Speed measurement method of vehicle, storage medium and electronic device

Abstract

The present disclosure relates to a vehicle speed measurement method, a storage medium and an electronic device to solve the problem that the speed sensor and the accelerometer do not accurately measure the speed of the vehicle. The method comprises: obtaining a first speed measured by a first speed sensor and a second speed measured by a second speed sensor, one of the first speed sensor and the second speed sensor being a Doppler speed sensor and the other being a Hall speed sensor; determining a first proportion value corresponding to the first speed and a second proportion value corresponding to the second speed according to at least one of the slope, the curvature radius, the environmental humidity and the predicted speed of the current line of the vehicle, the predicted speed being determined based on the first speed and the second speed; and determining the sum of the product of the first speed and the first proportion value and the product of the second speed and the second proportion value as the measured running speed of the vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of speed measurement technology, and more specifically, to a method for measuring the speed of a vehicle, a storage medium, and an electronic device. Background Technology

[0002] In related technologies, vehicle speed is mainly measured using accelerometers and speed sensors. However, due to the influence of external factors such as curves, slopes, and weather, accelerometers and speed sensors are easily interfered with, resulting in low accuracy of vehicle speed measurement and causing operational malfunctions such as emergency braking and abnormal stopping. Summary of the Invention

[0003] The purpose of this disclosure is to provide a method, storage medium, and electronic device for measuring vehicle speed, in order to solve the problem of low accuracy in measuring vehicle speed using speed sensors and accelerometers.

[0004] To achieve the above objectives, a first aspect of this disclosure provides a method for measuring the speed of a vehicle, the method comprising:

[0005] The system acquires a first speed measured by a first speed sensor and a second speed measured by a second speed sensor, wherein one of the first speed sensor and the second speed sensor is a Doppler speed sensor and the other is a Hall speed sensor.

[0006] The first percentage value corresponding to the first speed and the second percentage value corresponding to the second speed are determined based on at least one of the current route gradient, radius of curvature, ambient humidity, and predicted speed of the vehicle, wherein the predicted speed is determined based on the first speed and the second speed.

[0007] The product of the first speed and the first percentage value, and the sum of the product of the second speed and the second percentage value, are determined as the measured operating speed of the vehicle.

[0008] Optionally, determining the first proportion value corresponding to the first speed and the second proportion value corresponding to the second speed based on at least one of the gradient, radius of curvature, ambient humidity, and predicted speed of the vehicle's current route includes:

[0009] The first candidate percentage value is determined based on the gradient of the vehicle's current route and the preset relationship between the gradient and the first percentage.

[0010] The second candidate percentage value is determined based on the radius of curvature of the vehicle's current route and the preset relationship between the radius of curvature and the first percentage.

[0011] The third candidate percentage value is determined based on the ambient humidity of the vehicle's current route and the preset relationship between the ambient humidity and the first percentage.

[0012] The fourth candidate percentage value is determined based on the predicted speed of the vehicle and the preset relationship between the predicted speed and the first percentage.

[0013] The first percentage value is determined based on at least one of the first candidate percentage value, the second candidate percentage value, the third candidate percentage value, and the fourth candidate percentage value, and the second percentage value is equal to the difference between the total percentage value and the first percentage value.

[0014] Optionally, the prediction speed is determined in the following manner:

[0015] When both the first speed and the second speed are less than the threshold speed, the predicted speed is equal to the speed measured by the Doppler speed sensor; otherwise, the predicted speed is equal to the speed measured by the Hall speed sensor.

[0016] Optionally, determining the first proportion value corresponding to the first speed based on at least one of the first candidate proportion value, the second candidate proportion value, the third candidate proportion value, and the fourth candidate proportion value includes:

[0017] The maximum value of the first candidate percentage, the second candidate percentage, the third candidate percentage, and the fourth candidate percentage is taken as the first percentage value; or,

[0018] The average of the first candidate percentage, the second candidate percentage, the third candidate percentage, and the fourth candidate percentage is taken as the first percentage.

[0019] Optionally, when the first speed sensor is a Doppler speed sensor, the preset relationship between the slope and the first proportion is positively correlated, the preset relationship between the radius of curvature and the first proportion is negatively correlated, and the preset relationship between the ambient humidity and the first proportion is positively correlated.

[0020] Optionally, the method further includes:

[0021] Before determining the first percentage value corresponding to the first speed and the second percentage value corresponding to the second speed based on at least one of the slope, radius of curvature, ambient humidity and predicted speed of the current route of the vehicle, it is determined that the relative deviation value between the first speed and the second speed is less than a preset deviation value.

[0022] Optionally, the method further includes:

[0023] If the relative deviation value is greater than or equal to the preset deviation value, it is determined that the Doppler velocity sensor or Hall velocity sensor has a speed measurement abnormality.

[0024] Optionally, the method further includes:

[0025] The accuracy of the first speed sensor is determined based on the vehicle's accelerometer to see if it meets the preset requirements.

[0026] If the accuracy of the first speed sensor does not meet the preset requirements, the first speed measured by the first speed sensor is calibrated based on the accelerometer.

[0027] A second aspect of this disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any of the first aspects above.

[0028] A third aspect of this disclosure provides an electronic device comprising:

[0029] A memory on which computer programs are stored;

[0030] A processor for executing the computer program in the memory to implement the steps of the method described in any of the first aspects above.

[0031] The above technical solution can achieve at least the following technical effects:

[0032] First, the first speed measured by a first speed sensor and the second speed measured by a second speed sensor are acquired. Then, based on at least one of the following factors—the slope, radius of curvature, ambient humidity, and predicted speed of the current route—a first proportion value corresponding to the first speed and a second proportion value corresponding to the second speed are determined. Finally, the sum of the product of the first speed and the first proportion value, and the product of the second speed and the second proportion value, is determined as the measured operating speed of the vehicle. One of the first and second speed sensors is a Doppler speed sensor, and the other is a Hall effect speed sensor. This method, based on at least one of the following factors—the slope, radius of curvature, ambient humidity, and predicted speed of the current route—determines the proportion values ​​of the first and second speeds, and uses these to determine the final measured operating speed. This reduces the influence of external factors on the measurement accuracy of the speed sensors, thereby improving the accuracy of measuring vehicle operating speed.

[0033] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0034] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0035] Figure 1This is a schematic flowchart of a vehicle speed measurement method provided in an embodiment of this disclosure;

[0036] Figure 2 This is a schematic diagram of a slope and Doppler ratio provided in an embodiment of this disclosure;

[0037] Figure 3 This is a schematic diagram of the radius of curvature and Doppler ratio provided in an embodiment of this disclosure;

[0038] Figure 4 This is a schematic diagram of environmental humidity and Doppler ratio provided in an embodiment of this disclosure;

[0039] Figure 5 This is a schematic diagram of the velocity values ​​measured by a Hall velocity sensor and a Doppler velocity sensor at different actual speeds according to an embodiment of this disclosure;

[0040] Figure 6 This is a schematic diagram of an electronic device shown in an embodiment of this disclosure. Detailed Implementation

[0041] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0042] It should be understood that the various steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect. The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the description below.

[0043] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependencies. It should also be noted that the modifications of "a" and "a plurality of" mentioned in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0044] Currently, vehicle speed is mainly measured using accelerometers and speed sensors. The accelerometer readings are used to determine if the vehicle is spinning or slipping. If the accelerometer reading exceeds a preset range, the current speed sensor reading is considered unreliable. This leads to emergency braking of the vehicle to await manual assistance, or speed limits are imposed and the vehicle is remotely driven. However, this can affect vehicle operation to varying degrees.

[0045] Furthermore, if a vehicle uses a combination of accelerometers and Doppler speed sensors for speed measurement, the Doppler speed sensor relies on reflections from surrounding buildings or objects. Therefore, even with compensation and correction from the accelerometer, speed measurement can still be inaccurate at higher vehicle speeds. Moreover, external factors such as curves, slopes, and weather conditions can easily interfere with the accelerometer and speed sensor, leading to lower speed measurement accuracy and causing operational malfunctions such as emergency braking and abnormal stops.

[0046] In view of this, the present disclosure provides a method for measuring the speed of a vehicle, a storage medium, and an electronic device to solve the above problems.

[0047] It should be noted that the vehicle speed measurement method provided in this disclosure can be applied to both automated driving and manually driven rail trains. Furthermore, the method can be executed by the vehicle itself, by electronic devices installed in the vehicle, or by uploading relevant data to the vehicle's monitoring backend for execution; this disclosure does not limit the scope of the method.

[0048] The following provides a detailed description of the embodiments of the technical solution disclosed herein.

[0049] This disclosure provides a method for measuring the speed of a vehicle, referring to... Figure 1 The method includes:

[0050] S101, acquire the first speed measured by the first speed sensor and the second speed measured by the second speed sensor.

[0051] Among them, one of the first speed sensor and the second speed sensor is a Doppler speed sensor, and the other is a Hall speed sensor.

[0052] S102. Determine the first percentage value corresponding to the first speed and the second percentage value corresponding to the second speed based on at least one of the current route gradient, radius of curvature, ambient humidity, and predicted speed of the vehicle.

[0053] The predicted speed is determined based on the first speed and the second speed.

[0054] S103. The sum of the product of the first speed and the first percentage value, and the product of the second speed and the second percentage value, is determined as the measured operating speed of the vehicle.

[0055] Using the above method, based on at least one of the current route's gradient, radius of curvature, ambient humidity, and predicted speed, the respective proportions of the first speed and the second speed are determined, and the final measured operating speed is determined accordingly. This reduces the impact of external factors on the measurement accuracy of the speed sensor, thereby improving the accuracy of measuring vehicle operating speed.

[0056] To enable those skilled in the art to better understand the vehicle speed measurement method provided in this disclosure, the above steps are illustrated in detail below.

[0057] In one possible approach, the method further includes: before determining a first percentage value corresponding to the first speed and a second percentage value corresponding to the second speed based on at least one of the vehicle's current route gradient, radius of curvature, ambient humidity, and predicted speed, determining that the relative deviation between the first speed and the second speed is less than a preset deviation value. Otherwise, if the relative deviation value is greater than or equal to the preset deviation value, determining that the Doppler speed sensor or Hall speed sensor has a speed measurement anomaly.

[0058] For example, the relative deviation between the first velocity and the second velocity can be determined by the following formula:

[0059] V 相对偏差 =|2×(V1-V2) / (V1+V2)|

[0060] Among them, V 相对偏差 The relative deviation values ​​are represented by V1 and V2, respectively. When the relative deviation value is greater than or equal to a preset deviation value, it indicates an anomaly in the speed measurement by the Doppler or Hall effect speed sensor. For manually driven vehicles, this can trigger an anomaly alert to the driver, allowing them to take appropriate action. For autonomous vehicles, the system can automatically control the vehicle to take appropriate action, or send an anomaly alert to the vehicle control backend for manual intervention. These actions include, but are not limited to, slowing down, emergency stopping, and arranging maintenance. The preset deviation value can be determined based on testing and requirements; for example, it can be 20%, but this disclosure does not limit this. If the relative deviation value is less than the preset deviation value, the process continues, determining the first percentage value corresponding to the first speed and the second percentage value corresponding to the second speed based on at least one of the vehicle's current route's gradient, radius of curvature, ambient humidity, and predicted speed.

[0061] In possible ways, determining the first percentage value corresponding to the first speed and the second percentage value corresponding to the second speed based on at least one of the vehicle's current route's gradient, radius of curvature, ambient humidity, and predicted speed can be achieved by: determining a first candidate percentage value based on the vehicle's current route's gradient and a preset relationship between gradient and the first percentage; determining a second candidate percentage value based on the vehicle's current route's radius of curvature and a preset relationship between radius of curvature and the first percentage; determining a third candidate percentage value based on the vehicle's current route's ambient humidity and a preset relationship between ambient humidity and the first percentage; and determining a fourth candidate percentage value based on the vehicle's predicted speed and a preset relationship between predicted speed and the first percentage. The first percentage value is determined based on at least one of the first, second, third, and fourth candidate percentage values, and the second percentage value is equal to the difference between the total percentage value and the first percentage value.

[0062] For example, the effects of slope, radius of curvature, and ambient humidity on the speed measurement speed of the speed sensor are analyzed based on experiments. The speed sensors used are a Hall effect speed sensor and a Doppler speed sensor. Furthermore, by analyzing the experimental data, the respective proportions of Hall effect speed and Doppler speed under different conditions can be obtained. The following example, using a Doppler speed sensor as the primary speed sensor, illustrates the preset relationships between slope and the first proportion, the preset relationships between radius of curvature and the first proportion, and the preset relationships between ambient humidity and the first proportion.

[0063] For example, when the first speed sensor is a Doppler speed sensor, the preset relationship between slope and the first proportion is positively correlated, the preset relationship between radius of curvature and the first proportion is negatively correlated, and the preset relationship between ambient humidity and the first proportion is positively correlated.

[0064] It should be noted that vehicles are more prone to skidding on roads with steep inclines, small radii of curvature, or high humidity. Hall effect speed sensors measure the speed of the wheels relative to the track, while Doppler speed sensors measure the speed of the train relative to the ground. This means that on skidding-prone sections, the accuracy of Doppler speed measurements is higher than that of Hall effect speed measurements. Therefore, on skidding-prone sections, the proportion of Doppler speed measurements should be higher than that of Hall effect speed measurements to ensure that the final determined vehicle speed is closer to the vehicle's actual speed.

[0065] For example, refer to Figure 2 The steeper the slope, the greater the proportion of Doppler velocity; when the slope is less than 15 degrees, the proportion of Doppler velocity is 0. (Refer to...) Figure 3The smaller the radius of curvature, the larger the curve of the road section, and the greater the proportion of Doppler velocity. When the radius of curvature is greater than 800 meters, the proportion of Doppler velocity is 0. (Refer to...) Figure 4 The higher the ambient humidity, the greater the proportion of Doppler velocity. When the ambient humidity is less than a certain value, the proportion of Doppler velocity approaches 0.

[0066] It should be noted that the specific values ​​mentioned above are for illustrative purposes only. In actual applications, the test data will vary due to factors such as the test speed sensor, test environment, and test vehicle. Consequently, the Doppler ratio will also change. As long as the slope and Doppler ratio are positively correlated, the radius of curvature and Doppler ratio are negatively correlated, and the ambient humidity and Doppler ratio are positively correlated, the results are acceptable. This ensures that on slippery road sections, the proportion of accurate Doppler speed is higher than that of inaccurate Hall speed, making the final determined vehicle speed closer to the vehicle's actual operating speed.

[0067] In one possible manner, the predicted speed is determined as follows: when both the first speed and the second speed are less than a threshold speed, the predicted speed is equal to the speed measured by the Doppler speed sensor; otherwise, the predicted speed is equal to the speed measured by the Hall speed sensor.

[0068] For example, refer to Figure 5 Based on the speed values ​​(in km / h) measured by the Hall effect speed sensor and the Doppler speed sensor at different actual vehicle speeds obtained from the experiment. Figure 5 It can be seen that the Doppler speed sensor has a smaller error compared to the actual speed when the vehicle is traveling at low speeds, while the Hall speed sensor has a smaller error compared to the actual speed when the vehicle is traveling at high speeds. According to the test data, when the actual speed of the vehicle is less than 8 km / h, the speed measured by the Doppler speed sensor is basically consistent with the actual speed of the vehicle. When the actual speed of the vehicle is greater than 60 km / h, the speed measured by the Hall speed sensor is close to the actual speed of the vehicle. When the actual speed of the vehicle is between 8 km / h and 60 km / h, the errors of both speed sensors relative to the actual speed of the vehicle are relatively large.

[0069] Furthermore, by combining experimental data with the following calculation formula, the proportional relationship between actual velocity and Doppler velocity and Hall velocity can be determined:

[0070] Actual speed = Hall ratio × Hall speed + Doppler ratio × Doppler speed

[0071] By combining the experimental data with the above calculation formula, the Hall ratio and Doppler ratio at different actual speeds are obtained. While the actual vehicle speed can be obtained through other means during the experiment, in practical applications, the vehicle's measured speed comes from both a Hall speed sensor and a Doppler speed sensor. Therefore, based on the conclusion from the experimental data that the Doppler speed sensor has a smaller error at low speeds and the Hall speed sensor has a smaller error at high speeds, a threshold speed can be set. When the measured speeds of both speed sensors are less than this threshold speed, the predicted speed is equal to the speed measured by the Doppler speed sensor; otherwise, the predicted speed is equal to the speed measured by the Hall speed sensor. Furthermore, the Doppler ratio or Hall ratio corresponding to the different actual speeds can be converted into a preset relationship between the predicted speed and the Doppler ratio, or a preset relationship between the predicted speed and the Hall ratio. After determining the predicted speed of the vehicle, the corresponding Doppler ratio or Hall ratio is found. The threshold speed can be determined based on the experimental data; for example, between 8 km / h and 60 km / h, 33 km / h can be used as the threshold speed. This disclosure does not limit this.

[0072] It's worth noting that when trains enter or exit stations, they may encounter curves, low speeds, and significant vibrations. These conditions have a substantial impact on Hall effect speed sensors, leading to lower accuracy in speed measurements. Therefore, in such situations, Doppler velocity is used more extensively to mitigate the influence of the Hall effect speed sensor, resulting in a more accurate measurement of the train's actual speed when entering or exiting the station.

[0073] In one possible approach, determining the first percentage value corresponding to the first velocity based on at least one of the first candidate percentage value, the second candidate percentage value, the third candidate percentage value, and the fourth candidate percentage value can be achieved by using the maximum value of the first candidate percentage value, the second candidate percentage value, the third candidate percentage value, and the fourth candidate percentage value as the first percentage value. Alternatively, the average value of the first candidate percentage value, the second candidate percentage value, the third candidate percentage value, and the fourth candidate percentage value can be used as the first percentage value.

[0074] For example, after determining the proportion values ​​of the first, second, third, and fourth candidates, the maximum value among the four can be used as the first proportion value, or the average value among the four can be used as the first proportion value. Alternatively, the four can be further analyzed to determine their respective weight values, and the weighted average value of the four can be used as the first proportion value, etc. This disclosure does not limit this.

[0075] It is worth noting that this disclosure determines the respective proportions of Hall velocity and Doppler velocity under different conditions such as the current line's gradient, radius of curvature, ambient humidity, and predicted speed through experiments. However, in practical applications, after obtaining the first proportion value corresponding to the first velocity, the first proportion value can be subtracted from the total proportion value to obtain the second proportion value corresponding to the second velocity, thereby reducing the computational load and improving the efficiency of velocity measurement. Taking a Doppler velocity sensor as the first velocity sensor as an example, the proportion value of Doppler velocity is first determined, and then the Hall proportion value is determined based on the difference between the total proportion value and the Doppler velocity proportion value. Alternatively, the proportion value of Hall velocity can be determined first, and then the Doppler velocity proportion value can be determined based on the difference between the total proportion value and the Hall velocity proportion value. Of course, in other possible methods, the proportion values ​​of Hall velocity and Doppler velocity can be determined separately, and this disclosure does not limit this.

[0076] Furthermore, this disclosure calculates the vehicle's measured operating speed by determining the Doppler ratio and Hall ratio under different conditions such as the current route's gradient, radius of curvature, ambient humidity, and predicted speed. However, in other possible ways, such as for flat, gradient-free routes, the influence of gradient on the speed sensor may not be considered. In other words, the Hall ratio or Doppler ratio under the appropriate conditions can be selected to calculate the vehicle's measured operating speed according to the actual situation, and this disclosure does not limit this.

[0077] In one possible approach, the method further includes: determining whether the accuracy of the first speed sensor meets a preset requirement based on the vehicle's accelerometer; and calibrating the first speed measured by the first speed sensor based on the accelerometer if the accuracy of the first speed sensor does not meet the preset requirement.

[0078] For example, after the vehicle is powered on, the health status of the Hall speed sensor, Doppler speed sensor, and accelerometer can be checked first. If both the Hall speed sensor and the Doppler speed sensor malfunction, an abnormality warning message is issued and the vehicle operation is prohibited. If either the Hall speed sensor or the Doppler speed sensor malfunctions, an abnormality warning message is issued, and the measured operating speed of the vehicle is determined based on the healthy speed sensors and accelerometer. Specific details can be found in relevant technologies, which will not be elaborated upon here. However, considering that there is a certain degree of error in the combination of the accelerometer and speed sensor, the vehicle operation can be restricted to a speed lower than the actual speed limit value (e.g., 80% of the actual speed limit value) based on the actual speed limit value of the operating route, thereby ensuring the safe operation of the vehicle.

[0079] For example, if the accelerometer malfunctions, an abnormality warning message is issued, and the vehicle's measured operating speed is determined by the Hall speed sensor and Doppler speed sensor according to their respective proportions. If the Hall speed sensor, Doppler speed sensor, and accelerometer are all in good working order, the accelerometer can be used to initially determine whether the measured speed of the Hall speed sensor or Doppler speed sensor meets preset requirements. If not, calibration is performed to make the measured speed of the Hall speed sensor or Doppler speed sensor closer to the actual speed of the vehicle. Then, the calibrated Hall speed and Doppler speed, along with their respective proportions, are used to determine the vehicle's measured operating speed. The methods for accelerometer judgment and calibration can be found in relevant technologies, and will not be elaborated upon here.

[0080] Using the above method, based on at least one of the current route's gradient, radius of curvature, ambient humidity, and predicted speed, the respective proportions of the first and second speeds are determined, and the final measured operating speed is determined accordingly. When the vehicle is traveling at low speeds or on slippery road sections, the Doppler speed sensor has higher accuracy, resulting in a relatively higher proportion of the Doppler speed. When the vehicle is traveling at high speeds or not on slippery road sections, the Hall speed sensor has higher accuracy, resulting in a relatively higher proportion of the Hall speed. This reduces the influence of external factors on the measurement accuracy of the speed sensor and improves the accuracy of measuring vehicle operating speed.

[0081] Based on the same inventive concept, this disclosure also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described vehicle speed measurement method.

[0082] Based on the same inventive concept, this disclosure also provides an electronic device, including:

[0083] A memory on which computer programs are stored;

[0084] A processor is configured to execute the computer program in the memory to implement the steps of the vehicle speed measurement method described above.

[0085] Figure 6 This is a block diagram illustrating an electronic device 600 according to an exemplary embodiment. (Refer to...) Figure 6 The electronic device 600 includes a processor 601, which may be one or more, and a memory 602 for storing computer programs executable by the processor 601. The computer programs stored in the memory 602 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processor 601 may be configured to execute the computer program to perform the aforementioned vehicle speed measurement method.

[0086] Additionally, the electronic device 600 may also include a power supply component 605 and a communication component 603. The power supply component 605 can be configured to perform power management of the electronic device 600, and the communication component 603 can be configured to enable communication of the electronic device 600, such as wired or wireless communication. Furthermore, the electronic device 600 may also include an input / output (I / O) interface 604. The electronic device 600 can operate on an operating system, such as Windows Server, stored in the memory 602. TM Mac OSX TM Unix TM Linux TM etc.

[0087] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle speed measurement method described above. For example, the non-transitory computer-readable storage medium may be the memory 602 including the program instructions described above, which may be executed by the processor 601 of the electronic device 600 to complete the vehicle speed measurement method described above.

[0088] In another exemplary embodiment, a computer program product is also provided, comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle speed measurement method when executed by the programmable device.

[0089] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0090] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0091] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for measuring the speed of a vehicle, characterized in that, The method includes: The system acquires a first speed measured by a first speed sensor and a second speed measured by a second speed sensor, wherein one of the first speed sensor and the second speed sensor is a Doppler speed sensor and the other is a Hall speed sensor. The first percentage value corresponding to the first speed and the second percentage value corresponding to the second speed are determined based on the slope, radius of curvature, ambient humidity and predicted speed of the current route of the vehicle. When both the first speed and the second speed are less than the threshold speed, the predicted speed is equal to the speed measured by the Doppler speed sensor; otherwise, the predicted speed is equal to the speed measured by the Hall speed sensor. The product of the first speed and the first percentage value, and the sum of the product of the second speed and the second percentage value, are determined as the measured operating speed of the vehicle.

2. The method according to claim 1, characterized in that, The step of determining the first percentage value corresponding to the first speed and the second percentage value corresponding to the second speed based on the gradient, radius of curvature, ambient humidity, and predicted speed of the vehicle's current route includes: The first candidate percentage value is determined based on the gradient of the vehicle's current route and the preset relationship between the gradient and the first percentage. The second candidate percentage value is determined based on the radius of curvature of the vehicle's current route and the preset relationship between the radius of curvature and the first percentage. The third candidate percentage value is determined based on the ambient humidity of the vehicle's current route and the preset relationship between the ambient humidity and the first percentage. The fourth candidate percentage value is determined based on the predicted speed of the vehicle and the preset relationship between the predicted speed and the first percentage. The first percentage value is determined based on at least one of the first candidate percentage value, the second candidate percentage value, the third candidate percentage value, and the fourth candidate percentage value, and the second percentage value is equal to the difference between the total percentage value and the first percentage value.

3. The method according to claim 2, characterized in that, Determining the first proportion value corresponding to the first speed based on at least one of the first candidate proportion value, the second candidate proportion value, the third candidate proportion value, and the fourth candidate proportion value includes: The maximum value of the first candidate percentage, the second candidate percentage, the third candidate percentage, and the fourth candidate percentage is taken as the first percentage value; or, The average of the first candidate percentage, the second candidate percentage, the third candidate percentage, and the fourth candidate percentage is taken as the first percentage.

4. The method according to claim 2, characterized in that, When the first speed sensor is a Doppler speed sensor, the slope and the preset relationship of the first proportion are positively correlated, the radius of curvature and the preset relationship of the first proportion are negatively correlated, and the ambient humidity and the preset relationship of the first proportion are positively correlated.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Before determining the first percentage value corresponding to the first speed and the second percentage value corresponding to the second speed based on the slope, radius of curvature, ambient humidity and predicted speed of the vehicle's current route, it is determined that the relative deviation between the first speed and the second speed is less than a preset deviation value.

6. The method according to claim 5, characterized in that, The method further includes: If the relative deviation value is greater than or equal to the preset deviation value, it is determined that the Doppler velocity sensor or Hall velocity sensor has a speed measurement abnormality.

7. The method according to claim 1, characterized in that, The method further includes: The accuracy of the first speed sensor is determined based on the vehicle's accelerometer to see if it meets the preset requirements. If the accuracy of the first speed sensor does not meet the preset requirements, the first speed measured by the first speed sensor is calibrated based on the accelerometer.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method described in any one of claims 1-7.

9. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-7.

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