using the correction coefficients. For example, in the calculation of the vehicle speed correction coefficients of each vehicle speed acquisition module, the acquisition period of the vehicle speed value detected by each vehicle speed acquisition module is 1000ms / time, while the acquisition period of the vehicle speed detection module in the calculation of the current actual vehicle speed of the power domain controller using the correction coefficients is 10ms / time.

[0035] After the initial calculation of the vehicle speed correction coefficients for each vehicle speed acquisition module, the corresponding vehicle speed correction coefficients need to be calibrated and the error corrected every threshold time interval based on the vehicle speed currently detected by each vehicle speed acquisition module.

[0036] S2. Obtain the current virtual vehicle speed of the power domain controller through the positioning system.

[0037] Before obtaining the current virtual vehicle speed of the power domain controller through the positioning system, the vehicle speed is pre-determined by checking the ABS speed to determine whether the vehicle is in motion. The specific determination process is as follows:

[0038] Determine if the ABS speed is 0. If it is 0, then determine that the vehicle is currently in a prohibited state.

[0039] If the ABS speed is not 0, it is further determined whether the GPS / BeiDou positioning system signal is weak. If not, it is determined that the vehicle is in motion, and the current speed detected by the GPS / BeiDou positioning system is set as the current virtual speed of the power domain controller.

[0040] If the GPS / BeiDou positioning system signal is weak, the vehicle's satellite positioning information cannot be obtained, and the vehicle speed cannot be calculated based on the positioning system. In this case, it is necessary to further determine whether the rotary transformer is faulty. If so, the ABS vehicle speed is determined to be the current actual vehicle speed of the power domain controller, and the vehicle is stopped due to the fault.

[0041] If the rotary transformer is not faulty, the motor speed is calculated as the vehicle speed, which is the current actual vehicle speed of the power domain controller. At set intervals, the system will re-check whether the GPS / BeiDou positioning signal is weak.

[0042] S3. When the vehicle skids or locks up, the vehicle speed is calculated by integrating the longitudinal acceleration from the acceleration sensor as the current actual vehicle speed of the power domain controller.

[0043] After obtaining the current virtual vehicle speed from the power domain controller, the system further determines whether the vehicle is skidding or locking up. When the vehicle is skidding or locking up, the tires experience sliding friction with the ground, and the tire linear velocity is not equal to the vehicle speed. Therefore, any method of calculating vehicle speed using tire linear velocity is unusable. Thus, if the vehicle is skidding or locking up, the vehicle speed is calculated using the longitudinal acceleration integral from the accelerometer as the current actual vehicle speed of the power domain controller. The system then cycles through the determination of whether the vehicle is skidding or locking up at set intervals.

[0044] If the vehicle does not slip or lock up, then further determine whether the vehicle is in a shift or neutral state.

[0045] S4. When the vehicle is in a shift or neutral state without slipping or locking up, the current virtual vehicle speed of the power domain controller is determined according to the vehicle speed segment threshold, and the current actual vehicle speed of the power domain controller is calculated by selecting the vehicle speed detected by the corresponding vehicle speed acquisition module and its corresponding correction coefficient.

[0046] When the vehicle is in shift or neutral without slipping or locking up, the system further determines whether the current virtual vehicle speed of the power domain controller exceeds the vehicle speed segment threshold. Since the ABS speed calculation is less accurate than the speed calculated from motor speed at low speeds, it is not prioritized when the vehicle speed is less than 8 km / h. Therefore, in this embodiment, the vehicle speed segment threshold is set to 8 km / h. When the current virtual vehicle speed of the power domain controller is less than 8 km / h, the system further determines whether the TCU communication is abnormal or whether the transmission output shaft speed sensor is faulty. If so, the ABS speed is determined to be the current actual vehicle speed of the power domain controller, and a fault-based stop is initiated.

[0047] If the TCU communication is normal and the transmission output shaft speed sensor is not faulty, the current actual vehicle speed of the power domain controller is calculated based on the vehicle speed converted from the transmission output shaft speed and the vehicle speed correction coefficient K3 of the transmission output shaft sensor; and at every set time interval, the system will re-cycle to determine whether the vehicle is in shift or neutral.

[0048] When the current virtual vehicle speed of the power domain controller is greater than 8 km / h, it is further determined whether the ABS module is faulty. If the ABS module is not faulty, the current actual vehicle speed of the power domain controller is calculated based on the ABS vehicle speed and the ABS vehicle speed correction coefficient K2. If the ABS module is faulty, it is further determined whether the TCU communication is abnormal or whether the transmission output shaft speed sensor is faulty. If so, the ABS vehicle speed is determined to be the current actual vehicle speed of the power domain controller, and a fault stop is initiated.

[0049] If the TCU communication is normal and the transmission output shaft speed sensor is not faulty, the current actual vehicle speed of the power domain controller is calculated based on the vehicle speed converted from the transmission output shaft speed and the vehicle speed correction coefficient K3 of the transmission output shaft sensor; and at every set time interval, the system will re-cycle to determine whether the vehicle is in shift or neutral.

[0050] S5. When the vehicle is not slipping or locking up and is not in a shift or neutral state, the vehicle speed acquisition modules are checked sequentially according to the priority of vehicle speed accuracy until a normal vehicle speed acquisition module is detected. Then, the current actual vehicle speed of the power domain controller is calculated based on the vehicle speed detected by the normal vehicle speed acquisition module and its corresponding correction coefficient.

[0051] When the vehicle does not slip or lock up and is not in shift or neutral, the system further checks whether the rotary transformer is faulty. If the rotary transformer is not faulty, the system calculates the current actual vehicle speed of the power domain controller based on the vehicle speed converted from the motor speed and the vehicle speed correction coefficient K1 of the rotary transformer. The system then checks whether the ABS vehicle speed is 0 every set time interval.

[0052] If the rotary transformer fails, the system will further determine whether the TCU communication is abnormal or whether the transmission output shaft speed sensor is faulty. If the TCU communication is normal and the transmission output shaft speed sensor is not faulty, the system will calculate the current actual vehicle speed of the power domain controller based on the vehicle speed converted from the transmission output shaft speed and the vehicle speed correction coefficient K3 of the transmission output shaft sensor. The system will then re-cycle and determine whether the ABS vehicle speed is 0 at set intervals.

[0053] If the TCU communication is abnormal or the transmission output shaft speed sensor malfunctions, further checks are made to determine if the TCU communication is abnormal or if the transmission input shaft speed sensor is malfunctioning. If the TCU communication is normal and the transmission input shaft speed sensor is not malfunctioning, the current actual vehicle speed of the power domain controller is calculated based on the vehicle speed converted from the transmission input shaft speed and the vehicle speed correction coefficient K4 of the transmission input shaft sensor. At each set time interval, the system re-cycles and checks whether the ABS vehicle speed is 0.

[0054] If the TCU communication is abnormal or the transmission input shaft speed sensor malfunctions, the system will further determine whether the ABS module is faulty. If the ABS module is not faulty, the current actual vehicle speed of the power domain controller will be calculated based on the ABS vehicle speed and the ABS vehicle speed correction coefficient K2. The system will then cycle through the system every set time interval to determine whether the ABS vehicle speed is 0.

[0055] If the ABS module malfunctions, a shutdown procedure will be initiated.

[0056] This invention prioritizes vehicle speed calculations based on speed accuracy across various vehicle speed acquisition modules and sets corresponding speed correction coefficients for each module. This allows the system to determine the most accurate virtual speed for different vehicle conditions based on priority, and then corrects the virtual speed using the correction coefficients to obtain the actual speed of the power domain controller. This improves the accuracy of speed calculations when the vehicle is slipping, locking up, experiencing bumps, shifting gears, experiencing tire wear, or low tire pressure. Furthermore, it demonstrates robustness in handling vehicle speed requirements for closed-loop motion control (different levels of intelligent driving assistance, autonomous driving, cruise control, energy consumption calculation, and range estimation) under conditions such as weak GPS signals, inverter malfunctions, ABS failures, TCU failures, CAN failures, or Ethernet communication failures, ensuring that the vehicle's closed-loop control does not lack available speeds due to any single malfunction.

[0057] like Figure 3 As shown in the figure, this invention also discloses a vehicle speed arbitration calculation system for a power domain controller, which includes the following functional modules:

[0058] The preset module 10 is used to prioritize the vehicle speed calculation of various vehicle speed acquisition modules based on the vehicle speed accuracy, and to set corresponding vehicle speed correction coefficients for each vehicle speed acquisition module.

[0059] The virtual vehicle speed acquisition module 20 is used to acquire the current virtual vehicle speed of the power domain controller through the positioning system;

[0060] The slippage / lock speed calculation module 30 is used to calculate the vehicle speed as the current actual vehicle speed of the power domain controller by using the longitudinal acceleration integral of the acceleration sensor when the vehicle slips or locks.

[0061] The shift / neutral vehicle speed calculation module 40 is used to determine the current virtual vehicle speed segment of the power domain controller based on the vehicle speed segment threshold when the vehicle is in shift or neutral without slipping or locking up, and to calculate the current actual vehicle speed of the power domain controller by selecting the vehicle speed detected by the corresponding vehicle speed acquisition module and its corresponding correction coefficient.

[0062] The vehicle speed calculation module 50 is used to troubleshoot the vehicle speed acquisition modules in sequence according to the speed accuracy priority when the vehicle is not slipping or locking up and the vehicle is not in a shifting or neutral state, until a normal vehicle speed acquisition module is detected. Then, based on the vehicle speed detected by the normal vehicle speed acquisition module and its corresponding correction coefficient, the current actual vehicle speed of the power domain controller is calculated.

[0063] The execution method of the vehicle speed arbitration calculation system of the power domain controller in this embodiment is basically the same as the vehicle speed arbitration calculation method of the power domain controller described above, so it will not be described in detail.

[0064] In this embodiment, the server is a device that provides computing services, typically referring to a computer with high computing power that is provided to multiple consumers via a network. The server in this embodiment includes a memory, a processor, and a system bus. The memory includes executable programs stored thereon. Those skilled in the art will understand that the terminal device structure of this embodiment does not constitute a limitation on the terminal device and may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0065] The memory can be used to store software programs and modules. The processor executes various terminal functions and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for at least one function (such as sound playback, image playback, etc.), etc.; the data storage area can store data created according to the use of the terminal (such as audio data, phonebook, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0066] An executable program containing a vehicle speed arbitration calculation method for a power domain controller is stored in memory. This executable program can be divided into one or more modules / units, which are stored in the memory and executed by a processor to complete the information acquisition and implementation process. Each module / unit can be a series of computer program instruction segments capable of performing a specific function, describing the execution process of the computer program on the server. For example, the computer program can be divided into a preset module 10, a virtual vehicle speed acquisition module 20, a slip / lock vehicle speed calculation module 30, a shift / neutral vehicle speed calculation module 40, and a driving vehicle speed calculation module 50.

[0067] The processor is the control center of the server, connecting various parts of the terminal device through various interfaces and lines. It performs various terminal functions and processes data by running or executing software programs and / or modules stored in memory, and by calling data stored in memory, thereby providing overall monitoring of the terminal. Optionally, the processor may include one or more processing units; preferably, the processor may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, applications, etc., and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor.

[0068] The system bus connects various functional components within a computer, transmitting data, address, and control information. Types of system buses include PCI, ISA, and VESA. Processor instructions are transmitted to memory via the bus, and memory sends data back to the processor. The system bus handles the data and instruction exchange between the processor and memory. Of course, the system bus can also connect to other devices, such as network interfaces and display devices.

[0069] The server should include at least a CPU, chipset, memory, and disk system; other components will not be described in detail here.

[0070] In this embodiment of the invention, the executable program executed by the processor included in the terminal is specifically: a vehicle speed arbitration calculation method for a power domain controller, which includes the following steps:

[0071] Based on the vehicle speed accuracy, the vehicle speed acquisition modules are prioritized for speed calculation; and corresponding speed correction coefficients are set for each vehicle speed acquisition module.

[0072] The current virtual vehicle speed of the power domain controller is obtained through the positioning system;

[0073] When the vehicle skids or locks up, the vehicle speed is calculated by integrating the longitudinal acceleration from the acceleration sensor and used as the current actual vehicle speed of the power domain controller.

[0074] When the vehicle is in a shift or neutral state without slipping or locking up, the current virtual vehicle speed of the power domain controller is determined according to the vehicle speed segment threshold, and the current actual vehicle speed of the power domain controller is calculated by selecting the vehicle speed detected by the corresponding vehicle speed acquisition module and its corresponding correction coefficient.

[0075] When the vehicle is not slipping or locking up and is not in a shift or neutral state, the vehicle speed acquisition modules are checked sequentially according to the priority of vehicle speed accuracy until a normal vehicle speed acquisition module is detected. Then, the current actual vehicle speed of the power domain controller is calculated based on the vehicle speed detected by the normal vehicle speed acquisition module and its corresponding correction coefficient.

[0076] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0077] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0078] Those skilled in the art will recognize that the modules, units, and / or method steps of the various embodiments described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0079] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating vehicle speed arbitration in a power domain controller, characterized in that, Includes the following steps: Based on the vehicle speed accuracy, the vehicle speed acquisition modules are prioritized for speed calculation; and corresponding speed correction coefficients are set for each vehicle speed acquisition module. The current virtual vehicle speed of the power domain controller is obtained through the positioning system; When the vehicle skids or locks up, the vehicle speed is calculated by integrating the longitudinal acceleration from the acceleration sensor and used as the current actual vehicle speed of the power domain controller. When the vehicle is in a shift or neutral state without slipping or locking up, the current virtual vehicle speed of the power domain controller is determined according to the vehicle speed segment threshold, and the current actual vehicle speed of the power domain controller is calculated by selecting the vehicle speed detected by the corresponding vehicle speed acquisition module and its corresponding correction coefficient. When the vehicle is not slipping or locking up and is not in a shift or neutral state, the vehicle speed acquisition modules are checked sequentially according to the priority of vehicle speed accuracy until a normal vehicle speed acquisition module is detected. Then, the current actual vehicle speed of the power domain controller is calculated based on the vehicle speed detected by the normal vehicle speed acquisition module and its corresponding correction coefficient.

2. The vehicle speed arbitration calculation method for the power domain controller according to claim 1, characterized in that, The priority order of vehicle speed calculation for each vehicle speed acquisition module is as follows: Rotary transformer > Gearbox output shaft speed sensor > Gearbox input shaft speed sensor > ABS module.

3. The vehicle speed arbitration calculation method for the power domain controller according to claim 2, characterized in that, The vehicle speed correction coefficients for each vehicle speed acquisition module are as follows: Vehicle speed correction factor K1 for rotary transformer: K1 = GPS / Beidou positioning vehicle speed ÷ motor speed to calculate vehicle speed; ABS speed correction factor K2: K2 = GPS / Beidou positioning speed ÷ ABS speed value; Vehicle speed correction coefficient K3 for transmission output shaft sensor: K3 = GPS / Beidou positioning vehicle speed ÷ transmission output shaft speed to calculate vehicle speed value; Vehicle speed correction coefficient K4 for the gearbox input shaft sensor: K4 = GPS / Beidou positioning vehicle speed ÷ gearbox input shaft speed to calculate vehicle speed value.

4. The vehicle speed arbitration calculation method for the power domain controller according to claim 1, characterized in that, Before obtaining the current virtual vehicle speed of the power domain controller through the positioning system, the vehicle speed is determined in advance by the ABS vehicle speed to determine whether the vehicle is in motion. When the vehicle is determined to be in motion, the current virtual vehicle speed of the power domain controller of the in motion vehicle is obtained through the positioning system.

5. The vehicle speed arbitration calculation method for the power domain controller according to claim 3, characterized in that, When the vehicle is not slipping or locking up but is in a shifting or neutral state, the current virtual vehicle speed of the power domain controller is determined according to the vehicle speed segment threshold, and the current actual vehicle speed of the power domain controller is calculated by selecting the vehicle speed detected by the corresponding vehicle speed acquisition module and its corresponding correction coefficient; specifically including: Set a threshold for vehicle speed segments; When the vehicle is in a shift or neutral state without slipping or locking up, the current virtual vehicle speed of the power domain controller is compared with the vehicle speed segment threshold. If the current virtual vehicle speed of the power domain controller is less than the vehicle speed segment threshold, the vehicle speed converted from the transmission output shaft speed is obtained. Based on the vehicle speed converted from the transmission output shaft speed and the vehicle speed correction coefficient K3 of the transmission output shaft sensor, the current actual vehicle speed of the power domain controller is calculated. If the current virtual vehicle speed of the power domain controller is greater than the vehicle speed segment threshold, the ABS vehicle speed is obtained, and the current actual vehicle speed of the power domain controller is calculated based on the ABS vehicle speed and its correction coefficient.

6. The vehicle speed arbitration calculation method for the power domain controller according to claim 3, characterized in that, When the vehicle is not slipping or locking up and is not in a shifting or neutral state, the vehicle speed acquisition modules are sequentially checked for faults according to the priority of vehicle speed accuracy until a normal vehicle speed acquisition module is detected. Then, based on the vehicle speed detected by the normal vehicle speed acquisition module and its corresponding correction coefficient, the current actual vehicle speed of the power domain controller is calculated; specifically including: When the vehicle is not slipping or locking up and is not in shifting or neutral, first determine whether the rotary transformer is faulty. If it is not faulty, calculate the current actual vehicle speed of the power domain controller based on the vehicle speed converted from the motor speed and the vehicle speed correction coefficient K1 of the rotary transformer. If the rotary transformer fails, further determine whether the TCU communication is abnormal or whether the gearbox output shaft speed sensor is faulty. If the TCU communication is normal and the gearbox output shaft speed sensor is not faulty, then calculate the current actual vehicle speed of the power domain controller based on the vehicle speed converted from the gearbox output shaft speed and the vehicle speed correction coefficient K3 of the gearbox output shaft sensor. If the TCU communication is abnormal or the transmission output shaft speed sensor is faulty, further determine whether the TCU communication is abnormal or the transmission input shaft speed sensor is faulty. If the TCU communication is normal and the transmission input shaft speed sensor is not faulty, calculate the current actual vehicle speed of the power domain controller based on the vehicle speed converted from the transmission input shaft speed and the vehicle speed correction coefficient K4 of the transmission input shaft sensor. If the TCU communication is abnormal or the transmission input shaft speed sensor malfunctions, the system will further determine whether the ABS module is faulty. If the ABS module is not faulty, the current actual vehicle speed of the power domain controller will be calculated based on the ABS vehicle speed and the ABS vehicle speed correction coefficient K2. If the ABS module is faulty, the vehicle will stop.

7. The vehicle speed arbitration calculation method for the power domain controller according to claim 3, characterized in that, After the initial calculation of the vehicle speed correction coefficients for each vehicle speed acquisition module, the corresponding vehicle speed correction coefficients need to be calibrated and the error corrected every threshold time interval based on the vehicle speed currently detected by each vehicle speed acquisition module.

8. A vehicle speed arbitration calculation system for a power domain controller, characterized in that, Includes the following functional modules: The preset module is used to prioritize the vehicle speed calculation of various vehicle speed acquisition modules based on the vehicle speed accuracy, and to set corresponding vehicle speed correction coefficients for each vehicle speed acquisition module. The virtual vehicle speed acquisition module is used to obtain the current virtual vehicle speed of the power domain controller through the positioning system; The slippage / lock speed calculation module is used to calculate the vehicle speed as the current actual vehicle speed of the power domain controller when the vehicle slips or locks up, by using the longitudinal acceleration integral of the acceleration sensor. The shift / neutral vehicle speed calculation module is used to determine the current virtual vehicle speed segment of the power domain controller based on the vehicle speed segment threshold when the vehicle is in shift or neutral without slipping or locking up. It then selects the vehicle speed detected by the corresponding vehicle speed acquisition module and its corresponding correction coefficient to calculate the current actual vehicle speed of the power domain controller. The vehicle speed calculation module is used to troubleshoot the vehicle speed acquisition modules in sequence according to the priority of vehicle speed accuracy when the vehicle is not slipping or locking up and the vehicle is not in a shifting or neutral state. Until a normal vehicle speed acquisition module is detected, the current actual vehicle speed of the power domain controller is calculated based on the vehicle speed detected by the normal vehicle speed acquisition module and its corresponding correction coefficient.

9. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the vehicle speed arbitration calculation method of the power domain controller as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle speed arbitration calculation method of the power domain controller as described in any one of claims 1 to 7.

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