Method for determining rotational speed of vehicle output shaft, vehicle and storage medium

Abstract

The present invention discloses a method for determining the rotational speed of a vehicle output shaft, a vehicle, and a storage medium. The method for determining the rotational speed of the vehicle output shaft includes: obtaining a first pulse signal of the left rear wheel at multiple moments and a second pulse signal of the right rear wheel at multiple moments; determining a first rear wheel rotational speed and a second rear wheel rotational speed according to the multiple first pulse signals and the multiple second pulse signals; and determining the output shaft rotational speed according to the first rear wheel rotational speed and the second rear wheel rotational speed. The present invention solves the technical problem in the related art that an output shaft rotational speed sensor needs to be installed to determine the rotational speed of the transmission output shaft, so that when the sensor fails, the stability of the vehicle system is affected.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent driving, and in particular, to a method for determining the rotational speed of a vehicle output shaft, a vehicle, and a storage medium. Background Art

[0002] In the prior art, pure electric vehicles often adopt a single-gear direct drive method, which has the advantages of simplified configuration and simple control. With the increasing demand for long driving range and high motor efficiency in new energy vehicles, the application of multi-gear transmissions in electric vehicles has gradually received extensive attention. At the same time, due to the application of multi-gear transmissions, the control difficulty increases, and it is necessary to satisfy that the rotational speed difference between the input and output ends of the transmission is within a certain range during the gear shifting process to complete the gear shifting operation.

[0003] Therefore, usually, a vehicle needs to install a rotational speed sensor on the output shaft of the transmission to measure the rotational speed of the transmission shaft, which not only increases the cost but also increases the layout space. At the same time, since a new component, the rotational speed sensor, is added, the possibility of affecting the stability of the entire system due to sensor failure is also increased.

[0004] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of the present invention provide a method for determining the rotational speed of a vehicle output shaft, a vehicle, and a storage medium, so as to at least solve the technical problem in the related art that an output shaft rotational speed sensor needs to be installed to determine the rotational speed of the transmission output shaft, thereby affecting the stability of the vehicle system when the sensor fails.

[0006] According to one embodiment of the present invention, a method for determining the rotational speed of a vehicle output shaft is provided, including: obtaining first pulse signals of the left rear wheel at multiple moments and second pulse signals of the right rear wheel at multiple moments; determining a first rear wheel rotational speed and a second rear wheel rotational speed according to the multiple first pulse signals and the multiple second pulse signals; determining the output shaft rotational speed according to the first rear wheel rotational speed and the second rear wheel rotational speed.

[0007] Optionally, the method for determining the rotational speed of a vehicle output shaft further includes: calculating a first difference between the first pulse signal obtained at the first moment and the first pulse signal obtained at the second moment; calculating a second difference between the second pulse signal obtained at the first moment and the second pulse signal obtained at the second moment; determining the first rear wheel rotational speed according to the first difference, and determining the second rear wheel rotational speed according to the second difference.

[0008] Optionally, the method for determining the vehicle output shaft speed further includes: in response to the first difference being greater than or equal to the first preset value, determining the first target difference as the first difference; in response to the first difference being less than the first preset value, determining the first target difference as the sum of the first difference and the second preset value; in response to the second difference being greater than or equal to the first preset value, determining the second target difference as the second difference; in response to the second difference being less than the second preset value, determining the second target difference as the sum of the second difference and the second preset value; determining the first rear wheel speed according to the first target difference, and determining the second rear wheel speed according to the second target difference.

[0009] Optionally, the method for determining the vehicle output shaft speed further includes: performing filtering processing on the first target difference and the second target difference to obtain a third target difference and a fourth target difference; determining the first rear wheel speed according to the third target difference, and determining the second rear wheel speed according to the fourth target difference.

[0010] Optionally, the method for determining the vehicle output shaft speed further includes: obtaining a first average value of the pulse acceleration of the left rear wheel within a preset period and a second average value of the pulse acceleration of the right rear wheel within the preset period; determining a fifth target difference based on the first average value and the third target difference; determining a sixth target difference based on the second average value and the fourth target difference; determining the first rear wheel speed according to the fifth target difference, and determining the second rear wheel speed according to the sixth target difference.

[0011] Optionally, the method for determining the vehicle output shaft speed further includes: calculating the product of the fifth target difference and the first coefficient to obtain a first value; calculating the product of the number of pole pairs of the magnetic encoder and the preset period to obtain a second value; calculating the ratio of the first value and the second value to obtain the first rear wheel speed.

[0012] Optionally, the method for determining the vehicle output shaft speed further includes: calculating the product of the sixth target difference and the first coefficient to obtain a third value; calculating the ratio of the third value and the second value to obtain the second rear wheel speed.

[0013] Optionally, the method for determining the vehicle output shaft speed further includes: calculating a third average value of the first rear wheel speed and the second rear wheel speed; determining the output shaft speed based on the third average value.

[0014] According to one embodiment of the present invention, there is also provided a vehicle, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the method for determining the vehicle output shaft speed in any one of the above.

[0015] According to one embodiment of the present invention, a non-volatile storage medium is further provided. A computer program is stored in the non-volatile storage medium. Wherein, the computer program is configured to execute the method for determining the rotational speed of the vehicle output shaft in any one of the above when running.

[0016] In the embodiment of the present invention, by acquiring the first pulse signals of the left rear wheel at multiple moments and the second pulse signals of the right rear wheel at multiple moments, and determining the rotational speed of the first rear wheel and the rotational speed of the second rear wheel according to the multiple first pulse signals and the multiple second pulse signals, the purpose of determining the rotational speed of the output shaft according to the rotational speed of the first rear wheel and the rotational speed of the second rear wheel is achieved, thereby realizing the technical effect of improving the stability of the vehicle system, and further solving the technical problem in the related art that an output shaft rotational speed sensor needs to be installed to determine the rotational speed of the transmission output shaft, so that when the sensor fails, the stability of the vehicle system is affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0018] Figure 1 is a flowchart of the method for determining the rotational speed of the vehicle output shaft according to one embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of the vehicle system device according to one embodiment of the present invention;

[0020] Figure 3 is a schematic flow diagram of the method for determining the rotational speed of the vehicle output shaft according to one embodiment of the present invention;

[0021] Figure 4 is a structural block diagram of the device for determining the rotational speed of the vehicle output shaft according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0024] According to an embodiment of the present invention, an embodiment of a method for determining the rotational speed of a vehicle output shaft is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system including at least a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0025] This method embodiment can also be executed in an electronic device including a memory and a processor, a similar control device or a vehicle-mounted terminal. Taking the vehicle-mounted terminal as an example, the vehicle-mounted terminal can include one or more processors and a memory for storing data. Optionally, the above vehicle-mounted terminal can also include a communication device for communication functions and a display device. Those of ordinary skill in the art can understand that the above structural description is only illustrative and does not limit the structure of the above vehicle-mounted terminal. For example, the vehicle-mounted terminal can also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0026] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural-network processing unit (NPU), a tensor processing unit (TPU), an artificial intelligent (AI) type processor, and other processing devices. Among them, different processing units may be independent components or integrated in one or more processors. In some instances, the electronic device may also include one or more processors.

[0027] The memory can be used to store computer programs. For example, it stores the computer program corresponding to the determination of the vehicle output shaft speed in the embodiments of the present invention. The processor realizes the determination of the vehicle output shaft speed by running the computer program stored in the memory. The memory may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, a flash memory, or other non-volatile solid-state memories. In some instances, the memory may further include a memory remotely set relative to the processor, and these remote memories can be connected to the electronic device through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and their combinations.

[0028] The communication device is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by the communication provider of the mobile terminal. In one instance, the communication device includes a network interface controller (NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the communication device may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly. In some embodiments of this solution, the communication device is used to connect to mobile devices such as mobile phones and tablets, and can send instructions to the vehicle-mounted terminal through the mobile devices.

[0029] The display device can be a touch-screen liquid crystal display (LCD) and a touch display (also known as a "touch screen" or "touch display screen"). The liquid crystal display enables a user to interact with the user interface of the vehicle terminal. In some embodiments, the vehicle terminal has a graphical user interface (GUI), and the user can perform human-computer interaction with the GUI through finger contacts and / or gestures on the touch-sensitive surface. Here, the human-computer interaction function can include a vehicle gear shifting function, and the executable instructions for performing the above human-computer interaction function are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0030] Figure 1 is a flowchart of a method for determining the rotational speed of a vehicle output shaft according to an embodiment of the present invention, as Figure 1 shown, and the method includes the following steps:

[0031] Step S102, obtain a first pulse signal of the left rear wheel at multiple moments and a second pulse signal of the right rear wheel at multiple moments.

[0032] Optionally, as Figure 2 shown, the execution subject of this embodiment is a vehicle control system. It should be noted that other electronic devices and processors can also be used as the execution subject, and no more limitations are made here.

[0033] In the technical solution provided in step S102 of the present invention, the vehicle control system obtains the first pulse signal of the vehicle's left rear wheel at different moments, and simultaneously obtains the second pulse signal of the vehicle's right rear wheel at different moments.

[0034] Step S104, determine a first rear wheel rotational speed and a second rear wheel rotational speed according to the multiple first pulse signals and the multiple second pulse signals.

[0035] In the technical solution provided in step S104 of the present invention, the vehicle control system can determine the first rear wheel rotational speed (the rotational speed of the left rear wheel) according to the first pulse signals at multiple moments, and determine the second rear wheel rotational speed (the rotational speed of the right rear wheel) according to the second pulse signals at multiple moments.

[0036] Step S106, determine the output shaft rotational speed according to the first rear wheel rotational speed and the second rear wheel rotational speed.

[0037] In the technical solution provided in step S106 of the present invention, the vehicle control system can determine the rotational speed of the output shaft of the vehicle transmission according to the first rear wheel rotational speed and the second rear wheel rotational speed.

[0038] Specifically, after obtaining the rotational speeds of the left rear wheel and the right rear wheel of the vehicle, the average value thereof can be calculated, and the above average value can be determined as the rotational speed of the transmission shaft of the vehicle.

[0039] From the above steps S102 to S106, it can be known that in the present invention, as Figure 3 shown, by obtaining the first pulse signals of the left rear wheel at multiple moments and the second pulse signals of the right rear wheel at multiple moments, and determining the rotational speed of the first rear wheel and the rotational speed of the second rear wheel according to the multiple first pulse signals and the multiple second pulse signals, the purpose of determining the rotational speed of the output shaft according to the rotational speed of the first rear wheel and the rotational speed of the second rear wheel is achieved, thereby realizing the technical effect of improving the stability of the vehicle system, and further solving the technical problem in the related art that a rotational speed sensor needs to be installed to determine the rotational speed of the transmission output shaft, so that when the sensor fails, the stability of the vehicle system is affected.

[0040] The above method of this embodiment will be further introduced in detail below.

[0041] As an optional implementation manner, the multiple moments include: a first moment and a second moment. Determining the rotational speed of the first rear wheel and the rotational speed of the second rear wheel according to the multiple first pulse signals and the multiple second pulse signals includes: calculating a first difference between the first pulse signal obtained at the first moment and the first pulse signal obtained at the second moment; calculating a second difference between the second pulse signal obtained at the first moment and the second pulse signal obtained at the second moment; determining the rotational speed of the first rear wheel according to the first difference, and determining the rotational speed of the second rear wheel according to the second difference.

[0042] In this embodiment, the multiple moments include: a first moment and a second moment. Determining the rotational speed of the first rear wheel and the rotational speed of the second rear wheel according to the multiple first pulse signals and the multiple second pulse signals includes the following steps: The vehicle control system calculates the difference between the left rear wheel of the vehicle between the first moment (current moment) and the second moment (historical moment) as the first difference, and at the same time calculates the difference between the right rear wheel of the vehicle between the first moment (current moment) and the second moment (historical moment) as the second difference, and then the rotational speed of the first rear wheel of the vehicle can be determined according to the first difference and the rotational speed of the second rear wheel of the vehicle can be determined according to the second difference.

[0043] Specifically, the second moment is the moment before the first moment. Preferably, the second moment is the moment immediately before the sampling of the first moment, so as to ensure the accuracy of calculating the rotational speed of the vehicle transmission output shaft.

[0044] Specifically, the first difference is denoted as ΔN right , and the second difference is denoted as ΔN right .

[0045] As an alternative embodiment, determining the first rear-wheel speed according to the first difference and determining the second rear-wheel speed according to the second difference includes: in response to the first difference being greater than or equal to a first preset value, determining the first target difference as the first difference; in response to the first difference being less than the first preset value, determining the first target difference as the sum of the first difference and a second preset value; in response to the second difference being greater than or equal to the first preset value, determining the second target difference as the second difference; in response to the second difference being less than the second preset value, determining the second target difference as the sum of the second difference and the second preset value; determining the first rear-wheel speed according to the first target difference and determining the second rear-wheel speed according to the second target difference.

[0046] In this embodiment, determining the first rear-wheel speed according to the first difference and determining the second rear-wheel speed according to the second difference includes the following steps: when the first difference is greater than or equal to the first preset value, determining the first difference as the first target difference; when the first difference is less than the first preset value, determining the first target difference as the sum of the first difference and the second preset value; similarly, when the second difference is greater than or equal to the first preset value, determining the second difference as the second target difference; when the second difference is less than the first preset value, determining the second target difference as the sum of the second difference and the second preset value. Next, the vehicle control system can determine the first rear-wheel speed according to the first target difference and determine the second rear-wheel speed according to the second target difference.

[0047] Optionally, the second preset value is a preset value, denoted as N, which is the maximum value of the effective range of the number of pulses. In actual working conditions, those skilled in the art generally use 253 as the second preset value.

[0048] Specifically, the first preset value is 0. The reason is that when the pulse signal read at the second moment is close to N, if the rotational speed is relatively high at this time and the number of pulses increases significantly within one cycle, then within the cycle from the second moment to the first moment, after the number of pulses reaches N, it will start counting from 0 again. If the number of pulses read at the first moment is subtracted from the number of pulses at the second previous moment, a negative value may occur. If no processing is done, it will cause the vehicle control system to be unable to accurately obtain the pulse difference within one cycle. Therefore, this method is used for calculating the pulse difference.

[0049] Specifically, denote the first target difference as Denote the second target difference as That is, when ΔN right ≥0, output When ΔN right <0, output When ΔN left ≥0, output When ΔN leftWhen < 0, the output

[0050] As an alternative implementation, determining the first rear-wheel speed according to the first target difference and determining the second rear-wheel speed according to the second target difference includes: performing filtering processing on the first target difference and the second target difference to obtain a third target difference and a fourth target difference; determining the first rear-wheel speed according to the third target difference and determining the second rear-wheel speed according to the fourth target difference.

[0051] In this embodiment, determining the first rear-wheel speed according to the first target difference and determining the second rear-wheel speed according to the second target difference includes the following steps: performing filtering processing on the above-mentioned first target difference and second target difference to obtain the processed data as the third target difference and the fourth target difference.

[0052] Specifically, denote the third target difference as ΔN′ left and the fourth target difference as ΔN″ right .

[0053] Specifically, data filtering processing refers to performing denoising processing on the collected data to improve the data quality and accuracy. Common data filtering methods include moving average filtering, median filtering, Gaussian filtering, etc. Moving average filtering is a simple filtering method that smooths the data by calculating the average value of the data within a certain time window. It is suitable for data with slow periodic changes and can effectively remove noise. Median filtering is a non-linear filtering method that smooths the data by calculating the median value of the data within a certain time window. It is suitable for data with fast periodic changes and containing outliers and can effectively remove noise and outliers. Gaussian filtering is a linear filtering method that smooths the data by convolving the data with a Gaussian kernel. It is suitable for continuously changing data and can effectively remove high-frequency noise. In addition to the above several filtering methods, there are also some other filtering methods, such as Kalman filtering, wavelet filtering, etc. They select suitable filtering methods according to different application scenarios and data characteristics. Data filtering processing can be widely applied in the fields of signal processing, image processing, data analysis, etc., and can improve the reliability and availability of the data. However, it is necessary to select a suitable filtering method according to the specific data characteristics and requirements and perform parameter tuning to achieve the best filtering effect.

[0054] As an alternative implementation, determining the first rear wheel speed according to the third target difference and determining the second rear wheel speed according to the fourth target difference includes: obtaining a first average value of the pulse acceleration of the left rear wheel within a preset period and a second average value of the pulse acceleration of the left rear wheel within the preset period; determining a fifth target difference based on the first average value and the third target difference; determining a sixth target difference based on the second average value and the fourth target difference; determining the first rear wheel speed according to the fifth target difference, and determining the second rear wheel speed according to the sixth target difference.

[0055] In this embodiment, determining the first rear wheel speed according to the third target difference and determining the second rear wheel speed according to the fourth target difference include the following steps: The vehicle control system can obtain a first average value of the pulse acceleration of the left rear wheel of the vehicle within a preset period, and at the same time obtain a second average value of the pulse acceleration of the right rear wheel of the vehicle. Then, determine a fifth target difference based on the first average value and the third target difference, and determine a sixth target difference based on the second average value and the fourth target difference. Next, the vehicle control system can determine the first rear wheel speed according to the fifth target difference and determine the second rear wheel speed according to the sixth target difference.

[0056] Specifically, after the vehicle control system obtains the third target difference and the fourth target difference, it should also perform feedforward control on them to ensure the accuracy of the obtained data. Therefore, it is necessary to solve the feedforward value of its feedforward control, that is, the pulse accelerations of the left rear wheel and the right rear wheel within the preset period, and then add the third target difference and the first average value to obtain the fifth target difference, and add the fourth target difference and the second average value to obtain the sixth target difference.

[0057] Specifically, the formula for calculating the first average value is as follows:

[0058]

[0059] The formula for calculating the second average value is as follows:

[0060]

[0061] where Δt is the sampling period.

[0062] Exemplarily, the calculation formula for the fifth average difference is: ΔN leftL = ΔN′ left + α left . [[ID=********]]

[0063] Similarly, the calculation formula for the fifth average difference is: ΔN rightL = ΔN′ right + α right . [[ID=********]]

[0064] As an alternative embodiment, the vehicle includes: a magnetic encoder. Determining the first rear-wheel speed according to the fifth target difference includes: calculating the product of the fifth target difference and the first coefficient to obtain a first value; calculating the product of the number of magnetic poles of the magnetic encoder and a preset period to obtain a second value; calculating the ratio of the first value and the second value to obtain the first rear-wheel speed.

[0065] In this embodiment, the vehicle includes: a magnetic encoder. Determining the first rear-wheel speed according to the fifth target difference includes the following steps: first, calculate the product of the fifth target difference and the first coefficient to obtain a first value, then calculate the product of the number of magnetic pole pairs of the magnetic encoder in the vehicle and a preset period to obtain a second value, and calculate the ratio of the first value and the second value to obtain the first rear-wheel speed (the left rear-wheel speed of the vehicle).

[0066] Specifically, the first coefficient is 60, and the number of magnetic pole pairs of the magnetic encoder is denoted as N 齿 。

[0067] Specifically, the formula for calculating the first rear-wheel speed is as follows:

[0068]

[0069] As an alternative embodiment, determining the second rear-wheel speed according to the sixth target difference includes: calculating the product of the sixth target difference and the first coefficient to obtain a third value; calculating the ratio of the third value and the second value to obtain the second rear-wheel speed.

[0070] In this embodiment, determining the second rear-wheel speed according to the sixth target difference includes the following steps: first, calculate the product of the sixth target difference and the first coefficient to obtain a third value, then calculate the product of the number of magnetic pole pairs of the magnetic encoder in the vehicle and a preset period to obtain a second value, and calculate the ratio of the third value and the second value to obtain the second rear-wheel speed (the right rear-wheel speed of the vehicle).

[0071] Specifically, the formula for calculating the second rear-wheel speed is as follows:

[0072]

[0073] As an alternative embodiment, determining the output shaft speed according to the first rear-wheel speed and the second rear-wheel speed includes: calculating the third average value of the first rear-wheel speed and the second rear-wheel speed; determining the output shaft speed based on the third average value.

[0074] In this embodiment, determining the output shaft speed according to the first rear-wheel speed and the second rear-wheel speed includes the following steps: after the vehicle control system obtains the first rear-wheel speed and the second rear-wheel speed, calculate the average value of the above two rear-wheel speeds, which is the speed of the output shaft of the vehicle transmission.

[0075] Specifically, denote the rotational speed of the first rear wheel as ω left , and denote the rotational speed of the second rear wheel as ω right . The formula for calculating the rotational speed of the output shaft of the vehicle transmission is as follows:

[0076]

[0077] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases, the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or grid device, etc.) to execute the methods of various embodiments of the present invention.

[0078] In this embodiment, a device for determining the rotational speed of the vehicle output shaft is also provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0079] Figure 4 is a structural block diagram of a device 400 for determining the rotational speed of the vehicle output shaft according to an embodiment of the present invention. As Figure 4 shown, the device includes: an acquisition module 401, a first determination module 402, and a second determination module 403.

[0080] The acquisition module 401 is used to acquire the first pulse signals of the left rear wheel at multiple moments and the second pulse signals of the right rear wheel at multiple moments;

[0081] The first determination module 402 is used to determine the rotational speed of the first rear wheel and the rotational speed of the second rear wheel according to the multiple first pulse signals and the multiple second pulse signals;

[0082] The second determination module 403 is used to determine the rotational speed of the output shaft according to the rotational speed of the first rear wheel and the rotational speed of the second rear wheel.

[0083] Optionally, the first determination module 402 includes: a first calculation unit configured to calculate a first difference between the first pulse signal acquired at a first moment and the first pulse signal acquired at a second moment; a second calculation unit configured to calculate a second difference between the second pulse signal acquired at the second moment and the second pulse signal acquired at the second moment; a first determination unit configured to determine a first rear wheel speed according to the first difference and determine a second rear wheel speed according to the second difference.

[0084] Optionally, the determination unit includes: a first determination subunit configured to determine a first target difference as the first difference in response to the first difference being greater than or equal to a first preset value; a second determination subunit configured to determine the first target difference as the sum of the first difference and a second preset value in response to the first difference being less than the first preset value; a third determination subunit configured to determine a second target difference as the second difference in response to the second difference being greater than or equal to the first preset value; a fourth determination subunit configured to determine the second target difference as the sum of the second difference and the second preset value in response to the second difference being less than the second preset value; a fifth determination subunit configured to determine the first rear wheel speed according to the first target difference and determine the second rear wheel speed according to the second target difference.

[0085] Optionally, the fifth determination subunit includes: a processing subunit configured to perform filtering processing on the first target difference and the second target difference to obtain a third target difference and a fourth target difference; a sixth determination subunit configured to determine the first rear wheel speed according to the third target difference and determine the second rear wheel speed value according to the fourth target difference.

[0086] Optionally, the sixth determination subunit includes: an acquisition subunit configured to acquire a first average value of the pulse acceleration of the left rear wheel within a preset period and a second average value of the pulse acceleration of the right rear wheel within the preset period; a seventh determination subunit configured to determine a fifth target difference based on the first average value and the third target difference; an eighth determination subunit configured to determine a sixth target difference based on the second average value and the fourth target difference; a ninth determination subunit configured to determine the first rear wheel speed according to the fifth target difference and determine the second rear wheel speed according to the sixth target difference.

[0087] Optionally, the ninth determination subunit includes: a first calculation subunit configured to calculate a product of the fifth target difference and a first coefficient to obtain a first value; a second calculation subunit configured to calculate a product of the number of magnetic pole pairs of the magnetic encoder and the preset period to obtain a second value; a third calculation subunit configured to calculate a ratio of the first value and the second value to obtain the first rear wheel speed.

[0088] Optionally, the ninth determination subunit further includes: a fourth calculation subunit, configured to calculate the product of the sixth target difference value and the first coefficient to obtain a third numerical value; a fifth calculation subunit, configured to calculate the ratio of the third numerical value and the second numerical value to obtain the second rear wheel speed.

[0089] Optionally, the second determination module 403 includes: a third calculation unit, configured to calculate a third average value of the first rear wheel speed and the second rear wheel speed; a second determination unit, configured to determine the output shaft speed based on the third average value.

[0090] An embodiment of the present invention further provides a vehicle, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the method for determining the output shaft speed of the vehicle as described above.

[0091] Optionally, in this embodiment, the above vehicle may be configured to store a computer program for performing the following steps:

[0092] Step S102, obtaining a first pulse signal of the left rear wheel at multiple moments and a second pulse signal of the right rear wheel at multiple moments;

[0093] Step S104, determining the first rear wheel speed and the second rear wheel speed according to the multiple first pulse signals and the multiple second pulse signals;

[0094] Step S106, determining the output shaft speed according to the first rear wheel speed and the second rear wheel speed.

[0095] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and details are not described herein again.

[0096] In the above embodiments of the present invention, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0097] In some embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces, and the indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0098] The unit described as a separating component may or may not be physically separated, and the component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0099] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0100] 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 such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a grid device, etc.) to execute all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical disks, etc., all kinds of media that can store program codes.

[0101] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for determining the rotational speed of a vehicle output shaft, characterized in that, The vehicle includes: a left rear wheel and a right rear wheel, and the method includes: Obtaining a first pulse signal of the left rear wheel at multiple moments and a second pulse signal of the right rear wheel at the multiple moments, where the multiple moments include a first moment and a second moment; Determining a first rear wheel speed and a second rear wheel speed according to the multiple first pulse signals and the multiple second pulse signals; Determining an output shaft speed according to the first rear wheel speed and the second rear wheel speed; Wherein, determining the first rear wheel speed and the second rear wheel speed according to the multiple first pulse signals and the multiple second pulse signals includes: Calculating a first difference between the first pulse signal obtained at the first moment and the first pulse signal obtained at the second moment; calculating a second difference between the second pulse signal obtained at the first moment and the second pulse signal obtained at the second moment; determining the first rear wheel speed according to the first difference, and determining the second rear wheel speed according to the second difference; Wherein, determining the first rear wheel speed according to the first difference and determining the second rear wheel speed according to the second difference includes: In response to the first difference being greater than or equal to a first preset value, determining a first target difference as the first difference; in response to the first difference being less than the first preset value, determining the first target difference as the sum of the first difference and a second preset value; in response to the second difference being greater than or equal to the first preset value, determining a second target difference as the second difference; in response to the second difference being less than the second preset value, determining the second target difference as the sum of the second difference and the second preset value; determining the first rear wheel speed according to the first target difference, and determining the second rear wheel speed according to the second target difference.

2. The method for determining the rotational speed of the vehicle output shaft according to claim 1, wherein, Determining the first rear wheel speed according to the first target difference and determining the second rear wheel speed according to the second target difference includes: Performing a filtering process on the first target difference and the second target difference to obtain a third target difference and a fourth target difference; Determining the first rear wheel speed according to the third target difference, and determining the second rear wheel speed according to the fourth target difference.

3. The method for determining the rotational speed of the vehicle output shaft according to claim 2, characterized in that, Determining the first rear wheel speed according to the third target difference and determining the second rear wheel speed according to the fourth target difference includes: Obtaining a first average value of the pulse acceleration of the left rear wheel within a preset period and a second average value of the pulse acceleration of the right rear wheel within the preset period; Determining a fifth target difference based on the first average value and the third target difference; Determining a sixth target difference based on the second average value and the fourth target difference; Determining the first rear wheel speed according to the fifth target difference, and determining the second rear wheel speed according to the sixth target difference.

4. The method for determining the rotational speed of the vehicle output shaft according to claim 3, characterized in that The vehicle includes: a magnetic encoder, and determining the first rear wheel speed according to the fifth target difference includes: Calculating the product of the fifth target difference and a first coefficient to obtain a first value; Calculating the product of the number of magnetic poles of the magnetic encoder and the preset period to obtain a second value; Calculate the ratio of the first value and the second value to obtain the first rear-wheel speed.

5. The method for determining the rotational speed of the vehicle output shaft according to claim 4, wherein Determining the second rear-wheel speed according to the sixth target difference includes: Calculate the product of the sixth target difference and the first coefficient to obtain a third value; Calculate the ratio of the third value and the second value to obtain the second rear-wheel speed.

6. The method for determining the rotational speed of the vehicle output shaft according to claim 1, characterized in that, Determining the output shaft speed according to the first rear-wheel speed and the second rear-wheel speed includes: Calculate the third average value of the first rear-wheel speed and the second rear-wheel speed; Determine the output shaft speed based on the third average value.

7. A vehicle, comprising a memory and a processor, characterized in that, A computer program is stored in the memory, and the processor is configured to run the computer program to execute the method for determining the vehicle output shaft speed described in any one of the above claims 1 to 6.

8. A computer-readable storage medium, characterized in that, A computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the method for determining the vehicle output shaft speed described in any one of the above claims 1 to 6 when running on a computer or a processor.

Images