Vehicle speed scale factor online estimation method, device, equipment and readable storage medium

Abstract

A method, device, equipment and readable storage medium for online estimation of vehicle speed scale factors, which relate to the field of vehicle calibration technology, include obtaining the real-time tire pressure level, real-time vehicle speed level and real-time road surface state of the vehicle; selecting the vehicle speed scale factors corresponding to the real-time tire pressure level, real-time vehicle speed level and real-time road surface state from a preset vehicle speed scale factor database as the initial value of the vehicle speed scale factor, wherein each vehicle speed scale factor in the vehicle speed scale factor database is a historical vehicle speed scale factor obtained by online calibration; correcting the vehicle speed data based on the initial value of the vehicle speed scale factor to obtain the corrected vehicle speed data. Through this application, the accuracy of the corrected vehicle speed data can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle calibration, and in particular to a method, device, equipment and readable storage medium for online estimation of a vehicle speed scale factor. Background Art

[0002] Vehicle calibration mainly tests the accuracy of high-precision instruments or measurement systems to eliminate system errors and improve the accuracy of instruments or systems. The smooth progress of vehicle calibration algorithms generally requires certain conditions to be met. Among them, for the calibration of vehicle speed scale factors, RTK (Real-time kinematic) data is generally required to maintain a fixed solution for a certain period of time to ensure the accuracy of the calibration results. In addition, in the initial stage of vehicle speed scale factor calibration, an initial value of the vehicle speed scale factor needs to be provided to correct the vehicle speed data before the vehicle speed scale factor calibration is successful.

[0003] In the related art, a default value is generally used as the initial value of the vehicle speed scale factor, and the default value is usually an offline fixed value obtained by manual calibration or the value of the last successful calibration. Since the above default values ​​do not take into account the different states of the vehicle and the different environments in which it is located, the accuracy of the vehicle speed data corrected by the default value cannot be guaranteed. Summary of the invention

[0004] The present application provides a method, device, equipment and readable storage medium for online estimation of a vehicle speed scale factor, which can solve the technical problem in the prior art that the accuracy of the corrected vehicle speed data cannot be guaranteed due to the use of a fixed default value as the initial value of the vehicle speed scale factor to correct the vehicle speed data.

[0005] In a first aspect, an embodiment of the present application provides an online method for estimating a vehicle speed scale factor, the online method for estimating a vehicle speed scale factor comprising:

[0006] Obtain the vehicle's real-time tire pressure level, real-time speed level, and real-time road conditions;

[0007] Selecting a vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road surface state from a preset vehicle speed scale factor database as a vehicle speed scale factor initial value, wherein each vehicle speed scale factor in the vehicle speed scale factor database is a historical vehicle speed scale factor obtained by online calibration;

[0008] The vehicle speed data is corrected based on the initial value of the vehicle speed scale factor to obtain corrected vehicle speed data.

[0009] In combination with the first aspect, in one implementation, the method further includes: performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, RTK data, original vehicle speed data, and attitude angle data to obtain a target vehicle speed scale factor.

[0010] In combination with the first aspect, in one implementation, the online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the original vehicle speed data, and the attitude angle data to obtain the target vehicle speed scale factor includes:

[0011] When it is detected that the RTK data is a fixed solution and the current vehicle speed is greater than the vehicle speed threshold, the calibrated vehicle speed data is calculated based on the initial value of the vehicle speed scale factor and the original vehicle speed data;

[0012] An online calibration calculation is performed based on the RTK data, the calibrated vehicle speed data, and the attitude angle data to obtain a target vehicle speed scale factor.

[0013] In combination with the first aspect, in one implementation, after the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the vehicle speed data, and the attitude angle data to obtain the target vehicle speed scale factor, the method further includes:

[0014] Obtaining a target tire pressure level, a target vehicle speed level, and a target road surface state corresponding to the target vehicle speed scale factor;

[0015] Determine whether there is a first vehicle speed scale factor corresponding to the target tire pressure level, the target vehicle speed level and the target road surface state in the vehicle speed scale factor database;

[0016] If it exists, storing the average of the target vehicle speed scale factor and the first vehicle speed scale factor as a new first vehicle speed scale factor in the vehicle speed scale factor database;

[0017] If not, the target vehicle speed scale factor is stored in the vehicle speed scale factor database.

[0018] In combination with the first aspect, in one implementation, after the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the original vehicle speed data, and the attitude angle data to obtain the target vehicle speed scale factor, the method further includes:

[0019] Determining whether the differences between adjacent target vehicle speed scale factors calculated within a preset time period are all less than a difference threshold;

[0020] If yes, it is determined that the vehicle speed scale factor calibration is successful;

[0021] If not, continue to execute the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the original vehicle speed data and the attitude angle data.

[0022] In combination with the first aspect, in one implementation, the real-time road surface state includes a real-time road surface type and a real-time road condition.

[0023] In combination with the first aspect, in one implementation, the selecting a vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road surface state from a preset vehicle speed scale factor database as the vehicle speed scale factor initial value includes:

[0024] Determine whether there is a second vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level, the real-time road surface type and the real-time road condition in the vehicle speed scale factor database;

[0025] If it exists, the second vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0026] If not, determining whether there is a third vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road type in the vehicle speed scale factor database;

[0027] If it exists, the third vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0028] If not, determining whether there is a fourth vehicle speed scale factor corresponding to the real-time tire pressure level and the real-time vehicle speed level in the vehicle speed scale factor database;

[0029] If it exists, the fourth vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0030] If not, determining whether there is a fifth vehicle speed scale factor corresponding to the real-time tire pressure level in the vehicle speed scale factor database;

[0031] If it exists, the fifth vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0032] If it does not exist, the initial value of the vehicle speed scale factor is set to 1.

[0033] In a second aspect, an embodiment of the present application provides an online estimation device for a vehicle speed scale factor, the online estimation device for a vehicle speed scale factor comprising:

[0034] A data acquisition module, which is used to obtain the vehicle's real-time tire pressure level, real-time vehicle speed level and real-time road conditions;

[0035] an initial value determination module, which is used to select a vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road surface state from a preset vehicle speed scale factor database as a vehicle speed scale factor initial value, wherein each vehicle speed scale factor in the vehicle speed scale factor database is a historical vehicle speed scale factor obtained by online calibration;

[0036] The vehicle speed correction module is used to correct the vehicle speed data based on the initial value of the vehicle speed scale factor to obtain the corrected vehicle speed data.

[0037] In combination with the second aspect, in one embodiment, the device also includes an online calibration module, which is used to perform online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, RTK data, original vehicle speed data and attitude angle data to obtain a target vehicle speed scale factor.

[0038] In conjunction with the second aspect, in one implementation, the online calibration module is specifically used for:

[0039] When it is detected that the RTK data is a fixed solution and the current vehicle speed is greater than the vehicle speed threshold, the calibrated vehicle speed data is calculated based on the initial value of the vehicle speed scale factor and the original vehicle speed data;

[0040] An online calibration calculation is performed based on the RTK data, the calibrated vehicle speed data, and the attitude angle data to obtain a target vehicle speed scale factor.

[0041] In conjunction with the second aspect, in one implementation, the device further includes a data storage module, which is used to:

[0042] Obtaining a target tire pressure level, a target vehicle speed level, and a target road surface state corresponding to the target vehicle speed scale factor;

[0043] Determine whether there is a first vehicle speed scale factor corresponding to the target tire pressure level, the target vehicle speed level and the target road surface state in the vehicle speed scale factor database;

[0044] If it exists, storing the average of the target vehicle speed scale factor and the first vehicle speed scale factor as a new first vehicle speed scale factor in the vehicle speed scale factor database;

[0045] If not, the target vehicle speed scale factor is stored in the vehicle speed scale factor database.

[0046] In combination with the second aspect, in one implementation, the real-time road surface state includes real-time road surface type and real-time road condition.

[0047] In conjunction with the second aspect, in one implementation, the initial value determination module is specifically used to:

[0048] Determine whether there is a second vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level, the real-time road surface type and the real-time road condition in the vehicle speed scale factor database;

[0049] If it exists, the second vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0050] If not, determining whether there is a third vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road type in the vehicle speed scale factor database;

[0051] If it exists, the third vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0052] If not, determining whether there is a fourth vehicle speed scale factor corresponding to the real-time tire pressure level and the real-time vehicle speed level in the vehicle speed scale factor database;

[0053] If it exists, the fourth vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0054] If not, determining whether there is a fifth vehicle speed scale factor corresponding to the real-time tire pressure level in the vehicle speed scale factor database;

[0055] If it exists, the fifth vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0056] If it does not exist, the initial value of the vehicle speed scale factor is set to 1.

[0057] In conjunction with the second aspect, in one implementation, the online calibration module is further used to:

[0058] Determining whether the differences between adjacent target vehicle speed scale factors calculated within a preset time period are all less than a difference threshold;

[0059] If yes, it is determined that the vehicle speed scale factor calibration is successful;

[0060] If not, continue to execute the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the original vehicle speed data and the attitude angle data.

[0061] In a third aspect, an embodiment of the present application provides an online vehicle speed scale factor estimation device, the online vehicle speed scale factor estimation device comprising a processor, a memory, and an online vehicle speed scale factor estimation program stored in the memory and executable by the processor, wherein when the online vehicle speed scale factor estimation program is executed by the processor, the steps of the online vehicle speed scale factor estimation method as described above are implemented.

[0062] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which is stored a vehicle speed scale factor online estimation program, wherein when the vehicle speed scale factor online estimation program is executed by a processor, the steps of the vehicle speed scale factor online estimation method as described above are implemented.

[0063] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0064] The speed scale factor obtained through historical online calibration is determined from the speed scale factor database through the vehicle's real-time tire pressure level, real-time speed level and real-time road condition as the initial value of the speed scale factor, and then the speed data is corrected using the initial value of the speed scale factor, which can effectively avoid the influence of different vehicle conditions and the environment on the speed scale factor, thereby effectively improving the correction accuracy of the speed data, and there is no need to manually calibrate the offline fixed value, which can effectively improve work efficiency and reduce calibration costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A schematic diagram of a flow chart of an embodiment of a method for online estimating a vehicle speed scale factor of the present application;

[0066] Figure 2 This is a functional module diagram of an embodiment of the vehicle speed scale factor online estimation device of the present application;

[0067] Figure 3 Schematic diagram of the hardware structure of the vehicle speed scale factor online estimation device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0068] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0069] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0070] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0071] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0072] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0073] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0074] In a first aspect, an embodiment of the present application provides a method for online estimation of a vehicle speed scale factor.

[0075] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the method for online estimation of vehicle speed scale factor of the present application. Figure 1As shown, the online estimation method of the vehicle speed scale factor includes:

[0076] Step S10: Acquire the real-time tire pressure level, real-time vehicle speed level and real-time road surface status of the vehicle; wherein the real-time road surface status includes the real-time road surface type and real-time road condition.

[0077] For example, in this embodiment, when determining the initial value of the vehicle speed scale factor, the influence of different vehicle states and the environment on the calibration of the vehicle speed scale factor will be fully considered. Therefore, this embodiment will determine a more accurate initial value of the vehicle speed scale factor by obtaining the real-time tire pressure level, real-time vehicle speed level and real-time road surface state of the vehicle.

[0078] As shown in Table 1, in this embodiment, the tire pressure level can be preferably set to three types: high pressure, standard pressure, and low pressure according to the tire pressure value range of the vehicle.

[0079] Table 1 Tire pressure level correspondence table

[0080] grade L(Low tire pressure) N(standard tire pressure) H (high tire pressure) Tire pressure <h2 style=";text-align:left;direction:ltr"><2.3bar<h2 style=";text-align:left;direction:ltr"> 2.3-2.5bar >2.5bar

[0081] It should be noted that the above tire pressure value range and tire pressure level are only presented in the embodiment, and the tire pressure level and its corresponding tire pressure range can also be adjusted according to actual needs. In this embodiment, the specific real-time tire pressure value can be obtained from the vehicle-mounted tire pressure monitoring module, and then the tire pressure level corresponding to the real-time tire pressure value can be determined by looking up Table 1, thereby obtaining the real-time tire pressure level of the vehicle.

[0082] As shown in Table 2, in this embodiment, the vehicle speed level can be preferably set to three types: low speed, medium speed and high speed according to the vehicle speed range.

[0083] Table 2 Vehicle speed level correspondence table

[0084] grade Low speed Medium high speed Speed ​​measurement range <40km / h 40-80km / h >90km / h

[0085] It should be noted that the above speed range and speed level are only presented in the embodiment, and the speed level and its corresponding speed range can be adjusted according to actual needs. In this embodiment, the real-time speed information can be obtained from the vehicle body CAN (Controller Area Network) bus, and then the speed level corresponding to the real-time speed information can be determined by looking up Table 2, thereby obtaining the real-time speed level of the vehicle.

[0086] In this embodiment, the real-time road surface status may preferably include the real-time road surface type and the real-time road condition; wherein, the real-time road surface type includes asphalt road, cement road, gravel road and many other types. Specifically, the road surface image can be obtained by a surround-view camera and feature extraction can be performed, and then the trained classifier can be used to identify and classify to determine the corresponding real-time road surface type; the real-time road condition is related to the weather conditions, which may specifically include waterlogged road surface, dry road surface and snowy road surface and many other types. Similarly, the road surface image can be obtained by a surround-view camera and feature extraction can be performed, and then the trained classifier can be used to identify and classify to determine the corresponding real-time road surface condition; it should be noted that the real-time road surface status can also be determined by other methods, which can be determined according to actual needs and are not limited here.

[0087] It can be seen that when the vehicle is powered on, the real-time tire pressure and real-time road conditions of the vehicle will be read, and the real-time tire pressure level will be determined according to Table 1; and after the vehicle is started, the real-time speed of the vehicle will be read, and the real-time speed level will be determined according to Table 2.

[0088] Step S20: Filter out a vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road condition from a preset vehicle speed scale factor database as an initial value of the vehicle speed scale factor, wherein each vehicle speed scale factor in the vehicle speed scale factor database is a historical vehicle speed scale factor obtained through online calibration.

[0089] Exemplarily, in this embodiment, different initial values ​​of the vehicle speed scale factor are determined according to different vehicle states (i.e., tire pressure states and vehicle speed states) and different environments (i.e., road surface types and road surface conditions). Therefore, a vehicle speed scale factor database is constructed to store the mapping relationship between the real-time tire pressure level, the real-time vehicle speed level, and the real-time road surface conditions and the vehicle speed scale factor. It should be noted that the vehicle speed scale factor stored in the vehicle speed scale factor database is the historical vehicle speed scale factor that has been successfully calibrated online during the vehicle's driving process under different tire pressures, vehicle speeds, and road surface conditions.

[0090] For example, when the tire pressure level is standard tire pressure, the vehicle speed level is medium speed, the road surface type is asphalt road and the road surface condition is dry road surface, the historical vehicle speed scale factor that has been successfully calibrated online is K_new, then the mapping relationship between K_new and standard tire pressure, medium speed, asphalt road and dry road surface is stored in the vehicle speed scale factor database.

[0091] It can be seen that after obtaining the vehicle's real-time tire pressure level, real-time vehicle speed level, real-time road surface type and real-time road surface condition, the vehicle speed scale factor database can be traversed to filter out the vehicle speed scale factor corresponding to the real-time tire pressure level, real-time vehicle speed level, real-time road surface type and real-time road surface condition as the vehicle speed scale factor initial value.

[0092] Step S30: Correcting the vehicle speed data based on the initial value of the vehicle speed scale factor to obtain corrected vehicle speed data.

[0093] Exemplarily, since the initial value of the vehicle speed scale factor provided in this embodiment fully considers the influence of different vehicle states and the environment on the vehicle speed scale factor, by correcting the vehicle speed data using the initial value of the vehicle speed scale factor, more accurate corrected vehicle speed data can be obtained, thereby effectively improving the accuracy of the vehicle speed data correction, and there is no need for manual offline fixed value calibration, thereby effectively improving work efficiency and reducing calibration costs and calibration workload.

[0094] Furthermore, in one embodiment, the method further includes: performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, RTK data, original vehicle speed data and attitude angle data to obtain a target vehicle speed scale factor.

[0095] Exemplarily, it should be understood that, in the initial stage of the vehicle speed scale factor calibration, the provided vehicle speed scale factor initial value is not only used to correct the vehicle speed data, but also used for the subsequent vehicle speed scale factor calibration. Therefore, if the vehicle speed scale factor is calibrated by the default value determined without considering the different states of the vehicle and the different environments, not only will the accuracy of the vehicle speed scale factor calibration be poor, but also the calculation speed of the successful online calibration of the vehicle speed scale factor will be reduced.

[0096] In this embodiment, the vehicle speed scale factor is calibrated and calculated online through the initial value of the vehicle speed scale factor, RTK data, original vehicle speed data and attitude angle data to obtain a target vehicle speed scale factor with higher accuracy. Since the initial value of the vehicle speed scale factor in this embodiment is screened after fully considering the different states and environments of the vehicle, the accuracy of the vehicle speed scale factor calibration result and the calculation speed of the online calibration are effectively improved.

[0097] Furthermore, in one embodiment, the online calibration calculation of the vehicle speed scale factor is performed based on the initial value of the vehicle speed scale factor, the RTK data, the original vehicle speed data, and the attitude angle data to obtain the target vehicle speed scale factor, including:

[0098] When it is detected that the RTK data is a fixed solution and the current vehicle speed is greater than the vehicle speed threshold, the calibrated vehicle speed data is calculated based on the initial value of the vehicle speed scale factor and the original vehicle speed data;

[0099] An online calibration calculation is performed based on the RTK data, the calibrated vehicle speed data, and the attitude angle data to obtain a target vehicle speed scale factor.

[0100] For example, in this embodiment, the specific value of the speed threshold can be determined according to actual needs and is not limited here. For example, the speed threshold can be set to 5m / s. Therefore, when it is detected that the RTK data is a fixed solution and the current speed is greater than 5m / s, it means that the current vehicle is in a suitable calibration environment, so the initial value of the speed scale factor and the original speed data are multiplied to calculate the calibrated speed data Speed_v (that is, the corrected speed data); then the calibrated speed data Speed_v is transformed into the navigation coordinate system (northeast sky) by the attitude angle α calculated by the combined navigation to obtain the target speed Speed_n, that is, Speed_n=Matrix(α)×Speed_v, where Matrix(α) represents the coordinate transformation matrix composed of the attitude angle α; then in the navigation coordinate system, the preset time interval delta_t is integrated based on the target speed Speed_n to obtain the displacement S1.

[0101] Then convert the longitude and latitude data in the RTK data into the navigation coordinate system (northeast sky), and take the initialized position as the coordinate origin, then the displacement S2 can be obtained as the vehicle moves; it should be understood that in the same time period, there is the following relationship: S1×vehicle speed scale factor=S2, then after calculating S1 and S2, the target vehicle speed scale factor=S2 / S1 can be obtained, thereby realizing the online calibration of the vehicle speed scale factor.

[0102] Furthermore, in one embodiment, after the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the original vehicle speed data and the attitude angle data to obtain the target vehicle speed scale factor, the method further includes:

[0103] Determining whether the differences between adjacent target vehicle speed scale factors calculated within a preset time period are all less than a difference threshold;

[0104] If yes, it is determined that the vehicle speed scale factor calibration is successful;

[0105] If not, continue to execute the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the original vehicle speed data and the attitude angle data.

[0106] For example, in this embodiment, in order to obtain a more accurate calibration result, after obtaining the target vehicle speed scale factor, the online calculation is repeated within a preset time to obtain multiple target vehicle speed scale factors, and it is further determined whether the differences between adjacent target vehicle speed scale factors obtained within the preset time are all less than the difference threshold. If so, it is determined that the vehicle speed scale factor calibration is successful, if not, it is re-calibrated.

[0107] It should be noted that the specific value settings of the preset time length and the difference threshold can be determined according to actual needs and are not limited here. For example, the preset time length is set to 10s and the difference threshold is set to 0.0001. Assuming that the target vehicle speed scale factors X1 to X3 are calculated in sequence within 10s, if the difference between X1 and X2 is less than 0.0001 and the difference between X2 and X3 is also less than 0.0001, it is determined that the vehicle speed scale factor calibration is successful, otherwise it is determined that the vehicle speed scale factor calibration fails and recalibration is performed.

[0108] Furthermore, in one embodiment, after the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the vehicle speed data and the attitude angle data to obtain the target vehicle speed scale factor, the method further includes:

[0109] Obtaining a target tire pressure level, a target vehicle speed level, and a target road surface state corresponding to the target vehicle speed scale factor;

[0110] Determine whether there is a first vehicle speed scale factor corresponding to the target tire pressure level, the target vehicle speed level and the target road surface state in the vehicle speed scale factor database;

[0111] If it exists, storing the average of the target vehicle speed scale factor and the first vehicle speed scale factor as a new first vehicle speed scale factor in the vehicle speed scale factor database;

[0112] If not, the target vehicle speed scale factor is stored in the vehicle speed scale factor database.

[0113] Exemplarily, in this embodiment, when the speed scale factor is successfully calibrated online, the speed scale factor needs to be stored in the speed scale factor database to provide conditions for screening the high-precision initial value of the speed scale factor. Specifically, when the speed scale factor is successfully calibrated (i.e., the target speed scale factor is obtained), the target tire pressure level, target speed level, target road surface type and target road surface condition corresponding to the target speed scale factor will be determined; then it is determined whether there is a speed scale factor K1 corresponding to the target tire pressure level, target speed level and target road surface condition in the speed scale factor database. If not, the mapping relationship between the target speed scale factor and the target tire pressure level, target speed level, target road surface type and target road surface condition is stored in the speed scale factor database; and if it exists, the speed scale factor K1 is updated to the average value between the target speed scale factor and the speed scale factor K1.

[0114] Further, in one embodiment, the selecting the vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road surface state from the preset vehicle speed scale factor database as the vehicle speed scale factor initial value includes:

[0115] Determine whether there is a second vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level, the real-time road surface type and the real-time road condition in the vehicle speed scale factor database;

[0116] If it exists, the second vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0117] If not, determining whether there is a third vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road type in the vehicle speed scale factor database;

[0118] If it exists, the third vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0119] If not, determining whether there is a fourth vehicle speed scale factor corresponding to the real-time tire pressure level and the real-time vehicle speed level in the vehicle speed scale factor database;

[0120] If it exists, the fourth vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0121] If not, determining whether there is a fifth vehicle speed scale factor corresponding to the real-time tire pressure level in the vehicle speed scale factor database;

[0122] If it exists, the fifth vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0123] If it does not exist, the initial value of the vehicle speed scale factor is set to 1.

[0124] Exemplarily, in this embodiment, if a speed scale factor of a similar state can be queried in the speed scale factor database according to the real-time tire pressure level, the real-time road surface type, the real-time road surface condition and the real-time vehicle speed level, then this value is taken as the initial value of the speed scale factor; if a speed scale factor of a similar state cannot be queried, then a speed scale factor satisfying the three states of the real-time tire pressure level, the real-time road surface type and the real-time vehicle speed level is queried; if it still cannot be queried, then the speed scale factor satisfying the two conditions of the real-time tire pressure level and the real-time vehicle speed level is continued to be queried; if the above two conditions cannot be met, then the target speed scale factor is directly obtained by matching according to the real-time tire pressure level; if matching cannot be successful according to the real-time tire pressure level, then the speed scale factor is directly taken as 1 for initialization.

[0125] Specifically, first determine whether there is a speed scale factor K2 corresponding to the real-time tire pressure level, the real-time speed level, the real-time road surface type and the real-time road condition in the speed scale factor database; if so, use the speed scale factor K2 as the initial value of the speed scale factor; if not, continue to determine whether there is a speed scale factor K3 corresponding to the real-time tire pressure level, the real-time speed level and the real-time road surface type in the speed scale factor database, if so, use the speed scale factor K3 as the initial value of the speed scale factor; and if not, continue to determine whether there is a speed scale factor K4 corresponding to the real-time tire pressure level and the real-time speed level in the speed scale factor database, if so, use the speed scale factor K4 as the initial value of the speed scale factor; if not, determine whether there is a speed scale factor K5 corresponding to the real-time tire pressure level in the speed scale factor database, if so, use the speed scale factor K5 as the initial value of the speed scale factor, otherwise set the initial value of the speed scale factor to 1.

[0126] It should be noted that, when there are multiple vehicle speed scale factors K2 in the vehicle speed scale factor database, the average of the multiple vehicle speed scale factors K2 can be used as the initial value of the vehicle speed scale factor; similarly, if there are multiple vehicle speed scale factors K3, multiple vehicle speed scale factors K4 or multiple vehicle speed scale factors K5, their average is also used as the initial value of the vehicle speed scale factor.

[0127] It can be seen that the present application forms a database by online statistics and processing of speed scale factors that are successfully calibrated online under different vehicle states and different environments, and after each vehicle start-up, the initial value of the speed scale factor is selected based on the database to screen out the initial value that meets the current working conditions and environment, thereby ensuring that there is a high-precision initial value of the speed scale factor before the speed scale factor is successfully calibrated, thereby improving the accuracy of the speed data correction and the accuracy of the speed scale factor calibration result, thereby ensuring the accuracy of the speed data. At the same time, since the calibration of the speed scale factor in this embodiment is all online automatic calibration, the workload and cost of the traditional calibration method are effectively reduced and the work efficiency is improved.

[0128] In a second aspect, an embodiment of the present application further provides an online estimation device for a vehicle speed scale factor.

[0129] In one embodiment, referring to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of the vehicle speed scale factor online estimation device of the present application. Figure 2 As shown, the vehicle speed scale factor online estimation device includes:

[0130] A data acquisition module, which is used to obtain the vehicle's real-time tire pressure level, real-time vehicle speed level and real-time road conditions;

[0131] an initial value determination module, which is used to select a vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road surface state from a preset vehicle speed scale factor database as a vehicle speed scale factor initial value, wherein each vehicle speed scale factor in the vehicle speed scale factor database is a historical vehicle speed scale factor obtained by online calibration;

[0132] The vehicle speed correction module is used to correct the vehicle speed data based on the initial value of the vehicle speed scale factor to obtain the corrected vehicle speed data.

[0133] Furthermore, in one embodiment, the device also includes an online calibration module, which is used to perform online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, RTK data, original vehicle speed data and attitude angle data to obtain a target vehicle speed scale factor.

[0134] Furthermore, in one embodiment, the online calibration module is specifically used for:

[0135] When it is detected that the RTK data is a fixed solution and the current vehicle speed is greater than the vehicle speed threshold, the calibrated vehicle speed data is calculated based on the initial value of the vehicle speed scale factor and the original vehicle speed data;

[0136] An online calibration calculation is performed based on the RTK data, the calibrated vehicle speed data, and the attitude angle data to obtain a target vehicle speed scale factor.

[0137] Furthermore, in one embodiment, the device further comprises a data storage module, which is used to:

[0138] Obtaining a target tire pressure level, a target vehicle speed level, and a target road surface state corresponding to the target vehicle speed scale factor;

[0139] Determine whether there is a first vehicle speed scale factor corresponding to the target tire pressure level, the target vehicle speed level and the target road surface state in the vehicle speed scale factor database;

[0140] If it exists, storing the average of the target vehicle speed scale factor and the first vehicle speed scale factor as a new first vehicle speed scale factor in the vehicle speed scale factor database;

[0141] If not, the target vehicle speed scale factor is stored in the vehicle speed scale factor database.

[0142] Furthermore, in one embodiment, the online calibration module is also used for:

[0143] Determining whether the differences between adjacent target vehicle speed scale factors calculated within a preset time period are all less than a difference threshold;

[0144] If yes, it is determined that the vehicle speed scale factor calibration is successful;

[0145] If not, continue to execute the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the original vehicle speed data and the attitude angle data.

[0146] Furthermore, in one embodiment, the real-time road surface state includes real-time road surface type and real-time road condition.

[0147] Furthermore, in one embodiment, the initial value determination module is specifically used to:

[0148] Determine whether there is a second vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level, the real-time road surface type and the real-time road condition in the vehicle speed scale factor database;

[0149] If it exists, the second vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0150] If not, determining whether there is a third vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road type in the vehicle speed scale factor database;

[0151] If it exists, the third vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0152] If not, determining whether there is a fourth vehicle speed scale factor corresponding to the real-time tire pressure level and the real-time vehicle speed level in the vehicle speed scale factor database;

[0153] If it exists, the fourth vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0154] If not, determining whether there is a fifth vehicle speed scale factor corresponding to the real-time tire pressure level in the vehicle speed scale factor database;

[0155] If it exists, the fifth vehicle speed scale factor is used as the initial value of the vehicle speed scale factor;

[0156] If it does not exist, the initial value of the vehicle speed scale factor is set to 1.

[0157] The functional implementation of each module in the above-mentioned vehicle speed scale factor online estimation device corresponds to each step in the above-mentioned vehicle speed scale factor online estimation method embodiment, and its functions and implementation processes are not repeated here one by one.

[0158] In a third aspect, an embodiment of the present application provides an online vehicle speed scale factor estimation device, which may be a device with data processing function such as a personal computer (PC), a laptop computer, or a server.

[0159] Reference Figure 3 , Figure 3 Schematic diagram of the hardware structure of the vehicle speed scale factor online estimation device involved in the embodiment of the present application. In the embodiment of the present application, the vehicle speed scale factor online estimation device may include a processor, a memory, a communication interface and a communication bus.

[0160] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0161] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, which are used to interconnect the devices inside the vehicle speed scale factor online estimation device, and an interface used to interconnect the vehicle speed scale factor online estimation device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0162] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0163] The processor may be a general-purpose processor, and the general-purpose processor may call the online estimation program of the vehicle speed scale factor stored in the memory, and execute the online estimation method of the vehicle speed scale factor provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the online estimation program of the vehicle speed scale factor is called may refer to the various embodiments of the online estimation method of the vehicle speed scale factor of the present application, and will not be repeated here.

[0164] Those skilled in the art will understand that Figure 3The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0165] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0166] The readable storage medium of the present application stores a vehicle speed scale factor online estimation program, wherein when the vehicle speed scale factor online estimation program is executed by a processor, the steps of the vehicle speed scale factor online estimation method as described above are implemented.

[0167] The method implemented when the vehicle speed scale factor online estimation program is executed can refer to the various embodiments of the vehicle speed scale factor online estimation method of the present application, and will not be described in detail here.

[0168] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0169] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0170] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for online estimation of vehicle speed scale factor, characterized in that: The vehicle speed scale factor online estimation method comprises: Obtain the vehicle's real-time tire pressure level, real-time speed level, and real-time road conditions; Selecting a vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road surface state from a preset vehicle speed scale factor database as a vehicle speed scale factor initial value, wherein each vehicle speed scale factor in the vehicle speed scale factor database is a historical vehicle speed scale factor obtained by online calibration; Correcting the vehicle speed data based on the initial value of the vehicle speed scale factor to obtain corrected vehicle speed data; Wherein, the method further comprises: Performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, RTK data, original vehicle speed data, and attitude angle data to obtain a target vehicle speed scale factor; Determining whether the differences between adjacent target vehicle speed scale factors calculated within a preset time period are all less than a difference threshold; If yes, it is determined that the vehicle speed scale factor calibration is successful; If not, continue to execute the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the original vehicle speed data and the attitude angle data.

2. The method for online estimation of vehicle speed scale factor according to claim 1, characterized in that: The online calibration calculation of the vehicle speed scale factor is performed based on the initial value of the vehicle speed scale factor, the RTK data, the original vehicle speed data and the attitude angle data to obtain the target vehicle speed scale factor, including: When it is detected that the RTK data is a fixed solution and the current vehicle speed is greater than the vehicle speed threshold, the calibrated vehicle speed data is calculated based on the initial value of the vehicle speed scale factor and the original vehicle speed data; An online calibration calculation is performed based on the RTK data, the calibrated vehicle speed data, and the attitude angle data to obtain a target vehicle speed scale factor.

3. The method for online estimation of vehicle speed scale factor according to claim 1, characterized in that: After the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, the RTK data, the vehicle speed data and the attitude angle data to obtain the target vehicle speed scale factor, the method further includes: Obtaining a target tire pressure level, a target vehicle speed level, and a target road surface state corresponding to the target vehicle speed scale factor; Determine whether there is a first vehicle speed scale factor corresponding to the target tire pressure level, the target vehicle speed level and the target road surface state in the vehicle speed scale factor database; If it exists, storing the average of the target vehicle speed scale factor and the first vehicle speed scale factor as a new first vehicle speed scale factor in the vehicle speed scale factor database; If not, the target vehicle speed scale factor is stored in the vehicle speed scale factor database.

4. The method for online estimation of vehicle speed scale factor according to claim 1, characterized in that: The real-time road surface state includes real-time road surface type and real-time road condition.

5. The method for online estimation of vehicle speed scale factor according to claim 4, characterized in that: The step of selecting a vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road surface state from a preset vehicle speed scale factor database as the vehicle speed scale factor initial value includes: Determine whether there is a second vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level, the real-time road surface type and the real-time road condition in the vehicle speed scale factor database; If it exists, the second vehicle speed scale factor is used as the initial value of the vehicle speed scale factor; If not, determining whether there is a third vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road type in the vehicle speed scale factor database; If it exists, the third vehicle speed scale factor is used as the initial value of the vehicle speed scale factor; If not, determining whether there is a fourth vehicle speed scale factor corresponding to the real-time tire pressure level and the real-time vehicle speed level in the vehicle speed scale factor database; If it exists, the fourth vehicle speed scale factor is used as the initial value of the vehicle speed scale factor; If not, determining whether there is a fifth vehicle speed scale factor corresponding to the real-time tire pressure level in the vehicle speed scale factor database; If it exists, the fifth vehicle speed scale factor is used as the initial value of the vehicle speed scale factor; If it does not exist, the initial value of the vehicle speed scale factor is set to 1.

6. A vehicle speed scale factor online estimation device, characterized in that: The vehicle speed scale factor online estimation device comprises: A data acquisition module, which is used to obtain the vehicle's real-time tire pressure level, real-time vehicle speed level and real-time road conditions; an initial value determination module, which is used to select a vehicle speed scale factor corresponding to the real-time tire pressure level, the real-time vehicle speed level and the real-time road surface state from a preset vehicle speed scale factor database as a vehicle speed scale factor initial value, wherein each vehicle speed scale factor in the vehicle speed scale factor database is a historical vehicle speed scale factor obtained by online calibration; A vehicle speed correction module, which is used to correct the vehicle speed data based on the initial value of the vehicle speed scale factor to obtain corrected vehicle speed data; The online calibration module is used to perform online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, RTK data, original vehicle speed data and attitude angle data to obtain a target vehicle speed scale factor; determine whether the differences between adjacent target vehicle speed scale factors calculated within a preset time are all less than a difference threshold; if so, determine that the vehicle speed scale factor calibration is successful; if not, continue to perform the step of performing online calibration calculation of the vehicle speed scale factor based on the initial value of the vehicle speed scale factor, RTK data, original vehicle speed data and attitude angle data.

7. A vehicle speed scale factor online estimation device, characterized in that: The vehicle speed scale factor online estimation device includes a processor, a memory, and a vehicle speed scale factor online estimation program stored in the memory and executable by the processor, wherein when the vehicle speed scale factor online estimation program is executed by the processor, the steps of the vehicle speed scale factor online estimation method as claimed in any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle speed scale factor online estimation program, wherein when the vehicle speed scale factor online estimation program is executed by a processor, the steps of the vehicle speed scale factor online estimation method according to any one of claims 1 to 5 are implemented.

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