Method, device, terminal equipment and storage medium for obtaining vector vehicle speed

Abstract

This application relates to the field of vehicle control technology and proposes a method, apparatus, terminal device, and storage medium for obtaining vehicle vector speed. The method includes: obtaining vehicle driving parameters; determining a vector speed calculation strategy based on the driving parameters; and calculating the vehicle vector speed based on the driving parameters according to the vector speed calculation strategy. This method utilizes the vehicle's driving parameters to select a vector speed calculation strategy and calculates the vehicle vector speed according to the selected vector speed calculation strategy, thereby reducing limitations in vehicle control.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, apparatus, terminal device, and storage medium for obtaining vector vehicle speed. Background Art

[0002] Currently, vehicles are often equipped with ESP (Electronic Stability Program) to obtain real-time vehicle speed. However, the speed provided by ESP lacks direction, i.e., it is a scalar speed. This speed is always positive when the vehicle is moving forward or backward, and therefore cannot directly reflect the vehicle's driving state. The vehicle controller has significant limitations when using this scalar speed for vehicle control, and typically requires use in conjunction with other signals reflecting vehicle status. Therefore, how to obtain the vehicle's vector speed (speed with direction) has become a problem that relevant technicians need to consider. Summary of the Invention

[0003] In view of this, embodiments of the present application provide a method, apparatus, terminal device, and storage medium for obtaining vector vehicle speed, which can obtain the vector vehicle speed of a vehicle and reduce the limitations of controlling the vehicle.

[0004] A first aspect of an embodiment of the present application provides a method for obtaining a vector vehicle speed, comprising:

[0005] Obtain vehicle driving parameters;

[0006] determining a vector vehicle speed calculation strategy based on the driving parameters;

[0007] According to the vector vehicle speed calculation strategy, the vector vehicle speed of the vehicle is calculated based on the driving parameters.

[0008] The embodiment of the present application first obtains the vehicle's driving parameters, then determines a corresponding vector speed calculation strategy based on the driving parameters, and finally calculates the vehicle's vector speed based on the driving parameters according to the vector speed calculation strategy. Thus, the embodiment of the present application can select a vector speed calculation strategy based on the vehicle's driving parameters and calculate the vehicle's vector speed according to the selected vector speed calculation strategy, thereby reducing the limitations of vehicle control.

[0009] In one implementation of the embodiment of the present application, the driving parameters include a motor speed signal of the vehicle and a first scalar vehicle speed provided by a vehicle body electronic stability system; and determining a vector vehicle speed calculation strategy based on the driving parameters may include:

[0010] If the first scalar vehicle speed is valid and the motor speed signal is valid, determining that the vector vehicle speed calculation strategy is the first strategy;

[0011] The step of calculating the vector speed of the vehicle based on the driving parameters according to the vector speed calculation strategy may include:

[0012] If the vector vehicle speed calculation strategy is the first strategy, then calculating the vehicle travel direction coefficient according to the motor speed signal;

[0013] The vector vehicle speed of the vehicle is obtained by multiplying the first scalar vehicle speed by the directional coefficient.

[0014] Furthermore, the calculating of the vehicle's driving direction coefficient according to the motor speed signal may include:

[0015] determining a drive motor for the vehicle according to configuration parameters of the vehicle;

[0016] If the motor speed signal of the drive motor at the current moment is greater than zero and the absolute value of the motor speed signal at the current moment is greater than a set threshold, then determining that the direction coefficient at the current moment is a positive number;

[0017] If the motor speed signal at the current moment is less than zero and the absolute value of the motor speed signal at the current moment is greater than the set threshold, determining that the direction coefficient at the current moment is a negative number;

[0018] If the absolute value of the motor speed signal at the current moment is less than or equal to the set threshold, it is determined that the direction coefficient at the current moment is equal to the direction coefficient at the previous moment.

[0019] Furthermore, determining the driving motor of the vehicle according to the configuration parameters of the vehicle may include:

[0020] Determining whether the vehicle is a front-wheel drive vehicle, a rear-wheel drive vehicle, or a four-wheel drive vehicle based on the configuration parameters;

[0021] If the vehicle is a front-wheel drive vehicle, determining that the drive motor of the vehicle is the front axle motor of the vehicle;

[0022] If the vehicle is a rear-wheel drive vehicle, determining that the driving motor of the vehicle is the rear axle motor of the vehicle;

[0023] If the vehicle is a four-wheel drive vehicle, it is determined that the driving motor of the vehicle is the front axle motor or the rear axle motor of the vehicle.

[0024] In one implementation of the embodiment of the present application, the driving parameters include a wheel speed signal, a wheel direction signal, and a first scalar vehicle speed provided by a vehicle electronic stability system; and determining a vector vehicle speed calculation strategy based on the driving parameters may include:

[0025] If the first scalar vehicle speed is invalid and the wheel speed signal is valid, determining that the vector vehicle speed calculation strategy is the second strategy;

[0026] The step of calculating the vector speed of the vehicle based on the driving parameters according to the vector speed calculation strategy may include:

[0027] If the vector vehicle speed calculation strategy is the second strategy, the vector vehicle speed of the vehicle is calculated based on the wheel speed signal and the wheel direction signal.

[0028] Furthermore, calculating the vector speed of the vehicle according to the wheel speed signal and the wheel direction signal may include:

[0029] If at least two of the four wheel speed signals of the vehicle are valid, corresponding at least two vector wheel speeds are calculated based on the at least two wheel speed signals and the wheel direction signals corresponding to the at least two wheel speed signals, and an average value of the at least two vector wheel speeds is determined as the vector vehicle speed of the vehicle.

[0030] In one implementation of the embodiment of the present application, the driving parameters include a wheel speed signal, a motor speed signal, an axle transmission ratio, a wheel rolling radius, and a first scalar vehicle speed provided by a vehicle body electronic stability system; determining a vector vehicle speed calculation strategy based on the driving parameters may include:

[0031] If the first scalar vehicle speed is invalid, the wheel speed signal is invalid, and the motor speed signal is valid, determining that the vector vehicle speed calculation strategy is a third strategy;

[0032] The step of calculating the vector speed of the vehicle based on the driving parameters according to the vector speed calculation strategy may include:

[0033] If the vector vehicle speed calculation strategy is the third strategy, then calculating the vehicle's driving direction coefficient according to the motor speed signal;

[0034] Calculating a second scalar vehicle speed according to the motor speed signal, the shaft transmission ratio, and the wheel rolling radius;

[0035] The direction coefficient is multiplied by the second scalar vehicle speed to obtain the vector vehicle speed of the vehicle.

[0036] A second aspect of an embodiment of the present application provides a device for obtaining a vector vehicle speed, including:

[0037] A driving parameter acquisition module, used to obtain the driving parameters of the vehicle;

[0038] A calculation strategy determination module, configured to determine a vector vehicle speed calculation strategy based on the driving parameters;

[0039] The vector vehicle speed calculation module is used to calculate the vector vehicle speed of the vehicle based on the driving parameters according to the vector vehicle speed calculation strategy.

[0040] A third aspect of an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for obtaining the vector vehicle speed as provided in the first aspect of an embodiment of the present application is implemented.

[0041] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method for obtaining vector vehicle speed as provided in the first aspect of the embodiment of the present application.

[0042] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device executes the method for obtaining vector vehicle speed provided in the first aspect of the embodiment of the present application.

[0043] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a flow chart of a method for obtaining vector vehicle speed provided by an embodiment of the present application;

[0045] Figure 2 1 is a schematic diagram of an operation flow of a method for obtaining a vector vehicle speed when the vehicle is configured as a front-wheel drive vehicle;

[0046] Figure 3 1 is a schematic diagram of an operation flow of a method for obtaining a vector vehicle speed when the vehicle is configured as a rear-wheel drive vehicle;

[0047] Figure 4 1 is a schematic diagram of an operation flow of a method for obtaining a vector vehicle speed when the vehicle is configured as a four-wheel drive vehicle;

[0048] Figure 5 This is a structural framework diagram of a device for obtaining vector vehicle speed provided in an embodiment of the present application;

[0049] Figure 6 This is a schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are provided to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details. In addition, in the description of the present application specification and the appended claims, the terms "first," "second," "third," etc. are only used to distinguish descriptions and are not to be understood as indicating or implying relative importance.

[0051] Electronic Stability Program (ESP) is a general term for systems or programs designed to improve vehicle handling while effectively preventing loss of control when the vehicle reaches its dynamic limits. Currently, vehicle controllers typically rely on the high-precision vehicle speed provided by the ESP to control the vehicle. However, this speed is typically a scalar value that fails to reflect the vehicle's driving state, significantly limiting vehicle control.

[0052] To address this issue, embodiments of the present application provide a method, apparatus, terminal device, and storage medium for obtaining vehicle vector speed, which can obtain the vehicle vector speed and reduce limitations in vehicle control. For more specific technical implementation details of the embodiments of the present application, please refer to the method embodiments described below.

[0053] It should be understood that the execution entities of the various method embodiments of the present application are various types of terminal devices or servers, such as mobile phones, tablet computers, wearable devices, vehicle controllers, vehicle-mounted terminals, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPCs), personal digital assistants (PDAs), etc. The embodiments of the present application do not impose any restrictions on the specific types of the terminal devices and servers.

[0054] See also Figure 1 , shows a method for obtaining vector vehicle speed provided by an embodiment of the present application, including:

[0055] 101. Obtaining vehicle driving parameters;

[0056] The embodiment of the present application is typically executed by a vehicle terminal or vehicle controller. First, the vehicle's driving parameters are acquired. These driving parameters may include, but are not limited to, the vehicle's motor speed signal, wheel speed signal, wheel direction signal, axle transmission ratio, wheel rolling radius, vehicle configuration, and scalar vehicle speed provided by the vehicle's electronic stability system.

[0057] 102. Determine the vector vehicle speed calculation strategy based on driving parameters;

[0058] After obtaining the vehicle's driving parameters, the currently applicable vector speed calculation strategy can be determined based on these parameters. Specifically, based on the obtained driving parameters, it is possible to determine which parameters are valid and which are invalid. Only valid parameters can be used to calculate the vector speed. Based on this principle, the corresponding vector speed calculation strategy can be determined. For example, vector speed calculation strategies corresponding to different valid parameters can be pre-set and stored. After obtaining the driving parameters, the corresponding vector speed calculation strategy can be selected based on the valid parameters.

[0059] 103. According to the vector speed calculation strategy, the vector speed of the vehicle is calculated based on the driving parameters.

[0060] After the vector vehicle speed calculation strategy is determined, the vector vehicle speed can be calculated according to the vector vehicle speed calculation strategy to obtain the vector vehicle speed based on the vehicle's driving parameters.

[0061] In one implementation of the embodiment of the present application, the driving parameters include a motor speed signal of the vehicle and a first scalar vehicle speed provided by the vehicle's body electronic stability system; determining the vector vehicle speed calculation strategy based on the driving parameters may include:

[0062] If the first scalar vehicle speed is valid and the motor speed signal is valid, the vector vehicle speed calculation strategy is determined to be the first strategy.

[0063] If the first scalar vehicle speed is valid and the vehicle's motor speed signal is valid, the vector vehicle speed can be calculated using the first scalar vehicle speed and the motor speed signal. In this embodiment of the application, the strategy of calculating the vector vehicle speed using the first scalar vehicle speed and the motor speed signal is referred to as the first strategy (strategy one). Among them, the vehicle's body electronic stability system can provide a high-precision scalar vehicle speed, which is recorded as the first scalar vehicle speed. The body electronic stability system can determine whether the detected scalar vehicle speed is valid and mark a fault state when the scalar vehicle speed is invalid. Therefore, whether the first scalar vehicle speed is valid can be determined based on the state provided by the body electronic stability system. In addition, the vehicle's motor can output a speed validity signal, and the validity of the motor speed signal can be determined based on the speed validity signal.

[0064] Accordingly, the method of calculating the vehicle's vector speed based on the driving parameters according to the vector speed calculation strategy may include:

[0065] (1) If the vector vehicle speed calculation strategy is the first strategy, the vehicle's direction coefficient is calculated based on the motor speed signal;

[0066] (2) Multiply the first scalar vehicle speed by the directional coefficient to obtain the vehicle's vector speed.

[0067] When the first vector speed calculation strategy is used, the vehicle's direction coefficient is first calculated based on the motor speed signal. The motor speed signal is positive and negative. When the vehicle is moving forward, the motor speed signal is positive, and when the vehicle is moving backward, the motor speed signal is negative. Therefore, the direction of the vehicle's travel can be determined based on the motor speed signal, thereby obtaining the corresponding direction coefficient. After obtaining the vehicle's direction coefficient, the direction coefficient is multiplied by the first scalar speed provided by the vehicle's electronic stability system to obtain the vehicle's vector speed. For example, assuming the direction coefficient is +1 and the first scalar speed is 50 km / h, the calculated vector speed is +50 km / h; assuming the direction coefficient is -1 and the first scalar speed is 5 km / h, the calculated vector speed is -5 km / h.

[0068] Furthermore, the calculation of the vehicle's driving direction coefficient based on the motor speed signal may include:

[0069] (1) Determine the vehicle's drive motor based on the vehicle's configuration parameters;

[0070] (2) If the motor speed signal of the driving motor at the current moment is greater than zero and the absolute value of the motor speed signal at the current moment is greater than a set threshold, then the direction coefficient at the current moment is determined to be a positive number;

[0071] (3) If the motor speed signal at the current moment is less than zero and the absolute value of the motor speed signal at the current moment is greater than the set threshold, it is determined that the direction coefficient at the current moment is a negative number;

[0072] (4) If the absolute value of the motor speed signal at the current moment is less than or equal to the set threshold, it is determined that the direction coefficient at the current moment is equal to the direction coefficient at the previous moment.

[0073] Different vehicles have different drive motors. For example, a front-wheel drive vehicle's drive motor is the front axle motor, while a rear-wheel drive vehicle's drive motor is the rear axle motor. After acquiring the corresponding drive motor's motor speed signal, the vehicle's direction of travel can be determined based on the magnitude and positive / negative coefficient of the motor speed signal. This is known as the corresponding direction coefficient. A positive direction coefficient indicates forward movement, while a negative direction coefficient indicates reverse movement. Specifically, assuming that the motor speed signal of the driving motor at the current moment is n, the threshold is set to m (the threshold can generally be obtained by calibration through pre-conducted experiments, for example, it can be 5 or 10). If n>0 and |n|>m, it can be determined that the direction coefficient at the current moment is a positive number, for example, it can be +1; if n<0 and |n|>m, it can be determined that the direction coefficient at the current moment is a negative number, for example, it can be -1; if |n|≤m, it means that the speed of the vehicle (forward or backward) at the current moment is very low. At this time, it is impossible to accurately judge the direction of the vehicle based on the motor speed signal at the current moment. The corresponding processing method can be to make the direction coefficient at the current moment equal to the direction coefficient at the previous moment, that is, the direction coefficient remains unchanged.

[0074] Furthermore, determining the driving motor of the vehicle according to the configuration parameters of the vehicle may include:

[0075] (1) Determine whether the vehicle is a front-wheel drive vehicle, a rear-wheel drive vehicle, or a four-wheel drive vehicle based on configuration parameters;

[0076] (2) If the vehicle is a front-wheel drive vehicle, the driving motor of the vehicle is determined to be the front axle motor of the vehicle;

[0077] (3) If the vehicle is a rear-wheel drive vehicle, the driving motor of the vehicle is determined to be the rear axle motor of the vehicle;

[0078] (4) If the vehicle is a four-wheel drive vehicle, determine whether the vehicle's drive motor is the vehicle's front axle motor or rear axle motor.

[0079] Based on the vehicle's alignment parameters, it can be determined whether the vehicle is a front-wheel drive vehicle, a rear-wheel drive vehicle, or a four-wheel drive vehicle. If the vehicle is a front-wheel drive vehicle, it means that the vehicle's drive motor is the front axle motor. When determining the vehicle's driving direction coefficient, the motor speed signal of the front axle motor is used, provided that the motor speed signal of the front axle motor is valid; if the vehicle is a rear-wheel drive vehicle, it means that the vehicle's drive motor is the rear axle motor. When determining the vehicle's driving direction coefficient, the motor speed signal of the rear axle motor is used, provided that the motor speed signal of the rear axle motor is valid; if the vehicle is a four-wheel drive vehicle, it means that the vehicle has both a front axle motor and a rear axle motor. When determining the vehicle's driving direction coefficient, either the motor speed signal of the front axle motor or the motor speed signal of the rear axle motor can be used. In this case, any valid motor speed signal can be selected from the two.

[0080] In another implementation of the embodiment of the present application, the driving parameters include a wheel speed signal, a wheel direction signal, and a first scalar vehicle speed provided by a vehicle electronic stability system; and determining a vector vehicle speed calculation strategy based on the driving parameters may include:

[0081] (1) If the first scalar vehicle speed is invalid and the wheel speed signal is valid, the vector vehicle speed calculation strategy is determined to be the second strategy.

[0082] In actual situations, the first scalar vehicle speed provided by the vehicle electronic stability system may not remain valid continuously. When the first scalar vehicle speed is invalid, the vehicle's vector speed cannot be calculated using the above-mentioned first strategy. At this time, the second strategy (Strategy 2) can be adopted to improve the stability and success rate of obtaining the vector vehicle speed.

[0083] Accordingly, the method of calculating the vehicle's vector speed based on the driving parameters according to the vector speed calculation strategy may include:

[0084] If the vector vehicle speed calculation strategy is the second strategy, the vehicle's vector vehicle speed is calculated based on the wheel speed signal and the wheel direction signal.

[0085] When the second vector speed calculation strategy is used, the vehicle's vector speed can be calculated using the wheel speed signals and corresponding wheel direction signals. For example, the wheel speed signals can be used to determine the vehicle's speed, which in turn determines the scalar speed. Combined with the wheel direction signals, the vehicle's directional coefficient can be determined, resulting in the vector speed.

[0086] Specifically, calculating the vehicle vector speed based on the wheel speed signal and the wheel direction signal may include:

[0087] If at least two of the four wheel speed signals of the vehicle are valid, then the corresponding at least two vector wheel speeds are calculated based on the at least two wheel speed signals and the wheel direction signals corresponding to the at least two wheel speed signals, and the average value of the at least two vector wheel speeds is determined as the vector vehicle speed of the vehicle.

[0088] A vehicle generally has four wheels, each corresponding to four wheel speed signals. The validity of each wheel speed signal can be determined based on the wheel speed validity signal. In an embodiment of the present application, if at least two of the four wheel speed signals are valid, the vehicle's vector speed can be calculated based on the valid wheel speed signals and the corresponding wheel direction signals. Conversely, if all four wheel speed signals are invalid, the vehicle's vector speed cannot be calculated using the wheel speed signals and wheel direction information, meaning that the second strategy fails. Alternatively, if only one of the four wheel speed signals is valid, the second strategy cannot be used to ensure calculation accuracy, as there is a large error in inferring the vehicle speed based solely on the wheel speed of a single wheel.

[0089] Specifically, if all four wheel speed signals are valid, the four wheel speed signals and the corresponding wheel direction signals can be used to calculate four vector wheel speeds, and then the average of the four vector wheel speeds is calculated as the vector speed of the vehicle; if three wheel speed signals are valid, the three wheel speed signals and the corresponding wheel direction signals can be used to calculate three vector wheel speeds, and then the average of the three vector wheel speeds is calculated as the vector speed of the vehicle; if two wheel speed signals are valid, the two wheel speed signals and the corresponding wheel direction signals can be used to calculate two vector wheel speeds, and then the average of the two vector wheel speeds is calculated as the vector speed of the vehicle.

[0090] In another implementation of the embodiment of the present application, the driving parameters include a wheel speed signal, a motor speed signal, an axle transmission ratio, a wheel rolling radius, and a first scalar vehicle speed provided by a vehicle electronic stability system; determining a vector vehicle speed calculation strategy based on the driving parameters may include:

[0091] If the first scalar vehicle speed is invalid, the wheel speed signal is invalid, and the motor speed signal is valid, the vector vehicle speed calculation strategy is determined to be the third strategy.

[0092] If the first scalar vehicle speed is invalid (the first strategy fails), the vehicle's wheel speed signal is invalid (all four wheel speed signals are invalid or three wheel speed signals are invalid, the second strategy fails) and the motor speed signal is valid, then the embodiment of the present application can also adopt the following third strategy to calculate the vector vehicle speed, thereby further improving the stability and success rate of obtaining the vector vehicle speed.

[0093] Accordingly, the method of calculating the vehicle's vector speed based on the driving parameters according to the vector speed calculation strategy may include:

[0094] (1) If the vector vehicle speed calculation strategy is the third strategy, the vehicle's direction coefficient is calculated based on the motor speed signal;

[0095] (2) calculating a second scalar vehicle speed based on the motor speed signal, the shaft transmission ratio, and the wheel rolling radius;

[0096] (3) Multiply the second scalar vehicle speed by the direction coefficient to obtain the vehicle vector speed.

[0097] The prerequisite for the implementation of the third strategy is that the motor speed signal of the vehicle is valid. For example, for a front-wheel drive vehicle, the motor speed signal of the front axle motor is required to be valid, for a rear-wheel drive vehicle, the motor speed signal of the rear axle motor is required to be valid, and for a four-wheel drive vehicle, at least one of the motor speed signal of the front axle motor and the motor speed signal of the rear axle motor is required to be valid. Based on the valid motor speed signal, the direction coefficient of the vehicle's travel can be calculated. For example, a front-wheel drive vehicle can calculate the direction coefficient based on the motor speed signal of the front axle motor, a rear-wheel drive vehicle can calculate the direction coefficient based on the motor speed signal of the rear axle motor, and a four-wheel drive vehicle can calculate the direction coefficient based on the motor speed signal of the front axle motor or the motor speed signal of the rear axle motor. The specific calculation method can refer to the relevant description of calculating the direction coefficient in the first strategy above.

[0098] After calculating the directional coefficient, the scalar vehicle speed (first scalar speed) provided by the electronic stability system is invalid, so another method is needed to calculate the scalar vehicle speed. Specifically, the scalar vehicle speed can be calculated based on the motor speed signal, the vehicle's axle transmission ratio, and the vehicle's wheel rolling radius. This scalar vehicle speed, referred to here as the second scalar vehicle speed, can be calculated. Finally, the directional coefficient is multiplied by the second scalar vehicle speed to obtain the vehicle's vector speed.

[0099] Furthermore, calculating the second scalar vehicle speed according to the motor speed signal, the axle transmission ratio of the vehicle, and the wheel rolling radius of the vehicle may include:

[0100] (1) The absolute value of the motor speed signal is multiplied by the shaft transmission ratio to obtain the vehicle shaft speed;

[0101] (2) The second scalar vehicle speed is calculated based on the wheel rolling radius and the shaft speed.

[0102] The vehicle's shaft speed is obtained by multiplying the absolute value of the motor speed signal by the shaft transmission ratio. Since shaft speed is an angular velocity, multiplying it by the wheel's rolling radius yields the wheel's linear velocity, which is used as the second scalar vehicle speed. In actual calculations, unit conversions must be considered. A conversion factor can be calculated based on the wheel's rolling radius and unit conversion requirements. The shaft speed is then multiplied by this conversion factor to obtain the second scalar vehicle speed. Specifically, if the vehicle is configured as a front-wheel drive vehicle, the absolute value of the motor speed signal of the front axle motor is multiplied by the front axle transmission ratio to obtain the front axle speed, and then the second scalar vehicle speed is calculated based on the wheel rolling radius and the front axle speed; if the vehicle is configured as a rear-wheel drive vehicle, the absolute value of the motor speed signal of the rear axle motor is multiplied by the rear axle transmission ratio to obtain the rear axle speed, and then the second scalar vehicle speed is calculated based on the wheel rolling radius and the rear axle speed; if the vehicle is configured as a four-wheel drive vehicle and the motor speed signal of the front axle motor is valid, the absolute value of the motor speed signal of the front axle motor can be multiplied by the front axle transmission ratio to obtain the front axle speed, and then the second scalar vehicle speed is calculated based on the wheel rolling radius and the rear axle speed; if the vehicle is configured as a four-wheel drive vehicle and the motor speed signal of the rear axle motor is valid, the absolute value of the motor speed signal of the rear axle motor can be multiplied by the rear axle transmission ratio to obtain the rear axle speed, and then the second scalar vehicle speed is calculated based on the wheel rolling radius and the rear axle speed.

[0103] Furthermore, if the first and second strategies fail, and the vehicle's motor speed signal is also invalid, the third strategy also fails. In this case, the vehicle's vector speed cannot be acquired. A vector speed validity signal can be set and disabled to indicate that a valid vector speed cannot be acquired. Conversely, if at least one of the first, second, or third strategies is valid, the vehicle's vector speed can be acquired. In this case, the vector speed validity signal is enabled to indicate that a valid vector speed can be acquired.

[0104] like Figure 2The figure shows a schematic diagram of the operational flow of a method for obtaining vehicle vector speed when the vehicle is configured as a front-wheel drive vehicle. First, the ESP scalar vehicle speed is detected to see if it is valid. If so, strategy one can be used to calculate the vehicle vector speed by fusing the motor speed signal of the front axle motor with the ESP scalar vehicle speed. In this case, the vehicle vector speed signal is valid. If the ESP scalar vehicle speed is invalid, then the test is performed to see if at least two wheel speed signals are valid. If so, strategy two can be used to calculate the vehicle vector speed by fusing the wheel speed signals with the wheel direction signals. In this case, the vehicle vector speed signal is valid. If the ESP scalar vehicle speed is invalid, only one wheel speed signal is valid, or all wheel speed signals are invalid, and the motor speed signal of the front axle motor is valid, strategy three can be used to calculate the vehicle vector speed by fusing the motor speed signal of the front axle motor, the front axle gear ratio, and the wheel rolling radius. In this case, the vehicle vector speed signal is valid. If the ESP scalar vehicle speed is invalid, only one wheel speed signal is valid, or all wheel speed signals are invalid, and the motor speed signal of the front axle motor is invalid, the vehicle vector speed cannot be obtained. In this case, the vehicle vector speed signal is invalid.

[0105] like Figure 3 The figure shows a schematic diagram of the operational flow of a method for obtaining vehicle vector speed when the vehicle is configured as a rear-wheel drive vehicle. First, the ESP scalar vehicle speed is detected to see if it is valid. If so, strategy one can be used, i.e., the vehicle vector speed is calculated by fusing the motor speed signal of the rear axle motor with the ESP scalar vehicle speed. In this case, the vehicle vector speed signal is valid. If the ESP scalar vehicle speed is invalid, then the determination is made as to whether at least two wheel speed signals are valid. If so, strategy two can be used, i.e., the vehicle vector speed is calculated by fusing the wheel speed signals and wheel direction signals. In this case, the vehicle vector speed signal is valid. If the ESP scalar vehicle speed is invalid, only one wheel speed signal is valid, or all wheel speed signals are invalid, and the motor speed signal of the rear axle motor is valid, strategy three can be used, i.e., the vehicle vector speed is calculated by fusing the motor speed signal of the rear axle motor, the rear axle gear ratio, and the wheel rolling radius. In this case, the vehicle vector speed signal is valid. If the ESP scalar vehicle speed is invalid, only one wheel speed signal is valid, or all wheel speed signals are invalid, and the motor speed signal of the rear axle motor is invalid, the vehicle vector speed cannot be obtained. In this case, the vehicle vector speed signal is invalid.

[0106] like Figure 4The figure shows the operation flow of the method for obtaining the vector vehicle speed when the vehicle is configured as a four-wheel drive vehicle. First, detect whether the ESP scalar vehicle speed is valid. If it is valid, strategy one can be adopted, that is, the vector vehicle speed is calculated based on the motor speed signal of the front axle motor or the motor speed signal of the rear axle motor and the ESP scalar vehicle speed. At this time, the vector vehicle speed signal is valid; if the ESP scalar vehicle speed is invalid, detect whether at least two wheel speed signals are valid. If so, strategy two can be adopted, that is, the vector vehicle speed is calculated based on the fusion of the wheel speed signal and the wheel direction signal. At this time, the vector vehicle speed signal is valid; if the ESP scalar vehicle speed is invalid, only one wheel speed signal is valid or all wheel speed signals are invalid, and the front axle motor is invalid, then the ESP scalar vehicle speed is invalid. If the motor speed signal of the front axle motor or the motor speed signal of the rear axle motor is valid, strategy three can be adopted, that is, the vector vehicle speed is calculated based on the motor speed signal of the front axle motor, the front axle drive ratio and the wheel rolling radius, or the vector vehicle speed is calculated based on the motor speed signal of the rear axle motor, the rear axle drive ratio and the wheel rolling radius. At this time, the vector vehicle speed signal is valid; if the ESP scalar vehicle speed is invalid, only one wheel speed signal is valid or all wheel speed signals are invalid, and the motor speed signals of the front axle motor and the rear axle motor are invalid, the vector vehicle speed cannot be obtained, and the vector vehicle speed signal is invalid.

[0107] In summary, the embodiments of the present application provide three vector vehicle speed calculation strategies, which can effectively improve the stability and success rate of obtaining vector vehicle speed, thereby reducing the limitations of vehicle control and improving the stability of the vehicle control system.

[0108] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0109] The above mainly describes a method for obtaining a vector vehicle speed. The following will describe a device for obtaining a vector vehicle speed.

[0110] See also Figure 5 In an embodiment of the present application, an apparatus for obtaining a vector vehicle speed includes:

[0111] A driving parameter acquisition module 501 is used to acquire the driving parameters of the vehicle;

[0112] A calculation strategy determination module 502 is used to determine a vector vehicle speed calculation strategy based on the driving parameters;

[0113] The vector vehicle speed calculation module 503 is configured to calculate the vector vehicle speed of the vehicle based on the driving parameters according to the vector vehicle speed calculation strategy.

[0114] In one implementation of the embodiment of the present application, the driving parameter includes a motor speed signal of the vehicle and a first scalar vehicle speed provided by a vehicle body electronic stability system; the calculation strategy determination module may include:

[0115] a first strategy determining unit, configured to determine that the vector vehicle speed calculation strategy is a first strategy if the first scalar vehicle speed is valid and the motor speed signal is valid;

[0116] The vector vehicle speed calculation module may include:

[0117] a first directional coefficient calculation unit, configured to calculate a directional coefficient of the vehicle according to the motor speed signal if the vector vehicle speed calculation strategy is the first strategy;

[0118] The first vector vehicle speed calculation unit is configured to obtain the vector vehicle speed of the vehicle by multiplying the first scalar vehicle speed by the direction coefficient.

[0119] Furthermore, the first directional coefficient calculation unit may include:

[0120] a drive motor determination subunit, configured to determine a drive motor for the vehicle according to configuration parameters of the vehicle;

[0121] a first direction coefficient determining subunit, configured to determine that the direction coefficient at the current moment is a positive number if the motor speed signal of the drive motor at the current moment is greater than zero and the absolute value of the motor speed signal at the current moment is greater than a set threshold;

[0122] a second direction coefficient determining subunit, configured to determine that the direction coefficient at the current moment is a negative number if the motor speed signal at the current moment is less than zero and the absolute value of the motor speed signal at the current moment is greater than the set threshold;

[0123] The third direction coefficient determination subunit is configured to determine that the direction coefficient at the current moment is equal to the direction coefficient at the previous moment if the absolute value of the motor speed signal at the current moment is less than or equal to the set threshold.

[0124] Furthermore, the drive motor determination subunit may include:

[0125] a vehicle configuration determination subunit, configured to determine whether the vehicle is a front-wheel drive vehicle, a rear-wheel drive vehicle, or a four-wheel drive vehicle based on the configuration parameters;

[0126] a first drive motor determination subunit, configured to determine that the drive motor of the vehicle is a front axle motor of the vehicle if the vehicle is a front-wheel drive vehicle;

[0127] a second drive motor determination subunit, configured to determine that the drive motor of the vehicle is a rear axle motor of the vehicle if the vehicle is a rear-wheel drive vehicle;

[0128] The third drive motor determination subunit is configured to determine, if the vehicle is a four-wheel drive vehicle, whether the drive motor of the vehicle is the front axle motor or the rear axle motor of the vehicle.

[0129] In one implementation of the embodiment of the present application, the driving parameters include a wheel speed signal, a wheel direction signal, and a first scalar vehicle speed provided by a vehicle electronic stability system; and the calculation strategy determination module may include:

[0130] a second strategy determining unit, configured to determine that the vector vehicle speed calculation strategy is a second strategy if the first scalar vehicle speed is invalid and the wheel speed signal is valid;

[0131] The vector vehicle speed calculation module may include:

[0132] The second vector vehicle speed calculation unit is configured to calculate the vector vehicle speed of the vehicle according to the wheel speed signal and the wheel direction signal if the vector vehicle speed calculation strategy is the second strategy.

[0133] Furthermore, the second vector vehicle speed calculation unit may include:

[0134] The vector vehicle speed calculation subunit is configured to, if at least two of the four wheel speed signals of the vehicle are valid, calculate corresponding at least two vector wheel speeds based on the at least two wheel speed signals and the wheel direction signals corresponding to the at least two wheel speed signals, and determine an average value of the at least two vector wheel speeds as the vector vehicle speed of the vehicle.

[0135] In one implementation of the embodiment of the present application, the driving parameters include a wheel speed signal of the vehicle, a motor speed signal, an axle transmission ratio, a wheel rolling radius, and a first scalar vehicle speed provided by a vehicle body electronic stability system; the calculation strategy determination module may include:

[0136] a third strategy determining unit, configured to determine that the vector vehicle speed calculation strategy is a third strategy if the first scalar vehicle speed is invalid, the wheel speed signal is invalid, and the motor speed signal is valid;

[0137] The vector vehicle speed calculation module may include:

[0138] a second directional coefficient calculation unit, configured to calculate a directional coefficient of the vehicle according to the motor speed signal if the vector vehicle speed calculation strategy is the third strategy;

[0139] a scalar vehicle speed calculation unit, configured to calculate a second scalar vehicle speed according to the motor speed signal, the shaft transmission ratio, and the wheel rolling radius;

[0140] The third vector vehicle speed calculation unit is configured to obtain the vector vehicle speed of the vehicle by multiplying the second scalar vehicle speed by the direction coefficient.

[0141] An embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for obtaining the vector vehicle speed as described in any of the above embodiments is implemented.

[0142] An embodiment of the present application also provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the method for obtaining the vector vehicle speed as described in any of the above embodiments.

[0143] Figure 6 This is a schematic diagram of a terminal device provided by an embodiment of the present application. Figure 6 As shown, the terminal device 6 of this embodiment includes: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60. When the processor 60 executes the computer program 62, the steps in the above-mentioned embodiments of the method for obtaining the vector vehicle speed are implemented, for example Figure 1 Alternatively, when the processor 60 executes the computer program 62, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 5 Functions of modules 501 to 503 are shown.

[0144] The computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to implement the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 62 in the terminal device 6.

[0145] The processor 60 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0146] The memory 61 can be an internal storage unit of the terminal device 6, such as a hard disk or memory of the terminal device 6. The memory 61 can also be an external storage device of the terminal device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 6. Furthermore, the memory 61 can also include both an internal storage unit of the terminal device 6 and an external storage device. The memory 61 is used to store the computer program and other programs and data required by the terminal device. The memory 61 can also be used to temporarily store data that has been output or is about to be output.

[0147] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0148] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0149] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0150] Those skilled in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0151] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0152] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0153] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0154] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program, when executed by the processor, can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0155] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for obtaining vector vehicle speed, characterized in that: include: Obtain vehicle driving parameters; determining a vector vehicle speed calculation strategy based on the driving parameters; According to the vector vehicle speed calculation strategy, the vector vehicle speed of the vehicle is calculated based on the driving parameters; The driving parameters include a motor speed signal of the vehicle and a first scalar vehicle speed provided by a vehicle body electronic stability system; and determining a vector vehicle speed calculation strategy based on the driving parameters includes: If the first scalar vehicle speed is valid and the motor speed signal is valid, determining that the vector vehicle speed calculation strategy is the first strategy, and whether the first scalar vehicle speed is valid is determined according to a state provided by the vehicle body electronic stability system; The step of calculating the vector speed of the vehicle based on the driving parameters according to the vector speed calculation strategy includes: If the vector vehicle speed calculation strategy is the first strategy, then calculating the vehicle travel direction coefficient according to the motor speed signal; The vector vehicle speed of the vehicle is obtained by multiplying the first scalar vehicle speed by the directional coefficient.

2. The method according to claim 1, wherein The step of calculating the vehicle's driving direction coefficient based on the motor speed signal includes: determining a drive motor for the vehicle according to configuration parameters of the vehicle; If the motor speed signal of the drive motor at the current moment is greater than zero and the absolute value of the motor speed signal at the current moment is greater than a set threshold, then determining that the direction coefficient at the current moment is a positive number; If the motor speed signal at the current moment is less than zero and the absolute value of the motor speed signal at the current moment is greater than the set threshold, determining that the direction coefficient at the current moment is a negative number; If the absolute value of the motor speed signal at the current moment is less than or equal to the set threshold, it is determined that the direction coefficient at the current moment is equal to the direction coefficient at the previous moment.

3. The method according to claim 2, wherein The determining of the driving motor of the vehicle according to the configuration parameters of the vehicle includes: Determining whether the vehicle is a front-wheel drive vehicle, a rear-wheel drive vehicle, or a four-wheel drive vehicle based on the configuration parameters; If the vehicle is a front-wheel drive vehicle, determining that the drive motor of the vehicle is the front axle motor of the vehicle; If the vehicle is a rear-wheel drive vehicle, determining that the driving motor of the vehicle is the rear axle motor of the vehicle; If the vehicle is a four-wheel drive vehicle, it is determined that the driving motor of the vehicle is the front axle motor or the rear axle motor of the vehicle.

4. The method according to claim 1, wherein The driving parameters include a wheel speed signal, a wheel direction signal, and a first scalar vehicle speed provided by a vehicle body electronic stability system; and determining a vector vehicle speed calculation strategy based on the driving parameters includes: If the first scalar vehicle speed is invalid and the wheel speed signal is valid, determining that the vector vehicle speed calculation strategy is the second strategy; The step of calculating the vector speed of the vehicle based on the driving parameters according to the vector speed calculation strategy includes: If the vector vehicle speed calculation strategy is the second strategy, the vector vehicle speed of the vehicle is calculated based on the wheel speed signal and the wheel direction signal.

5. The method according to claim 4, wherein The calculating the vector speed of the vehicle according to the wheel speed signal and the wheel direction signal includes: If at least two of the four wheel speed signals of the vehicle are valid, corresponding at least two vector wheel speeds are calculated based on the at least two wheel speed signals and the wheel direction signals corresponding to the at least two wheel speed signals, and an average value of the at least two vector wheel speeds is determined as the vector vehicle speed of the vehicle.

6. The method according to claim 1, wherein The driving parameters include a wheel speed signal of the vehicle, a motor speed signal, an axle transmission ratio, a wheel rolling radius, and a first scalar vehicle speed provided by a vehicle body electronic stability system; determining a vector vehicle speed calculation strategy based on the driving parameters includes: If the first scalar vehicle speed is invalid, the wheel speed signal is invalid, and the motor speed signal is valid, determining that the vector vehicle speed calculation strategy is a third strategy; The step of calculating the vector speed of the vehicle based on the driving parameters according to the vector speed calculation strategy includes: If the vector vehicle speed calculation strategy is the third strategy, then calculating the vehicle's driving direction coefficient according to the motor speed signal; Calculating a second scalar vehicle speed according to the motor speed signal, the shaft transmission ratio, and the wheel rolling radius; The direction coefficient is multiplied by the second scalar vehicle speed to obtain the vector vehicle speed of the vehicle.

7. A device for obtaining vector vehicle speed, characterized in that: include: A driving parameter acquisition module, used to obtain the driving parameters of the vehicle; A calculation strategy determination module, configured to determine a vector vehicle speed calculation strategy based on the driving parameters; a vector vehicle speed calculation module, configured to calculate the vector vehicle speed of the vehicle based on the driving parameters in accordance with the vector vehicle speed calculation strategy; The driving parameters include a motor speed signal of the vehicle and a first scalar vehicle speed provided by a vehicle body electronic stability system; and the calculation strategy determination module includes: a first strategy determining unit, configured to determine that the vector vehicle speed calculation strategy is a first strategy if the first scalar vehicle speed is valid and the motor speed signal is valid, wherein whether the first scalar vehicle speed is valid is determined based on a state provided by the vehicle body electronic stability system; The vector vehicle speed calculation module includes: a first directional coefficient calculation unit, configured to calculate a directional coefficient of the vehicle according to the motor speed signal if the vector vehicle speed calculation strategy is the first strategy; The first vector vehicle speed calculation unit is configured to obtain the vector vehicle speed of the vehicle by multiplying the first scalar vehicle speed by the direction coefficient.

8. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for obtaining the vector vehicle speed according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for obtaining vehicle vector speed according to any one of claims 1 to 6 is implemented.

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