Vehicle speed determination method and apparatus, electronic device, computer readable storage medium and computer program product

Abstract

Embodiments of the present application provide a vehicle speed determination method, device, electronic equipment, computer readable storage medium and computer program product. The vehicle speed determination method comprises: obtaining wheel speed state information of N wheels, the wheel speed state information comprising wheel speed validity information and wheel speed; obtaining motor state information of M motors, the motor state information comprising rotation speed validity information, rotation speed, rotation speed direction and torque direction; obtaining anti-lock braking system (ABS) anti-lock state information, the ABS anti-lock state information comprising ABS wheel speed; in the case that at least one parameter in the wheel speed of the N wheels and the rotation speed of the M motors is valid, determining a working condition of a vehicle according to the rotation speed direction and the torque direction; and determining a vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed. The embodiments of the present application can improve the accuracy of vehicle speed calculation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle speed determination method and device, electronic equipment, computer readable storage medium and computer program product. BACKGROUND

[0002] In the process of vehicle driving, obtaining accurate vehicle speed is helpful to ensure the normal operation of various functions of the vehicle system, and provide visual information for users in the process of vehicle driving, so that users can more clearly understand the current motion state of the vehicle, and the user experience can be improved. At present, the vehicle speed calculation method of the automobile is as follows: obtaining a pulse signal output by a vehicle speed sensor, calculating the rotation speed of the wheel according to the period of the pulse signal, and then converting the rotation speed into the vehicle speed. However, at low vehicle speed, the calculation accuracy of the rotation speed of the wheel is poor, resulting in low accuracy of vehicle speed calculation. SUMMARY

[0003] The embodiments of the present application provide a vehicle speed determination method, device, electronic equipment, computer readable storage medium and computer program product, which can improve the accuracy of vehicle speed calculation.

[0004] The first aspect of the embodiments of the present application provides a vehicle speed determination method, comprising:

[0005] Obtaining wheel speed state information of N wheels, the wheel speed state information comprising wheel speed validity information and wheel speed, N being an integer greater than or equal to 4;

[0006] Obtaining motor state information of M motors, the motor state information comprising rotation speed validity information, rotation speed, rotation speed direction and torque direction, M being an integer greater than or equal to 1;

[0007] Obtaining anti-lock state information of an anti-lock braking system (ABS), the anti-lock state information comprising ABS wheel speed;

[0008] In the case that at least one parameter of the wheel speed of the N wheels and the rotation speed of the M motors is valid, determining the working condition of the vehicle according to the rotation speed direction and the torque direction;

[0009] Determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed.

[0010] Optionally, the determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises:

[0011] In the case that the vehicle is in the driving working condition, the wheel speeds of the N wheels are all valid, and the rotation speeds of the M motors are all valid, the minimum value among the wheel speeds of the N wheels, the rotation speed calculation wheel speeds of the M motors and the ABS wheel speed is determined as the target wheel speed;

[0012] In the case that the vehicle is in the deceleration working condition, the wheel speeds of the N wheels are all valid, and the rotation speeds of the M motors are all valid, the maximum value among the wheel speeds of the N wheels, the rotation speed calculation wheel speeds of the M motors and the ABS wheel speed is determined as the target wheel speed;

[0013] The vehicle speed is determined according to the target wheel speed;

[0014] The rotation speed calculation wheel speed of the M motors is the wheel speed calculated based on the rotation speeds of the M motors.

[0015] Optionally, if N=4 and M=2, the N wheels include two front axle wheels and two rear axle wheels, and the M motors include a front axle motor and a rear axle motor.

[0016] Optionally, the determination of the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises:

[0017] In the case that the two front axle wheels include one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels are all valid, and the rotation speeds of the M motors are all valid, the wheel speed of the wheel speed invalid front axle wheel is estimated based on the rotation speed calculation wheel speed of the front axle motor and the wheel speed of the wheel speed valid front axle wheel, to obtain the estimated wheel speed of the wheel speed invalid front axle wheel;

[0018] In the case that the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels, the rotation speed calculation wheel speeds of the M motors and the ABS wheel speed is determined as the target wheel speed;

[0019] In the case that the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels, the rotation speed calculation wheel speeds of the M motors and the ABS wheel speed is determined as the target wheel speed;

[0020] The vehicle speed is determined according to the target wheel speed;

[0021] The rotation speed calculation wheel speed of the M motors is the wheel speed calculated based on the rotation speeds of the M motors.

[0022] Optionally, the determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises:

[0023] In the case that the two front axle wheels comprise one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the two rear axle wheels comprise one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, and the rotating speeds of the M motors are all valid, the wheel speed of the wheel speed invalid front axle wheel is estimated based on the rotating speed calculation wheel speed of the front axle motor and the wheel speed of the wheel speed valid front axle wheel, to obtain the estimated wheel speed of the wheel speed invalid front axle wheel; the wheel speed of the wheel speed invalid rear axle wheel is estimated based on the rotating speed calculation wheel speed of the rear axle motor and the wheel speed of the wheel speed valid rear axle wheel, to obtain the estimated wheel speed of the wheel speed invalid rear axle wheel.

[0024] In the case that the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed is determined as the target wheel speed.

[0025] In the case that the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed is determined as the target wheel speed.

[0026] The vehicle speed is determined according to the target wheel speed.

[0027] The rotating speed calculation wheel speed of the M motors is the wheel speed calculated based on the rotating speeds of the M motors.

[0028] Optionally, the determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises:

[0029] In the case that the two front axle wheels comprise one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels are all invalid, and the rotating speeds of the M motors are all valid, the wheel speed of the wheel speed invalid front axle wheel is estimated based on the rotating speed calculation wheel speed of the front axle motor and the wheel speed of the wheel speed valid front axle wheel, to obtain the estimated wheel speed of the wheel speed invalid front axle wheel.

[0030] determining a minimum value of the estimated wheel speed of the front wheel whose wheel speed is invalid, the wheel speed of the front wheel whose wheel speed is valid, the rotational speed calculated wheel speed of the M motors and the ABS wheel speed as the target wheel speed when the vehicle is in the driving working condition;

[0031] determining a maximum value of the estimated wheel speed of the front wheel whose wheel speed is invalid, the wheel speed of the front wheel whose wheel speed is valid, the rotational speed calculated wheel speed of the M motors and the ABS wheel speed as the target wheel speed when the vehicle is in the deceleration working condition;

[0032] determining the vehicle speed according to the target wheel speed;

[0033] wherein the rotational speed calculated wheel speed of the M motors is a wheel speed calculated based on the rotational speeds of the M motors.

[0034] Optionally, the determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotational speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises:

[0035] in a case that the two front wheels include one front wheel whose wheel speed is invalid and one front wheel whose wheel speed is valid, the wheel speeds of the two rear wheels are invalid, and the rotational speed of the front motor is valid and the rotational speed of the rear motor is invalid, estimating the wheel speed of the front wheel whose wheel speed is invalid based on the rotational speed calculated wheel speed of the front motor and the wheel speed of the front wheel whose wheel speed is valid to obtain the estimated wheel speed of the front wheel whose wheel speed is invalid;

[0036] determining a minimum value of the estimated wheel speed of the front wheel whose wheel speed is invalid, the wheel speed of the front wheel whose wheel speed is valid, the rotational speed calculated wheel speed of the front motor and the ABS wheel speed as the target wheel speed when the vehicle is in the driving working condition;

[0037] determining a maximum value of the estimated wheel speed of the front wheel whose wheel speed is invalid, the wheel speed of the front wheel whose wheel speed is valid, the rotational speed calculated wheel speed of the front motor and the ABS wheel speed as the target wheel speed when the vehicle is in the deceleration working condition;

[0038] determining the vehicle speed according to the target wheel speed;

[0039] wherein the rotational speed calculated wheel speed of the front motor is a wheel speed calculated based on the rotational speed of the front motor.

[0040] Optionally, the determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotational speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises:

[0041] In the case that the wheel speeds of the two front axle wheels are all valid, the two rear axle wheels comprise one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, and the rotation speeds of the M motors are all valid, the wheel speed of the wheel speed invalid rear axle wheel is estimated based on the rotation speed calculation wheel speed of the rear axle motor and the wheel speed of the wheel speed valid rear axle wheel, to obtain the estimated wheel speed of the wheel speed invalid rear axle wheel;

[0042] In the case that the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the wheel speeds of the two front axle wheels, the rotation speed calculation wheel speed of the M motors and the ABS wheel speed is determined as the target wheel speed;

[0043] In the case that the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the wheel speeds of the two front axle wheels, the rotation speed calculation wheel speed of the M motors and the ABS wheel speed is determined as the target wheel speed;

[0044] The vehicle speed is determined according to the target wheel speed.

[0045] The rotation speed calculation wheel speed of the M motors is the wheel speed calculated based on the rotation speeds of the M motors.

[0046] Optionally, the vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed, comprising:

[0047] In the case that the wheel speeds of the two front axle wheels are all valid, the two rear axle wheels comprise one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, and the rotation speed of the front axle motor is invalid and the rotation speed of the rear axle motor is valid, the wheel speed of the wheel speed invalid rear axle wheel is estimated based on the rotation speed calculation wheel speed of the rear axle motor and the wheel speed of the wheel speed valid rear axle wheel, to obtain the estimated wheel speed of the wheel speed invalid rear axle wheel;

[0048] In the case that the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the wheel speeds of the two front axle wheels, the rotation speed calculation wheel speed of the rear axle motor and the ABS wheel speed is determined as the target wheel speed;

[0049] In the case that the vehicle is in the deceleration working condition, determining the maximum value among the estimated wheel speed of the rear wheel with invalid wheel speed, the wheel speed of the rear wheel with valid wheel speed, the wheel speed of the two front wheels, the rotational speed calculation wheel speed of the rear motor and the ABS wheel speed as the target wheel speed;

[0050] Determining the vehicle speed according to the target wheel speed;

[0051] The rotational speed calculation wheel speed of the rear motor is a wheel speed calculated based on the rotational speed of the rear motor.

[0052] Optionally, the determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotational speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises:

[0053] In the case that the wheel speed of the two front wheels is invalid, the two rear wheels include one rear wheel with invalid wheel speed and one rear wheel with valid wheel speed, and the rotational speed of the front motor is invalid and the rotational speed of the rear motor is valid, estimating the wheel speed of the rear wheel with invalid wheel speed based on the rotational speed calculation wheel speed of the rear motor and the wheel speed of the rear wheel with valid wheel speed, to obtain the estimated wheel speed of the rear wheel with invalid wheel speed;

[0054] In the case that the vehicle is in the deceleration working condition, determining the maximum value among the estimated wheel speed of the rear wheel with invalid wheel speed, the wheel speed of the rear wheel with valid wheel speed, the rotational speed calculation wheel speed of the rear motor and the ABS wheel speed as the target wheel speed;

[0055] In the case that the vehicle is in the deceleration working condition, determining the maximum value among the estimated wheel speed of the rear wheel with invalid wheel speed, the wheel speed of the rear wheel with valid wheel speed, the rotational speed calculation wheel speed of the rear motor and the ABS wheel speed as the target wheel speed;

[0056] Determining the vehicle speed according to the target wheel speed;

[0057] The rotational speed calculation wheel speed of the rear motor is a wheel speed calculated based on the rotational speed of the rear motor.

[0058] Optionally, the determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotational speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises:

[0059] In the driving condition, the wheel speeds of the two rear wheels are invalid, the two front wheels include one invalid front wheel and one valid front wheel, the speed of the front motor is invalid, and the speed of the rear motor is valid, the minimum value of the wheel speed of the valid front wheel, the wheel speed calculated based on the speed of the rear motor, and the ABS wheel speed is determined as the target wheel speed;

[0060] In the deceleration condition, the wheel speeds of the two rear wheels are invalid, the two front wheels include one invalid front wheel and one valid front wheel, the speed of the front motor is invalid, and the speed of the rear motor is valid, the maximum value of the wheel speed of the valid front wheel, the wheel speed calculated based on the speed of the rear motor, and the ABS wheel speed is determined as the target wheel speed;

[0061] The vehicle speed is determined according to the target wheel speed.

[0062] The wheel speed calculated based on the speed of the rear motor is a wheel speed calculated based on the speed of the rear motor.

[0063] Optionally, the vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the speed validity information of the M motors, the at least one parameter, and the ABS wheel speed, including:

[0064] In the driving condition, the wheel speeds of the two front wheels are invalid, the two rear wheels include one invalid rear wheel and one valid rear wheel, the speed of the front motor is valid, and the speed of the rear motor is invalid, the minimum value of the wheel speed of the valid rear wheel, the wheel speed calculated based on the speed of the front motor, and the ABS wheel speed is determined as the target wheel speed;

[0065] In the deceleration condition, the wheel speeds of the two front wheels are invalid, the two rear wheels include one invalid rear wheel and one valid rear wheel, the speed of the front motor is valid, and the speed of the rear motor is invalid, the maximum value of the wheel speed of the valid rear wheel, the wheel speed calculated based on the speed of the front motor, and the ABS wheel speed is determined as the target wheel speed;

[0066] The vehicle speed is determined according to the target wheel speed.

[0067] The wheel speed calculated based on the speed of the front motor is a wheel speed calculated based on the speed of the front motor.

[0068] Optionally, the determining the vehicle speed according to the working condition of the vehicle, the validity information of the wheel speeds of the N wheels, the validity information of the rotating speeds of the M motors, the at least one parameter and the ABS wheel speed comprises:

[0069] In the case that the vehicle is in the driving working condition, the wheel speeds of the N wheels are all invalid, the rotating speed of the front axle motor is valid, and the rotating speed of the rear axle motor is invalid, the minimum value between the rotating speed calculation wheel speed of the front axle motor and the ABS wheel speed is determined as the target wheel speed.

[0070] In the case that the vehicle is in the deceleration working condition, the wheel speeds of the N wheels are all invalid, the rotating speed of the front axle motor is valid, and the rotating speed of the rear axle motor is invalid, the maximum value between the rotating speed calculation wheel speed of the front axle motor and the ABS wheel speed is determined as the target wheel speed.

[0071] In the case that the vehicle is in the driving working condition, the wheel speeds of the N wheels are all invalid, the rotating speed of the front axle motor is invalid, and the rotating speed of the rear axle motor is valid, the minimum value between the rotating speed calculation wheel speed of the rear axle motor and the ABS wheel speed is determined as the target wheel speed.

[0072] In the case that the vehicle is in the deceleration working condition, the wheel speeds of the N wheels are all invalid, the rotating speed of the front axle motor is invalid, and the rotating speed of the rear axle motor is valid, the maximum value between the rotating speed calculation wheel speed of the rear axle motor and the ABS wheel speed is determined as the target wheel speed.

[0073] The vehicle speed is determined according to the target wheel speed.

[0074] The rotating speed calculation wheel speed of the front axle motor is a wheel speed calculated based on the rotating speed of the front axle motor, and the rotating speed calculation wheel speed of the rear axle motor is a wheel speed calculated based on the rotating speed of the rear axle motor.

[0075] Optionally, the determining the vehicle speed according to the working condition of the vehicle, the validity information of the wheel speeds of the N wheels, the validity information of the rotating speeds of the M motors, the at least one parameter and the ABS wheel speed comprises:

[0076] In the case that the vehicle is in the driving working condition, the wheel speed of at least one wheel of the N wheels is valid, and the rotating speeds of the M motors are all invalid, the minimum value between the wheel speed of the at least one wheel and the ABS wheel speed is determined as the target wheel speed.

[0077] In the case that the vehicle is in the deceleration working condition, the wheel speed of at least one wheel of the N wheels is valid, and the rotating speeds of the M motors are all invalid, the maximum value between the wheel speed of the at least one wheel and the ABS wheel speed is determined as the target wheel speed.

[0078] Determine the vehicle speed according to the target wheel speed.

[0079] Optionally, the method further comprises:

[0080] In a case where the wheel speeds of the N wheels are all invalid and the rotation speeds of the M motors are all invalid, determine the vehicle speed as 0.

[0081] Optionally, the method further comprises:

[0082] Filter the vehicle speed to obtain a filtered vehicle speed, and take the filtered vehicle speed as the vehicle speed of the vehicle.

[0083] A second aspect of the embodiment of the application provides a vehicle speed determination apparatus, comprising:

[0084] An acquisition unit, configured to acquire wheel speed state information of N wheels, the wheel speed state information comprising wheel speed validity information and wheel speed, N being an integer greater than or equal to 4;

[0085] The acquisition unit is further configured to acquire motor state information of M motors, the motor state information comprising rotation speed validity information, rotation speed, rotation speed direction and torque direction, M being an integer greater than or equal to 1;

[0086] The acquisition unit is further configured to acquire anti-lock state information of an anti-lock braking system (ABS), the anti-lock state information comprising an ABS wheel speed;

[0087] A determination unit, configured to, in a case where at least one parameter among the wheel speeds of the N wheels and the rotation speeds of the M motors is valid, determine a working condition of a vehicle according to the rotation speed direction and the torque direction;

[0088] The determination unit is further configured to determine a vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed.

[0089] A third aspect of the embodiment of the application provides an electronic device, comprising a processor and a memory, the memory being configured to store a computer program, the computer program comprising program instructions, and the processor being configured to invoke the program instructions to execute the steps as described in the first aspect of the embodiment of the application.

[0090] A fourth aspect of the embodiment of the application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program for electronic data exchange, and the computer program causes a computer to execute some or all of the steps as described in the first aspect of the embodiment of the application.

[0091] A fifth aspect of the embodiments of the present application provides a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause a computer to execute part or all of the steps described in the first aspect of the embodiments of the present application. The computer program product can be a software installation package.

[0092] In the embodiments of the present application, wheel speed state information of N wheels is acquired, the wheel speed state information includes wheel speed validity information and wheel speed, N is an integer greater than or equal to 4; motor state information of M motors is acquired, the motor state information includes rotation speed validity information, rotation speed, rotation speed direction and torque direction, M is an integer greater than or equal to 1; anti-lock state information of an anti-lock braking system (ABS) is acquired, the anti-lock state information includes ABS wheel speed; in a case that at least one parameter in the wheel speed of the N wheels and the rotation speed of the M motors is valid, a working condition of a vehicle is determined according to the rotation speed direction and the torque direction; and a vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed. In the embodiments of the present application, in a case that at least one parameter in the wheel speed of the N wheels and the rotation speed of the M motors is valid, a working condition of a vehicle is determined according to the rotation speed direction and the torque direction; and a vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed. Considering the at least one valid parameter in the wheel speed of the N wheels and the rotation speed of the M motors and the ABS wheel speed, compared with only considering the rotation speed of the wheels, the accuracy of the vehicle speed calculation can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0093] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0094] Figure 1 is a flowchart of a vehicle speed determination method provided by the embodiments of the present application;

[0095] Figure 2 is a flowchart of another vehicle speed determination method provided by the embodiments of the present application;

[0096] Figure 3 is a specific flowchart of a vehicle speed determination method provided by the embodiments of the present application;

[0097] Figure 4 is a structural schematic diagram of a vehicle speed determination apparatus provided by the embodiments of the present application;

[0098] Figure 5 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0099] The technical solutions in the embodiments of the present application will be clearly and completely described 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, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0100] The terms "first", "second", and the like in the specification and claims of the present application and the above drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. 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 can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or device.

[0101] In the present application, the phrase "embodiment" means that the specific features, structures, or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by a person skilled in the art that the embodiments described in the present application can be combined with other embodiments.

[0102] Please refer to Figure 1 , Figure 1 is a flowchart of a vehicle speed determination method provided by an embodiment of the present application. As Figure 1 shown, the vehicle speed determination method includes the following steps.

[0103] 101, the electronic device obtains wheel speed state information of N wheels, the wheel speed state information includes wheel speed validity information and wheel speed, and N is an integer greater than or equal to 4.

[0104] In the embodiments of the present application, the wheel speed validity information includes: wheel speed is valid or wheel speed is invalid. If the wheel speed validity information of a certain wheel is wheel speed is valid, the wheel speed of the wheel is valid and can be used for subsequent vehicle speed calculation; if the wheel speed validity information of a certain wheel is wheel speed is invalid, the wheel speed of the wheel is invalid and cannot be used for subsequent vehicle speed calculation.

[0105] Each wheel can be equipped with a wheel sensor, and the wheel sensor of each wheel can upload wheel speed state information of the corresponding wheel to the electronic device. For example, the wheel sensor of each wheel can periodically report the wheel speed state information of the corresponding wheel to the electronic device.

[0106] The wheel speed state information can further include a wheel speed direction.

[0107] 102, the electronic device obtains motor state information of M motors, the motor state information including rotation speed validity information, rotation speed, rotation speed direction and torque direction, M being an integer greater than or equal to 1.

[0108] In the embodiment of the application, the rotation speed validity information includes rotation speed valid or rotation speed invalid. If the rotation speed validity information of a certain motor is rotation speed valid, the rotation speed of the motor is valid and can be used for subsequent vehicle speed calculation; if the rotation speed validity information of a certain motor is rotation speed invalid, the rotation speed of the motor is invalid and cannot be used for subsequent vehicle speed calculation. It should be noted that rotation speed valid or rotation speed invalid does not affect the validity of the rotation speed direction. The rotation speed direction of the embodiment of the application is not affected by rotation speed invalid.

[0109] Each motor can be equipped with a motor sensor, and the motor sensor of each motor can upload motor state information of the corresponding motor to the electronic device. For example, the motor sensor of each motor can periodically report the motor state information of the corresponding motor to the electronic device.

[0110] The motor state information can further include torque validity and torque. The torque validity includes torque valid or torque invalid. The torque validity is used to indicate whether the torque is valid. It should be noted that torque valid or torque invalid does not affect the validity of the torque direction. The torque direction of the embodiment of the application is not affected by torque invalid.

[0111] 103, the electronic device obtains anti-lock state information of an anti-lock braking system (ABS), and the anti-lock state information includes ABS wheel speed.

[0112] The anti-lock braking system (ABS) can also be referred to as the anti-lock braking system. The ABS can automatically control the braking force of the brake when the vehicle brakes, so that the wheels are not locked, thereby ensuring that the adhesion between the wheels and the ground is at the maximum value, and improving the safety of the vehicle braking.

[0113] The ABS wheel speed is the wheel speed information reported by the ABS to the electronic device after the ABS is started during the vehicle braking process.

[0114] 104, in the case that at least one parameter of the wheel speeds of the N wheels and the rotation speeds of the M motors is valid, the electronic device determines the working condition of the vehicle according to the rotation speed direction and the torque direction.

[0115] In the embodiment of the application, the electronic device determines the working condition of the vehicle according to the rotation speed direction and the torque direction, comprising: in the case that the rotation speed direction and the torque direction are the same, determining that the working condition of the vehicle is a driving working condition; in the case that the rotation speed direction and the torque direction are not the same, determining that the working condition of the vehicle is a deceleration working condition.

[0116] Specifically, in the case that the rotation speed direction and the torque direction of the M motors are the same, it is determined that the working condition of the vehicle is a driving working condition; in the case that the rotation speed direction and the torque direction of the M motors are not the same, it is determined that the working condition of the vehicle is a deceleration working condition.

[0117] The driving working condition indicates that the vehicle is in a driving state. For example, when the driver steps on the accelerator pedal.

[0118] The deceleration working condition indicates that the vehicle is in a deceleration state. For example, when the driver steps on the brake pedal or releases the accelerator pedal.

[0119] 105, the electronic device determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, at least one parameter, and the ABS wheel speed.

[0120] In the embodiment of the application, the at least one parameter refers to the valid parameter of the wheel speed of the N wheels and the rotation speed of the M motors.

[0121] The electronic device in the embodiment of the application can be a vehicle control unit (VCU) in the vehicle.

[0122] The execution order of steps 101, 102, and 103 is not limited. In one possible example, steps 101, 102, and 103 can be executed in parallel; in another possible example, step 101 can be executed first, and then steps 102 and 103 can be executed; in another possible example, step 102 can be executed first, and then steps 101 and 103 can be executed; in another possible example, step 103 can be executed first, and then steps 101 and 102 can be executed.

[0123] Step 104 is executed after steps 101, 102, and 103 are executed. Step 105 is executed after step 104 is executed.

[0124] In the embodiments of the present application, when at least one parameter in the wheel speeds of the N wheels and the rotation speeds of the M motors is valid, the working condition of the vehicle is determined according to the rotation speed direction and the torque direction; and the vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter, and the ABS wheel speed. Considering the at least one valid parameter in the wheel speeds of the N wheels and the rotation speeds of the M motors and the ABS wheel speed, compared with only considering the rotation speed of the wheel, the accuracy of the vehicle speed calculation can be improved.

[0125] Optionally, the step 105 can specifically include the following steps:

[0126] (11) In the case that the vehicle is in the driving working condition, the wheel speeds of the N wheels are all valid, and the rotation speeds of the M motors are all valid, the electronic device determines the minimum value in the wheel speeds of the N wheels, the rotation speed calculation wheel speeds of the M motors, and the ABS wheel speed as the target wheel speed;

[0127] (12) In the case that the vehicle is in the deceleration working condition, the wheel speeds of the N wheels are all valid, and the rotation speeds of the M motors are all valid, the electronic device determines the maximum value in the wheel speeds of the N wheels, the rotation speed calculation wheel speeds of the M motors, and the ABS wheel speed as the target wheel speed;

[0128] (13) The electronic device determines the vehicle speed according to the target wheel speed;

[0129] The rotation speed calculation wheel speed of the M motors is the wheel speed calculated based on the rotation speeds of the M motors.

[0130] In the embodiments of the present application, the at least one parameter is the wheel speed of the N wheels and the rotation speed of the M motors.

[0131] The rotation speed calculation wheel speed of the M motors is the wheel speed calculated based on the rotation speeds of the M motors. The rotation speed calculation wheel speed of each motor can be calculated based on the rotation speed of the motor. The rotation speed calculation wheel speed of the motor can be calculated according to the rotation speed of the motor. The wheel speed of the wheel = the rotation speed of the motor * the transmission ratio. For example, the rotation speed of the motor is 400 revolutions per minute (rpm), and the transmission ratio is 2.5:1, then the wheel speed of the wheel is 1000 revolutions per minute (rpm).

[0132] The vehicle speed can be calculated according to the wheel speed of the wheel and the circumference of the wheel. The vehicle speed = the wheel speed of the wheel * the circumference of the wheel; if the wheel speed of the wheel is 1000 rpm, and the circumference of the wheel is 1.5 meters, then the vehicle speed is 1500 meters per minute, i.e. 90 kilometers per hour.

[0133] In the driving condition, the target wheel speed takes the minimum value, which can avoid the wheel slip or the wheel suspension to cause the wheel speed too large to affect the target wheel speed, and can improve the accuracy of the calculation of the target wheel speed.

[0134] In the deceleration condition, the target wheel speed takes the maximum value, and in the deceleration parking condition, part of the wheels have stopped, and the wheel speed is 0, and the other part of the wheels have not stopped, and the wheel speed is not 0. In order to accurately determine whether the vehicle has stopped, the maximum value is taken to avoid the situation that the vehicle is misjudged as parking and the door is opened, which can ensure the safety in parking.

[0135] In the wheel slip, wheel suspension and ABS triggered locking conditions, the wheel sensor will also transmit effective data. In the driving condition, in order to avoid the wheel slip or the wheel suspension to cause the wheel speed too large, the target wheel speed takes the minimum value, which can improve the accuracy of the calculation of the target wheel speed. In the deceleration condition, in order to avoid the wheel speed becoming 0 when the ABS is triggered and locked, the target wheel speed takes the maximum value, which can improve the safety.

[0136] Optionally, when N=4 and M=2, the N wheels include 2 front axle wheels and 2 rear axle wheels, and the M motors include front axle motors and rear axle motors. The 2 front axle wheels include a left front axle wheel and a right front axle wheel, and the 2 rear axle wheels include a left rear axle wheel and a right rear axle wheel. The front axle wheel can also be referred to as a front wheel, and the rear axle wheel can also be referred to as a rear wheel. The front axle motor can also be referred to as a front motor, and the rear axle motor can also be referred to as a rear motor.

[0137] The power output of the front axle motor is at the front wheel, and the front axle motor is used to drive the front axle wheel. The power output of the rear axle motor is at the rear wheel, and the rear axle motor is used to drive the rear axle wheel.

[0138] Optionally, step 105 can specifically include the following steps:

[0139] (21) In the case that the 2 front axle wheels include a wheel speed invalid front axle wheel and a wheel speed valid front axle wheel, the wheel speeds of the 2 rear axle wheels are all valid, and the rotation speeds of the M motors are all valid, the electronic device estimates the wheel speed of the wheel speed invalid front axle wheel based on the rotation speed of the front axle motor and the wheel speed of the wheel speed valid front axle wheel, to obtain an estimated wheel speed of the wheel speed invalid front axle wheel;

[0140] (22) In the case that the vehicle is in the driving condition, the electronic device determines the minimum value of the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the wheel speeds of the 2 rear axle wheels, the rotation speeds of the M motors and the ABS wheel speed as the target wheel speed;

[0141] (23) In the case that the vehicle is in the deceleration working condition, the electronic device determines the maximum value among the estimated wheel speed of the front axle wheel with invalid wheel speed, the wheel speed of the front axle wheel with valid wheel speed, the wheel speeds of the two rear axle wheels, the wheel speed calculated based on the rotation speed of the M motors and the ABS wheel speed as the target wheel speed;

[0142] (24) The electronic device determines the vehicle speed according to the target wheel speed;

[0143] The wheel speed calculated based on the rotation speed of the M motors is the wheel speed calculated based on the rotation speed of the M motors.

[0144] In the embodiments of the present application, the at least one parameter is the wheel speed of the front axle wheel with valid wheel speed, the wheel speeds of the two rear axle wheels and the rotation speed of the M motors.

[0145] In the embodiments of the present application, in the case that the two front axle wheels include one front axle wheel with invalid wheel speed and one front axle wheel with valid wheel speed, the wheel speeds of the two rear axle wheels are all valid, and the rotation speeds of the M motors are all valid, the wheel speed of the front axle wheel with invalid wheel speed is estimated based on the wheel speed calculated based on the rotation speed of the front axle motor and the wheel speed of the front axle wheel with valid wheel speed, to obtain the estimated wheel speed of the front axle wheel with invalid wheel speed. The estimated wheel speed of the front axle wheel with invalid wheel speed is estimated based on the wheel speed calculated based on the rotation speed of the front axle motor and the wheel speed of the front axle wheel with valid wheel speed. Since the front axle wheel is driven by the front axle motor, the estimation accuracy of the estimated wheel speed of the front axle wheel with invalid wheel speed can be improved.

[0146] When the rotation speed of the motor and the wheel speed of the wheel are both valid, the rotation speed of the motor is more reliable than the wheel speed of the wheel. When the reliability of the wheel speed of the valid front axle wheel is low, the wheel speed of the front axle wheel with invalid wheel speed is estimated based on the wheel speed calculated based on the rotation speed of the front axle motor and the wheel speed of the front axle wheel with valid wheel speed, so that the reliability of the estimated wheel speed of the front axle wheel with invalid wheel speed is higher than the reliability of the wheel speed of the valid front axle wheel, thereby improving the estimation accuracy of the estimated wheel speed of the front axle wheel with invalid wheel speed. When calculating the target wheel speed, not only the valid parameters (at least one parameter) are considered, but also the estimated wheel speed of the front axle wheel with invalid wheel speed is considered. Therefore, when the reliability of the valid parameters is low, the estimation accuracy of the target wheel speed can be improved by the estimated wheel speed.

[0147] For example, the estimated wheel speed of the invalid front axle wheel can be calculated according to the following formula:

[0148] The estimated wheel speed of the invalid front axle wheel = the wheel speed calculated based on the rotation speed of the front axle motor * 2 - the wheel speed of the front axle wheel with valid wheel speed.

[0149] For example, in the case that the vehicle is in the driving working condition, the target wheel speed can be calculated according to the following formula:

[0150] Target wheel speed = min (estimated wheel speed of invalid front axle wheel, wheel speed of valid front axle wheel, wheel speed of left rear axle wheel, wheel speed of right rear axle wheel, rotational speed calculated wheel speed of front axle motor, rotational speed calculated wheel speed of rear axle motor, ABS wheel speed).

[0151] Wherein, min (a, b, c…) represents the minimum value of a, b, c…

[0152] In the deceleration condition of the vehicle, the target wheel speed can be calculated according to the following formula:

[0153] Target wheel speed = max (estimated wheel speed of invalid front axle wheel, wheel speed of valid front axle wheel, wheel speed of left rear axle wheel, wheel speed of right rear axle wheel, rotational speed calculated wheel speed of front axle motor, rotational speed calculated wheel speed of rear axle motor, ABS wheel speed).

[0154] Wherein, max (a, b, c…) represents the maximum value of a, b, c…

[0155] Optionally, step 105 can specifically include the following steps:

[0156] (31) In the case that the two front axle wheels include one invalid front axle wheel and one valid front axle wheel, the two rear axle wheels include one invalid rear axle wheel and one valid rear axle wheel, and the rotational speeds of the M motors are all valid, the electronic device estimates the wheel speed of the invalid front axle wheel based on the rotational speed calculated wheel speed of the front axle motor and the wheel speed of the valid front axle wheel, to obtain the estimated wheel speed of the invalid front axle wheel; estimates the wheel speed of the invalid rear axle wheel based on the rotational speed calculated wheel speed of the rear axle motor and the wheel speed of the valid rear axle wheel, to obtain the estimated wheel speed of the invalid rear axle wheel;

[0157] (32) In the case that the vehicle is in the driving condition, the electronic device determines the minimum value of the estimated wheel speed of the invalid front axle wheel, the wheel speed of the valid front axle wheel, the estimated wheel speed of the invalid rear axle wheel, the wheel speed of the valid rear axle wheel, the rotational speed calculated wheel speed of the M motors and the ABS wheel speed as the target wheel speed;

[0158] (33) In the case that the vehicle is in the deceleration condition, the electronic device determines the maximum value of the estimated wheel speed of the invalid front axle wheel, the wheel speed of the valid front axle wheel, the estimated wheel speed of the invalid rear axle wheel, the wheel speed of the valid rear axle wheel, the rotational speed calculated wheel speed of the M motors and the ABS wheel speed as the target wheel speed;

[0159] (34) The electronic device determines the vehicle speed according to the target wheel speed;

[0160] The wheel speed calculated based on the rotation speeds of the M motors.

[0161] In the embodiments of the present application, the at least one parameter is the wheel speed of the front axle wheel whose wheel speed is valid, the wheel speed of the rear axle wheel whose wheel speed is valid, and the rotation speed of the M motors.

[0162] In the embodiments of the present application, when the two front axle wheels include one front axle wheel whose wheel speed is invalid and one front axle wheel whose wheel speed is valid, the two rear axle wheels include one rear axle wheel whose wheel speed is invalid and one rear axle wheel whose wheel speed is valid, and the rotation speeds of the M motors are all valid, the wheel speed of the front axle motor is used to calculate the wheel speed, and the wheel speed of the front axle wheel whose wheel speed is valid is used to estimate the wheel speed of the front axle wheel whose wheel speed is invalid, to obtain the estimated wheel speed of the front axle wheel whose wheel speed is invalid. The estimated wheel speed of the front axle wheel whose wheel speed is invalid is estimated based on the wheel speed calculated based on the rotation speed of the front axle motor and the wheel speed of the front axle wheel whose wheel speed is valid. Since the front axle wheel is driven by the front axle motor, the estimation accuracy of the estimated wheel speed of the front axle wheel whose wheel speed is invalid can be improved. The estimated wheel speed of the rear axle wheel whose wheel speed is invalid is estimated based on the wheel speed calculated based on the rotation speed of the rear axle motor and the wheel speed of the rear axle wheel whose wheel speed is valid. Since the rear axle wheel is driven by the rear axle motor, the estimation accuracy of the estimated wheel speed of the rear axle wheel whose wheel speed is invalid can be improved.

[0163] When the rotation speed of the motor and the wheel speed of the wheel are both valid, the rotation speed of the motor is more reliable than the wheel speed of the wheel. When the reliability of the wheel speed of the valid front axle wheel is low, the wheel speed of the front axle motor is used to calculate the wheel speed, and the wheel speed of the front axle wheel whose wheel speed is valid is used to estimate the wheel speed of the front axle wheel whose wheel speed is invalid, so that the reliability of the estimated wheel speed of the front axle wheel whose wheel speed is invalid is higher than the reliability of the wheel speed of the valid front axle wheel, thereby improving the estimation accuracy of the estimated wheel speed of the front axle wheel whose wheel speed is invalid. When the reliability of the wheel speed of the valid rear axle wheel is low, the wheel speed of the rear axle motor is used to calculate the wheel speed, and the wheel speed of the rear axle wheel whose wheel speed is valid is used to estimate the wheel speed of the rear axle wheel whose wheel speed is invalid, so that the reliability of the estimated wheel speed of the rear axle wheel whose wheel speed is invalid is higher than the reliability of the wheel speed of the valid rear axle wheel, thereby improving the estimation accuracy of the estimated wheel speed of the rear axle wheel whose wheel speed is invalid. In the calculation of the target wheel speed, not only the valid parameters (at least one parameter) are considered, but also the estimated wheel speed of the front axle wheel whose wheel speed is invalid and the estimated wheel speed of the rear axle wheel whose wheel speed is invalid are considered. When the reliability of the valid parameters is low, the estimation of the wheel speed can improve the accuracy of the calculation of the target wheel speed.

[0164] For example, the estimated wheel speed of the invalid front axle wheel can be calculated according to the following formula:

[0165] estimated wheel speed of invalid front axle wheel = wheel speed of valid front axle wheel * 2 - wheel speed of invalid front axle wheel;

[0166] The estimated wheel speed of invalid rear axle wheel can be calculated according to the following formula:

[0167] estimated wheel speed of invalid rear axle wheel = wheel speed of valid rear axle wheel * 2 - wheel speed of invalid rear axle wheel.

[0168] For example, when the vehicle is in driving condition, the target wheel speed can be calculated according to the following formula:

[0169] target wheel speed = min (estimated wheel speed of invalid front axle wheel, wheel speed of valid front axle wheel, estimated wheel speed of invalid rear axle wheel, wheel speed of valid rear axle wheel, rotational speed calculation wheel speed of front axle motor, rotational speed calculation wheel speed of rear axle motor, ABS wheel speed).

[0170] When the vehicle is in deceleration condition, the target wheel speed can be calculated according to the following formula:

[0171] target wheel speed = max (estimated wheel speed of invalid front axle wheel, wheel speed of valid front axle wheel, estimated wheel speed of invalid rear axle wheel, wheel speed of valid rear axle wheel, rotational speed calculation wheel speed of front axle motor, rotational speed calculation wheel speed of rear axle motor, ABS wheel speed).

[0172] Optionally, step 105 can specifically include the following steps:

[0173] (41) In the case that the 2 front axle wheels include one invalid front axle wheel and one valid front axle wheel, the wheel speeds of the 2 rear axle wheels are invalid, and the rotational speeds of the M motors are valid, the electronic device estimates the wheel speed of the invalid front axle wheel based on the rotational speed calculation wheel speed of the front axle motor and the wheel speed of the valid front axle wheel, to obtain the estimated wheel speed of the invalid front axle wheel;

[0174] (42) In the case that the vehicle is in driving condition, the electronic device determines the minimum value among the estimated wheel speed of the invalid front axle wheel, the wheel speed of the valid front axle wheel, the rotational speed calculation wheel speed of the M motors, and the ABS wheel speed as the target wheel speed;

[0175] (43) In the case that the vehicle is in deceleration condition, the electronic device determines the maximum value among the estimated wheel speed of the invalid front axle wheel, the wheel speed of the valid front axle wheel, the rotational speed calculation wheel speed of the M motors, and the ABS wheel speed as the target wheel speed;

[0176] (44) The electronic device determines the vehicle speed according to the target wheel speed;

[0177] The wheel speed calculated based on the rotation speeds of the M motors.

[0178] In the embodiments of the present application, the at least one parameter is the wheel speed of the front wheel whose wheel speed is valid and the rotation speed of the M motors.

[0179] In the embodiments of the present application, in the case that the two front wheels include one front wheel whose wheel speed is invalid and one front wheel whose wheel speed is valid, the wheel speeds of the two rear wheels are both invalid, and the rotation speeds of the M motors are all valid, the wheel speed of the front wheel whose wheel speed is invalid is estimated based on the wheel speed calculated based on the rotation speed of the front motor and the wheel speed of the front wheel whose wheel speed is valid, to obtain the estimated wheel speed of the front wheel whose wheel speed is invalid. The estimated wheel speed of the front wheel whose wheel speed is invalid is obtained based on the wheel speed calculated based on the rotation speed of the front motor and the wheel speed of the front wheel whose wheel speed is valid, and since the front wheel is driven by the front motor, the estimation accuracy of the estimated wheel speed of the front wheel whose wheel speed is invalid can be improved.

[0180] When the rotation speed of the motor and the wheel speed of the wheel are both valid, the rotation speed of the motor is more reliable than the wheel speed of the wheel, and when the reliability of the wheel speed of the valid front wheel is low, the wheel speed of the front wheel whose wheel speed is invalid is estimated based on the wheel speed calculated based on the rotation speed of the front motor and the wheel speed of the front wheel whose wheel speed is valid, so that the reliability of the estimated wheel speed of the front wheel whose wheel speed is invalid is higher than the reliability of the wheel speed of the valid front wheel, thereby improving the estimation accuracy of the estimated wheel speed of the front wheel whose wheel speed is invalid. When calculating the target wheel speed, not only the valid parameters (at least one parameter) are considered, but also the estimated wheel speed of the front wheel whose wheel speed is invalid is considered, so that when the reliability of the valid parameters is low, the estimation accuracy of the target wheel speed can be improved through the estimated wheel speed.

[0181] For example, the estimated wheel speed of the invalid front wheel can be calculated according to the following formula:

[0182] Estimated wheel speed of the invalid front wheel = wheel speed calculated based on rotation speed of front motor * 2 - wheel speed of front wheel whose wheel speed is valid.

[0183] For example, when the vehicle is in the driving working condition, the target wheel speed can be calculated according to the following formula:

[0184] Target wheel speed = min (estimated wheel speed of invalid front wheel, wheel speed of front wheel whose wheel speed is valid, wheel speed calculated based on rotation speed of front motor, wheel speed calculated based on rotation speed of rear motor, ABS wheel speed).

[0185] When the vehicle is in the deceleration working condition, the target wheel speed can be calculated according to the following formula:

[0186] Target wheel speed = max (estimated wheel speed of invalid front axle wheel, wheel speed of valid front axle wheel, wheel speed calculated based on the rotational speed of front axle motor, wheel speed calculated based on the rotational speed of rear axle motor, ABS wheel speed).

[0187] Optionally, step 105 can specifically include the following steps:

[0188] (51) In the case that the two front axle wheels include one invalid front axle wheel and one valid front axle wheel, the wheel speeds of the two rear axle wheels are invalid, and the rotational speed of the front axle motor is valid and the rotational speed of the rear axle motor is invalid, the electronic device estimates the wheel speed of the invalid front axle wheel based on the wheel speed calculated based on the rotational speed of the front axle motor and the wheel speed of the valid front axle wheel, to obtain an estimated wheel speed of the invalid front axle wheel.

[0189] (52) In the case that the vehicle is in a driving working condition, the electronic device determines the minimum value among the estimated wheel speed of the invalid front axle wheel, the wheel speed of the valid front axle wheel, the wheel speed calculated based on the rotational speed of the front axle motor, and the ABS wheel speed as the target wheel speed.

[0190] (53) In the case that the vehicle is in a deceleration working condition, the electronic device determines the maximum value among the estimated wheel speed of the invalid front axle wheel, the wheel speed of the valid front axle wheel, the wheel speed calculated based on the rotational speed of the front axle motor, and the ABS wheel speed as the target wheel speed.

[0191] (54) The electronic device determines the vehicle speed according to the target wheel speed.

[0192] The wheel speed calculated based on the rotational speed of the front axle motor is a wheel speed calculated based on the rotational speed of the front axle motor.

[0193] In the embodiments of the present application, the at least one parameter is the wheel speed of the valid front axle wheel and the rotational speed of the front axle motor.

[0194] In the embodiments of the present application, in the case that the two front axle wheels include one invalid front axle wheel and one valid front axle wheel, the wheel speeds of the two rear axle wheels are invalid, and the rotational speed of the front axle motor is valid and the rotational speed of the rear axle motor is invalid, the wheel speed of the invalid front axle wheel is estimated based on the wheel speed calculated based on the rotational speed of the front axle motor and the wheel speed of the valid front axle wheel, to obtain an estimated wheel speed of the invalid front axle wheel. The estimated wheel speed of the invalid front axle wheel is estimated based on the wheel speed calculated based on the rotational speed of the front axle motor and the wheel speed of the valid front axle wheel, and since the front axle wheel is driven by the front axle motor, the estimation accuracy of the estimated wheel speed of the invalid front axle wheel can be improved.

[0195] When the rotation speed of the motor is valid and the wheel speed of the wheel is valid, the rotation speed of the motor is more reliable than the wheel speed of the wheel, and when the reliability of the wheel speed of the valid front axle wheel is low, the wheel speed of the invalid front axle wheel is estimated based on the wheel speed calculated by the rotation speed of the front axle motor and the wheel speed of the valid front axle wheel, so that the estimated wheel speed of the invalid front axle wheel is more reliable than the wheel speed of the valid front axle wheel, thereby improving the estimation accuracy of the estimated wheel speed of the invalid front axle wheel. When calculating the target wheel speed, not only the valid parameters (at least one parameter) are considered, but also the estimated wheel speed of the invalid front axle wheel is considered, so that when the reliability of the valid parameters is low, the accuracy of the target wheel speed calculation can be improved by estimating the wheel speed.

[0196] For example, the estimated wheel speed of the invalid front axle wheel can be calculated according to the following formula:

[0197] The estimated wheel speed of the invalid front axle wheel = the wheel speed calculated by the rotation speed of the front axle motor * 2 - the wheel speed of the valid front axle wheel.

[0198] For example, when the vehicle is in a driving condition, the target wheel speed can be calculated according to the following formula:

[0199] The target wheel speed = min (the estimated wheel speed of the invalid front axle wheel, the wheel speed of the valid front axle wheel, the wheel speed calculated by the rotation speed of the front axle motor, the ABS wheel speed).

[0200] When the vehicle is in a deceleration condition, the target wheel speed can be calculated according to the following formula:

[0201] The target wheel speed = max (the estimated wheel speed of the invalid front axle wheel, the wheel speed of the valid front axle wheel, the wheel speed calculated by the rotation speed of the front axle motor, the ABS wheel speed).

[0202] Optionally, step 105 can specifically include the following steps:

[0203] (61) When the wheel speeds of the two front axle wheels are both valid, the two rear axle wheels include one invalid rear axle wheel and one valid rear axle wheel, and the rotation speeds of the M motors are all valid, the electronic device estimates the wheel speed of the invalid rear axle wheel based on the wheel speed calculated by the rotation speed of the rear axle motor and the wheel speed of the valid rear axle wheel, to obtain the estimated wheel speed of the invalid rear axle wheel;

[0204] (62) When the vehicle is in a driving condition, the electronic device determines the minimum value of the estimated wheel speed of the invalid rear axle wheel, the wheel speed of the valid rear axle wheel, the wheel speeds of the two front axle wheels, the wheel speed calculated by the rotation speed of the M motors, and the ABS wheel speed as the target wheel speed;

[0205] (63) In the case that the vehicle is in the deceleration working condition, the electronic device determines the maximum value among the estimated wheel speed of the rear axle wheel with invalid wheel speed, the wheel speed of the rear axle wheel with valid wheel speed, the wheel speeds of the two front axle wheels, the wheel speed calculated based on the rotation speeds of the M motors and the ABS wheel speed as the target wheel speed;

[0206] (64) The electronic device determines the vehicle speed according to the target wheel speed;

[0207] The wheel speed calculated based on the rotation speeds of the M motors is the wheel speed calculated based on the rotation speeds of the M motors.

[0208] In the embodiment of the application, the at least one parameter is the wheel speed of the rear axle wheel with valid wheel speed, the wheel speeds of the two front axle wheels and the rotation speeds of the M motors.

[0209] In the embodiment of the application, in the case that the two rear axle wheels include one rear axle wheel with invalid wheel speed and one rear axle wheel with valid wheel speed, the wheel speeds of the two front axle wheels are valid and the rotation speeds of the M motors are valid, the wheel speed of the rear axle wheel with invalid wheel speed is estimated based on the wheel speed calculated based on the rotation speeds of the rear axle motors and the wheel speed of the rear axle wheel with valid wheel speed, to obtain the estimated wheel speed of the rear axle wheel with invalid wheel speed. The estimated wheel speed of the rear axle wheel with invalid wheel speed is estimated based on the wheel speed calculated based on the rotation speeds of the rear axle motors and the wheel speed of the rear axle wheel with valid wheel speed. Since the rear axle wheels are driven by the rear axle motors, the estimation accuracy of the estimated wheel speed of the rear axle wheel with invalid wheel speed can be improved.

[0210] When the rotation speeds of the motors and the wheel speeds of the wheels are valid, the rotation speeds of the motors are more reliable than the wheel speeds of the wheels. When the reliability of the wheel speed of the valid rear axle wheel is low, the wheel speed of the rear axle wheel with invalid wheel speed is estimated based on the wheel speed calculated based on the rotation speeds of the rear axle motors and the wheel speed of the rear axle wheel with valid wheel speed, so that the reliability of the estimated wheel speed of the rear axle wheel with invalid wheel speed is higher than the reliability of the wheel speed of the valid rear axle wheel, thereby improving the estimation accuracy of the estimated wheel speed of the rear axle wheel with invalid wheel speed. When the target wheel speed is calculated, not only the valid parameters (at least one parameter) are considered, but also the estimated wheel speed of the rear axle wheel with invalid wheel speed is considered. Therefore, when the reliability of the valid parameters is low, the estimation accuracy of the target wheel speed can be improved by estimating the wheel speed.

[0211] For example, the estimated wheel speed of the invalid rear axle wheel can be calculated according to the following formula:

[0212] The estimated wheel speed of the invalid rear axle wheel = the wheel speed calculated based on the rotation speeds of the rear axle motors * 2 - the wheel speed of the rear axle wheel with valid wheel speed.

[0213] For example, in the case that the vehicle is in the driving working condition, the target wheel speed can be calculated according to the following formula:

[0214] Target wheel speed = min (estimated wheel speed of invalid rear wheel, wheel speed of valid rear wheel, wheel speed of left front wheel, wheel speed of right front wheel, rear motor speed calculated wheel speed, front motor speed calculated wheel speed, ABS wheel speed).

[0215] In the deceleration condition of the vehicle, the target wheel speed can be calculated according to the following formula:

[0216] Target wheel speed = max (estimated wheel speed of invalid rear wheel, wheel speed of valid rear wheel, wheel speed of left front wheel, wheel speed of right front wheel, rear motor speed calculated wheel speed, front motor speed calculated wheel speed, ABS wheel speed).

[0217] Optionally, step 105 can specifically include the following steps:

[0218] (71) In the case that the wheel speeds of the two front wheels are valid, the two rear wheels include one invalid rear wheel and one valid rear wheel, and the speed of the front motor is invalid and the speed of the rear motor is valid, the electronic device estimates the wheel speed of the invalid rear wheel based on the rear motor speed calculated wheel speed and the wheel speed of the valid rear wheel, to obtain the estimated wheel speed of the invalid rear wheel.

[0219] (72) In the driving condition of the vehicle, the electronic device determines the minimum value of the estimated wheel speed of the invalid rear wheel, the wheel speed of the valid rear wheel, the wheel speeds of the two front wheels, the rear motor speed calculated wheel speed and the ABS wheel speed as the target wheel speed.

[0220] (73) In the deceleration condition of the vehicle, the electronic device determines the maximum value of the estimated wheel speed of the invalid rear wheel, the wheel speed of the valid rear wheel, the wheel speeds of the two front wheels, the rear motor speed calculated wheel speed and the ABS wheel speed as the target wheel speed.

[0221] (74) The electronic device determines the vehicle speed according to the target wheel speed.

[0222] The rear motor speed calculated wheel speed is a wheel speed calculated based on the speed of the rear motor.

[0223] In the embodiment of the application, the at least one parameter is the wheel speed of the valid rear wheel, the wheel speeds of the two front wheels and the speed of the rear motor.

[0224] In the embodiments of the present application, in the case that the wheel speeds of the two front axle wheels are all valid, the two rear axle wheels include one rear axle wheel with invalid wheel speed and one rear axle wheel with valid wheel speed, and the rotation speed of the front axle motor is invalid and the rotation speed of the rear axle motor is valid, the wheel speed of the rear axle wheel with invalid wheel speed is estimated based on the rotation speed of the rear axle motor and the wheel speed of the rear axle wheel with valid wheel speed, and the estimated wheel speed of the rear axle wheel with invalid wheel speed is obtained. The estimated wheel speed of the rear axle wheel with invalid wheel speed is obtained based on the rotation speed of the rear axle motor and the wheel speed of the rear axle wheel with valid wheel speed, and since the rear axle wheel is driven by the rear axle motor, the estimation accuracy of the estimated wheel speed of the rear axle wheel with invalid wheel speed can be improved.

[0225] In the case that the rotation speed of the motor is valid and the wheel speeds of the wheels are all valid, the rotation speed of the motor is more reliable than the wheel speeds of the wheels, in the case that the reliability of the wheel speed of the valid rear axle wheel is low, the wheel speed of the rear axle wheel with invalid wheel speed is estimated based on the rotation speed of the rear axle motor and the wheel speed of the rear axle wheel with valid wheel speed, and the estimated wheel speed of the rear axle wheel with invalid wheel speed is more reliable than the wheel speed of the valid rear axle wheel, so that the estimation accuracy of the estimated wheel speed of the rear axle wheel with invalid wheel speed is improved. In the calculation of the target wheel speed, not only the valid parameters (at least one parameter) are considered, but also the estimated wheel speed of the rear axle wheel with invalid wheel speed is considered, so that the accuracy of the calculation of the target wheel speed can be improved by the estimated wheel speed in the case that the reliability of the valid parameters is low.

[0226] For example, the estimated wheel speed of the invalid rear axle wheel can be calculated according to the following formula:

[0227] Estimated wheel speed of invalid rear axle wheel = rotation speed of rear axle motor calculation wheel speed * 2 - wheel speed of rear axle wheel with valid wheel speed.

[0228] For example, in the case that the vehicle is in the driving working condition, the target wheel speed can be calculated according to the following formula:

[0229] Target wheel speed = min (estimated wheel speed of invalid rear axle wheel, wheel speed of rear axle wheel with valid wheel speed, wheel speed of left front axle wheel, wheel speed of right front axle wheel, rotation speed of rear axle motor calculation wheel speed, ABS wheel speed).

[0230] In the case that the vehicle is in the deceleration working condition, the target wheel speed can be calculated according to the following formula:

[0231] Target wheel speed = max (estimated wheel speed of invalid rear axle wheel, wheel speed of rear axle wheel with valid wheel speed, wheel speed of left front axle wheel, wheel speed of right front axle wheel, rotation speed of rear axle motor calculation wheel speed, ABS wheel speed).

[0232] Optionally, the step 105 can specifically include the following steps:

[0233] (81) in the case that the wheel speeds of the two front axle wheels are both invalid, the two rear axle wheels include one invalid rear axle wheel and one valid rear axle wheel, the rotational speed of the front axle motor is invalid, and the rotational speed of the rear axle motor is valid, the electronic device calculates the wheel speed based on the rotational speed of the rear axle motor and estimates the wheel speed of the invalid rear axle wheel based on the wheel speed of the valid rear axle wheel, to obtain an estimated wheel speed of the invalid rear axle wheel;

[0234] (82) in the case that the vehicle is in a driving mode, the electronic device determines a minimum value of the estimated wheel speed of the invalid rear axle wheel, the wheel speed of the valid rear axle wheel, the rotational speed calculation wheel speed of the rear axle motor, and the ABS wheel speed as a target wheel speed;

[0235] (83) in the case that the vehicle is in a deceleration mode, the electronic device determines a maximum value of the estimated wheel speed of the invalid rear axle wheel, the wheel speed of the valid rear axle wheel, the rotational speed calculation wheel speed of the rear axle motor, and the ABS wheel speed as a target wheel speed;

[0236] (84) the electronic device determines a vehicle speed according to the target wheel speed;

[0237] The rotational speed calculation wheel speed of the rear axle motor is a wheel speed calculated based on the rotational speed of the rear axle motor.

[0238] In the embodiments of the application, the at least one parameter is the wheel speed of the valid rear axle wheel and the rotational speed of the rear axle motor.

[0239] In the embodiments of the application, in the case that the wheel speeds of the two front axle wheels are both invalid, the two rear axle wheels include one invalid rear axle wheel and one valid rear axle wheel, the rotational speed of the front axle motor is invalid, and the rotational speed of the rear axle motor is valid, the wheel speed of the invalid rear axle wheel is estimated based on the rotational speed calculation wheel speed of the rear axle motor and the wheel speed of the valid rear axle wheel, to obtain an estimated wheel speed of the invalid rear axle wheel. The estimated wheel speed of the invalid rear axle wheel is estimated based on the rotational speed calculation wheel speed of the rear axle motor and the wheel speed of the valid rear axle wheel, and since the rear axle wheel is driven by the rear axle motor, the estimation accuracy of the estimated wheel speed of the invalid rear axle wheel can be improved.

[0240] When the rotation speed of the motor is valid and the wheel speed of the wheel is valid, the rotation speed of the motor is more reliable than the wheel speed of the wheel, and when the reliability of the wheel speed of the valid rear wheel is low, the wheel speed of the invalid rear wheel is estimated based on the rotation speed of the rear motor and the wheel speed of the valid rear wheel, so that the estimated wheel speed of the invalid rear wheel is more reliable than the wheel speed of the valid rear wheel, thereby improving the estimation accuracy of the estimated wheel speed of the invalid rear wheel. When calculating the target wheel speed, not only the valid parameters (at least one parameter) are considered, but also the estimated wheel speed of the invalid rear wheel is considered, so that when the reliability of the valid parameters is low, the accuracy of the target wheel speed calculation can be improved by estimating the wheel speed.

[0241] For example, the estimated wheel speed of the invalid rear wheel can be calculated according to the following formula:

[0242] Estimated wheel speed of invalid rear wheel = rotation speed of rear motor calculated wheel speed * 2 - wheel speed of valid rear wheel.

[0243] For example, when the vehicle is in a driving condition, the target wheel speed can be calculated according to the following formula:

[0244] Target wheel speed = min (estimated wheel speed of invalid rear wheel, wheel speed of valid rear wheel, rotation speed of rear motor calculated wheel speed, ABS wheel speed).

[0245] When the vehicle is in a deceleration condition, the target wheel speed can be calculated according to the following formula:

[0246] Target wheel speed = max (estimated wheel speed of invalid rear wheel, wheel speed of valid rear wheel, rotation speed of rear motor calculated wheel speed, ABS wheel speed).

[0247] Optionally, step 105 can specifically include the following steps:

[0248] (91) When the vehicle is in a driving condition, the wheel speed of the two rear wheels is invalid, the two front wheels include one invalid front wheel and one valid front wheel, and the rotation speed of the front motor is invalid, and the rotation speed of the rear motor is valid, the electronic device determines the minimum value of the wheel speed of the valid front wheel, the rotation speed of the rear motor calculated wheel speed and the ABS wheel speed as the target wheel speed.

[0249] (92) in the case that the vehicle is in the deceleration working condition, the wheel speeds of the two rear axle wheels are both invalid, the two front axle wheels include one front axle wheel with invalid wheel speed and one front axle wheel with valid wheel speed, and the rotation speed of the front axle motor is invalid and the rotation speed of the rear axle motor is valid, the electronic device determines the maximum value among the wheel speed of the front axle wheel with valid wheel speed, the rotation speed of the rear axle motor and the ABS wheel speed as the target wheel speed;

[0250] (93) the electronic device determines the vehicle speed according to the target wheel speed;

[0251] wherein the rotation speed of the rear axle motor is the wheel speed calculated based on the rotation speed of the rear axle motor.

[0252] In the embodiment of the application, the at least one parameter is the wheel speed of the front axle wheel with valid wheel speed and the rotation speed of the rear axle motor.

[0253] For example, in the case that the vehicle is in the driving working condition, the target wheel speed can be calculated according to the following formula:

[0254] Target wheel speed = min (wheel speed of the front axle wheel with valid wheel speed, rotation speed of the rear axle motor and ABS wheel speed).

[0255] In the case that the vehicle is in the deceleration working condition, the target wheel speed can be calculated according to the following formula:

[0256] Target wheel speed = max (wheel speed of the front axle wheel with valid wheel speed, rotation speed of the rear axle motor and ABS wheel speed).

[0257] Optionally, the step 105 can include the following steps:

[0258] (101) in the case that the vehicle is in the driving working condition, the wheel speeds of the two front axle wheels are both invalid, the two rear axle wheels include one rear axle wheel with invalid wheel speed and one rear axle wheel with valid wheel speed, and the rotation speed of the front axle motor is valid and the rotation speed of the rear axle motor is invalid, the electronic device determines the minimum value among the wheel speed of the rear axle wheel with valid wheel speed, the rotation speed of the front axle motor and the ABS wheel speed as the target wheel speed;

[0259] (102) in the case that the vehicle is in the deceleration working condition, the wheel speeds of the two front axle wheels are both invalid, the two rear axle wheels include one rear axle wheel with invalid wheel speed and one rear axle wheel with valid wheel speed, and the rotation speed of the front axle motor is valid and the rotation speed of the rear axle motor is invalid, the electronic device determines the maximum value among the wheel speed of the rear axle wheel with valid wheel speed, the rotation speed of the front axle motor and the ABS wheel speed as the target wheel speed;

[0260] (103) The electronic device determines the vehicle speed according to the target wheel speed;

[0261] The rotation speed of the front axle motor is calculated based on the rotation speed of the front axle motor.

[0262] In the embodiments of the present application, the at least one parameter is the wheel speed of the rear axle wheel whose wheel speed is valid and the rotation speed of the front axle motor.

[0263] For example, when the vehicle is in the driving condition, the target wheel speed can be calculated according to the following formula:

[0264] Target wheel speed = min (wheel speed of the rear axle wheel whose wheel speed is valid, rotation speed calculation wheel speed of the front axle motor, ABS wheel speed).

[0265] When the vehicle is in the deceleration condition, the target wheel speed can be calculated according to the following formula:

[0266] Target wheel speed = max (wheel speed of the rear axle wheel whose wheel speed is valid, rotation speed calculation wheel speed of the front axle motor, ABS wheel speed).

[0267] Optionally, step 105 can specifically include the following steps:

[0268] (111) In the case that the vehicle is in the driving condition, the wheel speeds of the N wheels are all invalid, the rotation speed of the front axle motor is valid, and the rotation speed of the rear axle motor is invalid, the electronic device determines the minimum value of the rotation speed calculation wheel speed of the front axle motor and the ABS wheel speed as the target wheel speed.

[0269] (112) In the case that the vehicle is in the deceleration condition, the wheel speeds of the N wheels are all invalid, the rotation speed of the front axle motor is valid, and the rotation speed of the rear axle motor is invalid, the electronic device determines the maximum value of the rotation speed calculation wheel speed of the front axle motor and the ABS wheel speed as the target wheel speed.

[0270] (113) In the case that the vehicle is in the driving condition, the wheel speeds of the N wheels are all invalid, the rotation speed of the front axle motor is invalid, and the rotation speed of the rear axle motor is valid, the electronic device determines the minimum value of the rotation speed calculation wheel speed of the rear axle motor and the ABS wheel speed as the target wheel speed.

[0271] (114) In the case that the vehicle is in the deceleration condition, the wheel speeds of the N wheels are all invalid, the rotation speed of the front axle motor is invalid, and the rotation speed of the rear axle motor is valid, the electronic device determines the maximum value of the rotation speed calculation wheel speed of the rear axle motor and the ABS wheel speed as the target wheel speed.

[0272] (115) The electronic device determines the vehicle speed according to the target wheel speed.

[0273] wherein the front motor speed calculated wheel speed is a wheel speed calculated based on the speed of the front motor, and the rear motor speed calculated wheel speed is a wheel speed calculated based on the speed of the rear motor.

[0274] In the embodiments of the present application, the at least one parameter is the speed of the front motor or the speed of the rear motor.

[0275] For example, when the vehicle is in the driving condition, the wheel speeds of the N wheels are all invalid, the speed of the front motor is valid, and the speed of the rear motor is invalid, the target wheel speed can be calculated according to the following formula:

[0276] Target wheel speed = min (front motor speed calculated wheel speed, ABS wheel speed).

[0277] When the vehicle is in the deceleration condition, the wheel speeds of the N wheels are all invalid, the speed of the front motor is valid, and the speed of the rear motor is invalid, the target wheel speed can be calculated according to the following formula:

[0278] Target wheel speed = max (front motor speed calculated wheel speed, ABS wheel speed).

[0279] When the vehicle is in the driving condition, the wheel speeds of the N wheels are all invalid, the speed of the front motor is invalid, and the speed of the rear motor is valid, the target wheel speed can be calculated according to the following formula:

[0280] Target wheel speed = min (rear motor speed calculated wheel speed, ABS wheel speed).

[0281] When the vehicle is in the deceleration condition, the wheel speeds of the N wheels are all invalid, the speed of the front motor is invalid, and the speed of the rear motor is valid, the target wheel speed can be calculated according to the following formula:

[0282] Target wheel speed = max (rear motor speed calculated wheel speed, ABS wheel speed).

[0283] Optionally, step 105 can specifically include the following steps:

[0284] (121) When the vehicle is in the driving condition, the wheel speed of at least one wheel of the N wheels is valid, and the speeds of the M motors are all invalid, the electronic device determines the minimum value of the wheel speed of the at least one wheel and the ABS wheel speed as the target wheel speed.

[0285] (122) When the vehicle is in the deceleration condition, the wheel speed of at least one wheel of the N wheels is valid, and the speeds of the M motors are all invalid, the electronic device determines the maximum value of the wheel speed of the at least one wheel and the ABS wheel speed as the target wheel speed.

[0286] (123) The electronic device determines the vehicle speed according to the target wheel speed.

[0287] In the embodiments of the present application, the at least one parameter is a wheel speed of at least one wheel of the N wheels.

[0288] For example, when the vehicle is in a driving condition, the target wheel speed can be calculated according to the following formula:

[0289] Target wheel speed = min (wheel speed of at least one wheel, ABS wheel speed).

[0290] When the vehicle is in a deceleration condition, the target wheel speed can be calculated according to the following formula:

[0291] Target wheel speed = max (wheel speed of at least one wheel, ABS wheel speed).

[0292] Please refer to Figure 2 , Figure 2 is a flowchart of another vehicle speed determination method provided by the embodiments of the present application. As shown in Figure 2 , the vehicle speed determination method comprises the following steps.

[0293] 201, the electronic device obtains wheel speed state information of N wheels, the wheel speed state information comprising wheel speed validity information and wheel speed, and N is an integer greater than or equal to 4.

[0294] 202, the electronic device obtains motor state information of M motors, the motor state information comprising rotation speed validity information, rotation speed, rotation speed direction and torque direction, and M is an integer greater than or equal to 1.

[0295] 203, the electronic device obtains anti-lock state information of an anti-lock braking system (ABS), and the anti-lock state information comprises an ABS wheel speed.

[0296] 204, when at least one parameter of the wheel speeds of the N wheels and the rotation speeds of the M motors is valid, the electronic device determines a working condition of the vehicle according to the rotation speed direction and the torque direction.

[0297] 205, the electronic device determines a vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed.

[0298] The specific implementation of steps 201 to 205 can be referred to the above steps 101 to 105, which will not be described here.

[0299] 206, when the wheel speeds of the N wheels are all invalid and the rotation speeds of the M motors are all invalid, the electronic device determines that the vehicle speed is 0.

[0300] In the embodiment of the present application, when the wheel speeds of the N wheels are all invalid and the rotation speeds of the M motors are all invalid, the vehicle speed cannot be calculated by the data reported by the wheel sensors and the motor sensors, and at this time, the vehicle speed can be considered as 0.

[0301] The step 206 is executed after the steps 201, 202 and 203 are executed.

[0302] Optionally, after the step 205 is executed, the following step can be further executed:

[0303] 207, the electronic device performs filtering processing on the vehicle speed to obtain a filtered vehicle speed, and the filtered vehicle speed is taken as the vehicle speed of the vehicle.

[0304] In the embodiment of the present application, the filtered vehicle speed can be obtained according to the following formula:

[0305] val(new) = val(old) + [in-val(old)] x dT x K;

[0306] Wherein, val(new) is the filtered vehicle speed (i.e. the vehicle speed calculated in the step 207), val(old) is the filtered vehicle speed of the previous frame, in is the vehicle speed before filtering (i.e. the vehicle speed calculated in the step 205), dT is the period calculated internally by software, and K is the vehicle speed filtering coefficient.

[0307] In the step 205, the electronic device can periodically calculate the vehicle speed according to the wheel speed state information of each wheel periodically reported by the wheel sensors of each wheel and the motor state information of each motor periodically reported by the motor sensors of each motor. The vehicle speed of each period can correspond to a frame of vehicle speed. The vehicle speed of the current period is the vehicle speed of the current frame, and the vehicle speed of the previous period is the vehicle speed of the previous frame.

[0308] Please refer to Figure 3 , Figure 3 is a specific flowchart of a vehicle speed determination method provided by the embodiment of the present application. As shown in Figure 3 , the vehicle speed determination method comprises the following steps.

[0309] 301: acquiring the state information of the four wheels of the whole vehicle, including the wheel speed validity, the wheel speed size and direction; acquiring the state information of the front and rear axle motors, including the rotation speed validity, the rotation speed calculation wheel speed size and direction, the torque validity, the torque size and direction; acquiring the state information of the ABS anti-lock system, including the validity, the ABS wheel speed size;

[0310] 302: Conditionally judging the whole vehicle motion state of the current vehicle, and judging whether the directions of the rotation speed and the torque of the motor are same by comparison, if yes, the current vehicle is in driving working condition, and step 303 is executed; otherwise, the current vehicle is in deceleration working condition, and step 313 is executed;

[0311] 303: When the vehicle is in driving working condition, judging the validity of the wheel speed of the four wheels of the current vehicle and the rotation speed of the front and rear axle motors, and judging whether the six signal values of the whole vehicle are all valid; if yes, step 304 is executed; otherwise, step 305 is executed;

[0312] The six signal values are respectively the wheel speed of the four wheels of the current vehicle, the rotation speed of the front and rear axle motors, and the rotation speed of the rear axle motor.

[0313] 304: Executing the vehicle speed calculation strategy 1.

[0314] For the state that the wheel speed of the four wheels of the vehicle and the rotation speed of the front and rear axle motors are all valid in the driving working condition, the vehicle speed calculation strategy 1 executed by the VCU is:

[0315] VCU vehicle speed = min (left front wheel speed, right front wheel speed, left rear wheel speed, right rear wheel speed, front motor rotation speed calculation wheel speed, rear motor rotation speed calculation wheel speed, ABS wheel speed);

[0316] 305: When the vehicle is in driving working condition, judging the validity of the wheel speed of the four wheels of the current vehicle and the rotation speed of the front and rear axle motors, and judging whether the wheel speed signals of the four wheels of the vehicle and the front and rear motors respectively have at least one valid; if yes, step 306 is executed; otherwise, step 307 is executed.

[0317] 306: Executing the vehicle speed calculation strategy 2.

[0318] For the state that the wheel speed signals of the four wheels of the vehicle and the front and rear motors respectively have at least one valid in the driving working condition, the corresponding positions of the valid signals of the four wheels and the front and rear motors need to be judged, and the vehicle speed calculation strategy 2 executed by the VCU is:

[0319] ① If only one wheel speed of the front axle is valid, the front motor rotation speed is valid, the wheel speeds of the rear axle are all valid, and the rear motor rotation speed is valid, the invalid wheel speed of the front axle needs to be estimated, and then the VCU vehicle speed is calculated:

[0320] Invalid wheel speed estimation of the front axle = front motor rotation speed calculation wheel speed * 2 - valid wheel speed of the front axle;

[0321] VCU vehicle speed = min (invalid wheel speed estimation of the front axle, valid wheel speed of the front axle, left rear wheel speed, right rear wheel speed, front motor rotation speed calculation wheel speed, rear motor rotation speed calculation wheel speed, ABS wheel speed);

[0322] 2. If only one wheel speed of the front axle is valid, the front motor speed is valid, only one wheel speed of the rear axle is valid, and the rear motor speed is valid, the invalid wheel speed of the front and rear axles needs to be estimated, and then the VCU vehicle speed is calculated:

[0323] Estimated wheel speed of the invalid wheel of the front axle = (2 * calculated wheel speed of the front motor speed) - valid wheel speed of the front axle;

[0324] Estimated wheel speed of the invalid wheel of the rear axle = (2 * calculated wheel speed of the rear motor speed) - valid wheel speed of the rear axle;

[0325] VCU vehicle speed = min (estimated wheel speed of the invalid wheel of the front axle, valid wheel speed of the front axle, estimated wheel speed of the invalid wheel of the rear axle, valid wheel speed of the rear axle, calculated wheel speed of the front motor speed, calculated wheel speed of the rear motor speed, ABS wheel speed);

[0326] 3. If only one wheel speed of the front axle is valid, the front motor speed is valid, all wheel speeds of the rear axle are invalid, and the rear motor speed is valid, the invalid wheel speed of the front axle needs to be estimated, and then the VCU vehicle speed is calculated:

[0327] Estimated wheel speed of the invalid wheel of the front axle = (2 * calculated wheel speed of the front motor speed) - valid wheel speed of the front axle;

[0328] VCU vehicle speed = min (estimated wheel speed of the invalid wheel of the front axle, valid wheel speed of the front axle, calculated wheel speed of the front motor speed, calculated wheel speed of the rear motor speed, ABS wheel speed);

[0329] 4. If only one wheel speed of the front axle is valid, the front motor speed is valid, all wheel speeds of the rear axle are invalid, and the rear motor speed is invalid, the invalid wheel speed of the front axle needs to be estimated, and then the VCU vehicle speed is calculated:

[0330] Estimated wheel speed of the invalid wheel of the front axle = (2 * calculated wheel speed of the front motor speed) - valid wheel speed of the front axle;

[0331] VCU vehicle speed = min (estimated wheel speed of the invalid wheel of the front axle, valid wheel speed of the front axle, calculated wheel speed of the front motor speed, ABS wheel speed);

[0332] 5. If only one wheel speed of the rear axle is valid, the rear motor speed is valid, all wheel speeds of the front axle are valid, and the front motor speed is valid, the invalid wheel speed of the rear axle needs to be estimated, and then the VCU vehicle speed is calculated:

[0333] Estimated wheel speed of the invalid wheel of the rear axle = (2 * calculated wheel speed of the rear motor speed) - valid wheel speed of the rear axle;

[0334] VCU vehicle speed = min (left front wheel speed, right front wheel speed, estimated wheel speed of the invalid wheel of the rear axle, valid wheel speed of the rear axle, calculated wheel speed of the front motor speed, calculated wheel speed of the rear motor speed, ABS wheel speed);

[0335] If only one wheel speed of the rear axle is valid, the rear motor speed is valid, the wheel speeds of the front axle are all valid, and the front motor speed is invalid, the invalid wheel speed of the rear axle needs to be estimated, and then the VCU vehicle speed is calculated:

[0336] Rear axle invalid wheel estimated wheel speed = rear motor speed calculated wheel speed * 2 - rear axle valid wheel wheel speed;

[0337] VCU vehicle speed = min (left front wheel speed, right front wheel speed, rear axle invalid wheel estimated wheel speed, rear axle valid wheel wheel speed, rear motor speed calculated wheel speed, ABS wheel speed);

[0338] If only one wheel speed of the rear axle is valid, the rear motor speed is valid, the wheel speeds of the front axle are all invalid, and the front motor speed is invalid, the invalid wheel speed of the rear axle needs to be estimated, and then the VCU vehicle speed is calculated:

[0339] Rear axle invalid wheel estimated wheel speed = rear motor speed calculated wheel speed * 2 - rear axle valid wheel wheel speed;

[0340] VCU vehicle speed = min (rear axle invalid wheel estimated wheel speed, rear axle valid wheel wheel speed, rear motor speed calculated wheel speed, ABS wheel speed);

[0341] If only one wheel speed of the front axle is valid, the front motor speed is invalid, the wheel speeds of the rear axle are all invalid, and the rear motor speed is valid, the VCU vehicle speed is calculated:

[0342] VCU vehicle speed = min (front axle valid wheel wheel speed, rear motor speed calculated wheel speed, ABS wheel speed);

[0343] If only one wheel speed of the rear axle is valid, the rear motor speed is invalid, the wheel speeds of the front axle are all invalid, and the front motor speed is valid, the VCU vehicle speed is calculated:

[0344] VCU vehicle speed = min (rear axle valid wheel wheel speed, front motor speed calculated wheel speed, ABS wheel speed);

[0345] 307: When the vehicle is in the driving working condition, the validity of the wheel speeds of the four wheels of the current vehicle and the speeds of the front and rear axle motors is judged, whether the wheel speeds of the four wheels of the whole vehicle are all invalid and at least one of the wheel speed signals of the front and rear motors is valid is judged, if yes, step 308 is executed; otherwise, step 309 is executed;

[0346] 308: Step 3 of the vehicle speed calculation strategy is executed;

[0347] For the state that the wheel speeds of the four wheels of the vehicle are all invalid and at least one of the wheel speed signals of the front and rear motors is valid in the driving working condition, the vehicle speed calculation strategy 3 executed by the VCU is:

[0348] VCU vehicle speed = min (valid motor speed calculated wheel speed, ABS wheel speed);

[0349] 309: When the vehicle is in driving condition, the validity of the wheel speed of the four wheels of the current vehicle and the rotational speed of the front and rear axle motors is judged, whether the wheel speed of the four wheels of the whole vehicle has at least one valid and the wheel speed signal of the front and rear motors is invalid, if yes, step 310 is executed; otherwise, step 311 is executed;

[0350] 310: The vehicle speed calculation strategy 4 is executed;

[0351] For the state that in the driving condition, the wheel speed of the four wheels of the vehicle has at least one valid and the wheel speed signal of the front and rear motors is invalid, the vehicle speed calculation strategy 4 executed by the VCU is:

[0352] VCU vehicle speed = min (at least one valid wheel speed, ABS wheel speed);

[0353] 311: When the vehicle is in driving condition, the validity of the wheel speed of the four wheels of the current vehicle and the rotational speed of the front and rear axle motors is judged, whether the six signal values of the whole vehicle are invalid, if yes, step 312 is executed;

[0354] 312: The vehicle speed calculation strategy 5 is executed;

[0355] For the state that in the driving condition, the wheel speed of the four wheels of the vehicle and the rotational speed of the front and rear axle motors are invalid, the vehicle speed calculation strategy 5 executed by the VCU is:

[0356] VCU vehicle speed = 0;

[0357] 313: When the vehicle is in deceleration condition, the validity of the wheel speed of the four wheels of the current vehicle and the rotational speed of the front and rear axle motors is judged, whether the six signal values of the whole vehicle are valid, if yes, step 314 is executed; otherwise, step 315 is executed;

[0358] 314: The vehicle speed calculation strategy 6 is executed;

[0359] For the state that in the deceleration condition, the wheel speed of the four wheels of the vehicle and the rotational speed of the front and rear axle motors are valid, the vehicle speed calculation strategy 6 executed by the VCU is:

[0360] VCU vehicle speed = max (left front wheel speed, right front wheel speed, left rear wheel speed, right rear wheel speed, front motor rotational speed calculation wheel speed, rear motor rotational speed calculation wheel speed, ABS wheel speed);

[0361] 315: When the vehicle is in deceleration condition, the validity of the wheel speed of the four wheels of the current vehicle and the rotational speed of the front and rear axle motors is judged, whether the wheel speed signal of the four wheels of the whole vehicle and the front and rear motors respectively has at least one valid, if yes, step 316 is executed; otherwise, step 317 is executed;

[0362] 316: execute the vehicle speed calculation strategy 7;

[0363] For deceleration working condition, there are at least one valid state for wheel speed signals of four wheels and front and rear motors respectively, the corresponding positions of valid signals of four wheels and front and rear motors need to be judged, and the vehicle speed calculation strategy 7 executed by VCU is as follows:

[0364] ①If only one wheel speed of front axle is valid, the front motor speed is valid, the wheel speeds of rear axle are all valid, and the rear motor speed is valid, the invalid wheel speed of front axle needs to be estimated, and then the VCU vehicle speed is calculated:

[0365] The estimated wheel speed of invalid wheel of front axle = the calculated wheel speed of front motor speed * 2 - the wheel speed of valid wheel of front axle;

[0366] VCU vehicle speed = max (the estimated wheel speed of invalid wheel of front axle, the wheel speed of valid wheel of front axle, the left rear wheel speed, the right rear wheel speed, the calculated wheel speed of front motor speed, the calculated wheel speed of rear motor speed, ABS wheel speed);

[0367] ②If only one wheel speed of front axle is valid, the front motor speed is valid, only one wheel speed of rear axle is valid, and the rear motor speed is valid, the invalid wheel speeds of front and rear axles need to be estimated, and then the VCU vehicle speed is calculated:

[0368] The estimated wheel speed of invalid wheel of front axle = the calculated wheel speed of front motor speed * 2 - the wheel speed of valid wheel of front axle;

[0369] The estimated wheel speed of invalid wheel of rear axle = the calculated wheel speed of rear motor speed * 2 - the wheel speed of valid wheel of rear axle;

[0370] VCU vehicle speed = max (the estimated wheel speed of invalid wheel of front axle, the wheel speed of valid wheel of front axle, the estimated wheel speed of invalid wheel of rear axle, the wheel speed of valid wheel of rear axle, the calculated wheel speed of front motor speed, the calculated wheel speed of rear motor speed, ABS wheel speed);

[0371] ③If only one wheel speed of front axle is valid, the front motor speed is valid, the wheel speeds of rear axle are all invalid, and the rear motor speed is valid, the invalid wheel speed of front axle needs to be estimated, and then the VCU vehicle speed is calculated:

[0372] The estimated wheel speed of invalid wheel of front axle = the calculated wheel speed of front motor speed * 2 - the wheel speed of valid wheel of front axle;

[0373] VCU vehicle speed = max (the estimated wheel speed of invalid wheel of front axle, the wheel speed of valid wheel of front axle, the calculated wheel speed of front motor speed, the calculated wheel speed of rear motor speed, ABS wheel speed);

[0374] ④If only one wheel speed of front axle is valid, the front motor speed is valid, the wheel speeds of rear axle are all invalid, and the rear motor speed is invalid, the invalid wheel speed of front axle needs to be estimated, and then the VCU vehicle speed is calculated:

[0375] Front axle failed wheel estimated wheel speed = front motor rotation speed calculated wheel speed * 2 - front axle effective wheel wheel speed;

[0376] VCU vehicle speed = max (front axle failed wheel estimated wheel speed, front axle effective wheel wheel speed, front motor rotation speed calculated wheel speed, ABS wheel speed);

[0377] If only one wheel speed of the rear axle is valid, the rear motor rotation speed is valid, the front axle wheel speed is all valid, and the front motor rotation speed is valid, the rear axle failed wheel speed needs to be estimated, and then the VCU vehicle speed is calculated:

[0378] Rear axle failed wheel estimated wheel speed = rear motor rotation speed calculated wheel speed * 2 - rear axle effective wheel wheel speed;

[0379] VCU vehicle speed = max (left front wheel speed, right front wheel speed, rear axle failed wheel estimated wheel speed, rear axle effective wheel wheel speed, rear motor rotation speed calculated wheel speed, ABS wheel speed);

[0380] If only one wheel speed of the rear axle is valid, the rear motor rotation speed is valid, the front axle wheel speed is all valid, and the front motor rotation speed is invalid, the rear axle failed wheel speed needs to be estimated, and then the VCU vehicle speed is calculated:

[0381] Rear axle failed wheel estimated wheel speed = rear motor rotation speed calculated wheel speed * 2 - rear axle effective wheel wheel speed;

[0382] VCU vehicle speed = max (left front wheel speed, right front wheel speed, rear axle failed wheel estimated wheel speed, rear axle effective wheel wheel speed, rear motor rotation speed calculated wheel speed, ABS wheel speed);

[0383] If only one wheel speed of the rear axle is valid, the rear motor rotation speed is valid, the front axle wheel speed is all invalid, and the front motor rotation speed is invalid, the rear axle failed wheel speed needs to be estimated, and then the VCU vehicle speed is calculated:

[0384] Rear axle failed wheel estimated wheel speed = rear motor rotation speed calculated wheel speed * 2 - rear axle effective wheel wheel speed;

[0385] VCU vehicle speed = max (rear axle failed wheel estimated wheel speed, rear axle effective wheel wheel speed, rear motor rotation speed calculated wheel speed, ABS wheel speed);

[0386] If only one wheel speed of the front axle is valid, the front motor rotation speed is invalid, and the rear axle wheel speed is all invalid, the rear motor rotation speed is valid, and then the VCU vehicle speed is calculated:

[0387] VCU vehicle speed = max (front axle effective wheel wheel speed, rear motor rotation speed calculated wheel speed, ABS wheel speed);

[0388] 9. If only one wheel speed of the rear axle is valid, the rear motor speed is invalid, the wheel speeds of the front axle are invalid, and the front motor speed is valid, the VCU vehicle speed is calculated as follows:

[0389] VCU vehicle speed = max (valid wheel speed of the rear axle, front motor speed calculated wheel speed, ABS wheel speed) ;

[0390] 317: When the vehicle is in deceleration condition, the validity of the wheel speeds of the four wheels of the vehicle and the speeds of the front and rear motors is judged, and it is judged whether the wheel speeds of the four wheels of the vehicle are all invalid and at least one of the wheel speed signals of the front and rear motors is valid, and if so, step 318 is executed; otherwise, step 319 is executed.

[0391] 318: Strategy 8 for calculating vehicle speed is executed.

[0392] For the state that the wheel speeds of the four wheels of the vehicle are all invalid and at least one of the wheel speed signals of the front and rear motors is valid in the deceleration condition, the VCU executes strategy 8 for calculating vehicle speed as follows:

[0393] VCU vehicle speed = max (valid motor speed calculated wheel speed, ABS wheel speed) ;

[0394] 319: When the vehicle is in deceleration condition, the validity of the wheel speeds of the four wheels of the vehicle and the speeds of the front and rear motors is judged, and it is judged whether at least one of the wheel speeds of the four wheels of the vehicle is valid and the wheel speed signals of the front and rear motors are all invalid, and if so, step 320 is executed; otherwise, step 321 is executed.

[0395] 320: Strategy 9 for calculating vehicle speed is executed.

[0396] For the state that at least one of the wheel speeds of the four wheels of the vehicle is valid and the wheel speed signals of the front and rear motors are all invalid in the deceleration condition, the VCU executes strategy 9 for calculating vehicle speed as follows:

[0397] VCU vehicle speed = max (at least one valid wheel speed, ABS wheel speed) ;

[0398] 321: When the vehicle is in deceleration condition, the validity of the wheel speeds of the four wheels of the vehicle and the speeds of the front and rear motors is judged, and it is judged whether the six signal values of the vehicle are all invalid, and if so, step 322 is executed.

[0399] 322: Strategy 10 for calculating vehicle speed is executed.

[0400] For the state that the wheel speeds of the four wheels of the vehicle and the speeds of the front and rear motors are all invalid in the deceleration condition, the VCU executes strategy 10 for calculating vehicle speed as follows:

[0401] VCU vehicle speed = 0;

[0402] 323: The VCU filters the calculated vehicle speed.

[0403] The VCU calculated vehicle speed needs to be filtered, and the filtering is performed according to the following formula:

[0404] val(new) = val(old) + [in-val(old)] x dT x K;

[0405] wherein val(new) is the filtered vehicle speed, val(old) is the filtered vehicle speed of the previous frame, in is the vehicle speed before filtering, dT is the period of internal software calculation, and K is the vehicle speed filtering coefficient.

[0406] After steps 304, 306, 308, 310, 312, 314, 316, 318, 320, and 322 are performed, step 323 can be performed.

[0407] The method described above Figures 1 to 3 can be used in a low vehicle speed (for example, the vehicle speed is less than or equal to 40 km / h) scenario. When driving at a low speed, the vehicle is in different scenarios such as wheel slip, wheel lock, and wheel suspension. Due to the sudden change or failure of the wheel speed and motor speed of the whole vehicle, the vehicle speed jumps due to the unchanged motion state of the whole vehicle. Since the wheel speed cannot accurately reflect the actual vehicle speed, the embodiment of the application provides a vehicle speed calculation method for an electric vehicle, which can reduce the influence of wheel and motor failure on vehicle speed calculation and improve the accuracy of vehicle speed calculation in low-speed, wheel speed signal failure, and motor speed signal failure states.

[0408] In the embodiment of the application, the state information of the four wheels, the front axle motor, the rear axle motor, and the ABS anti-lock system of the whole vehicle is acquired in real time, including the wheel speed effectiveness, the size and direction of the wheel speed, the torque effectiveness, the size and direction of the torque. The VCU determines that the motion state of the current vehicle is in a driving working condition or a deceleration working condition according to the directions of the front and rear motor wheel speeds and torques in the acquired state signals. The vehicle speed calculation strategy is determined according to the number and positions of the front and rear motor wheel speed effectiveness.

[0409] The VCU first determines the number of valid wheel speeds of the front motor, the rear motor and the four wheels, including the following five states: the wheel speed signals of the four wheels and the front motor and the rear motor are all valid, there is at least one valid wheel speed signal of the four wheels and the front motor and the rear motor respectively, the wheel speed signals of the four wheels are all invalid while there is at least one valid wheel speed signal of the front motor and the rear motor, there is at least one valid wheel speed signal of the four wheels while the wheel speed signals of the front motor and the rear motor are all invalid, and the wheel speed signals of the four wheels and the front motor and the rear motor are all invalid. After determining the state, the corresponding vehicle speed calculation strategy is adopted according to the positional relationship of the valid wheel speeds of the front motor, the rear motor and the four wheels to preliminarily calculate the current vehicle speed, and then the calculated vehicle speed is improved in accuracy through filtering processing.

[0410] The above describes the scheme of the embodiments of the present application from the perspective of the method side execution process. It can be understood that the electronic device includes hardware structures and / or software modules corresponding to the execution of each function to implement the above functions. Those skilled in the art should easily realize that the units and algorithm steps of each example described in the embodiments provided herein can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0411] The embodiments of the present application can divide the functional units of the electronic device according to the above method examples, for example, each functional unit can be divided according to each function, or two or more functions can be integrated in one processing unit. The integrated unit can be realized in the form of hardware or software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division. There can be another division method when actually implemented.

[0412] Please refer to Figure 4 , Figure 4 A structural schematic diagram of a vehicle speed determination device provided by the embodiments of the present application is shown in the figure. The vehicle speed determination device 400 can include an acquisition unit 401 and a determination unit 402, wherein:

[0413] The acquisition unit 401 is configured to acquire wheel speed state information of N wheels, wherein the wheel speed state information includes wheel speed validity information and wheel speed, and N is an integer greater than or equal to 4;

[0414] The acquisition unit 401 is further configured to acquire motor state information of M motors, wherein the motor state information includes rotation speed validity information, rotation speed, rotation speed direction and torque direction, and M is an integer greater than or equal to 1;

[0415] The acquisition unit 401 is further configured to acquire anti-lock state information of an anti-lock braking system (ABS), wherein the anti-lock state information comprises ABS wheel speeds;

[0416] The determination unit 402 is configured to determine a working condition of the vehicle according to the rotation direction and the torque direction in a case where at least one parameter in the wheel speeds of the N wheels and the rotation speeds of the M motors is valid.

[0417] The determination unit 402 is further configured to determine a vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed.

[0418] Optionally, the determination unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in a case where the vehicle is in a driving working condition, the wheel speeds of the N wheels are all valid, and the rotation speeds of the M motors are all valid, determining a minimum value among the wheel speeds of the N wheels, the rotation speed calculation wheel speeds of the M motors and the ABS wheel speeds as a target wheel speed; in a case where the vehicle is in a deceleration working condition, the wheel speeds of the N wheels are all valid, and the rotation speeds of the M motors are all valid, determining a maximum value among the wheel speeds of the N wheels, the rotation speed calculation wheel speeds of the M motors and the ABS wheel speeds as the target wheel speed; determining the vehicle speed according to the target wheel speed; wherein the rotation speed calculation wheel speed of the M motors is a wheel speed calculated based on the rotation speeds of the M motors.

[0419] Optionally, in a case where N=4 and M=2, the N wheels comprise two front axle wheels and two rear axle wheels, and the M motors comprise a front axle motor and a rear axle motor.

[0420] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in the case that the two front axle wheels include one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels are all valid, and the rotation speeds of the M motors are all valid, calculating the wheel speed based on the rotation speed of the front axle motor, and estimating the wheel speed of the wheel speed invalid front axle wheel based on the wheel speed of the wheel speed valid front axle wheel, to obtain the estimated wheel speed of the wheel speed invalid front axle wheel; in the case that the vehicle is in a driving working condition, determining the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels, the rotation speed calculation wheel speed of the M motors and the ABS wheel speed as the target wheel speed; in the case that the vehicle is in a deceleration working condition, determining the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels, the rotation speed calculation wheel speed of the M motors and the ABS wheel speed as the target wheel speed; determining the vehicle speed according to the target wheel speed; wherein the rotation speed calculation wheel speed of the M motors is a wheel speed calculated based on the rotation speeds of the M motors.

[0421] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in the case that the two front axle wheels include one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the two rear axle wheels include one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, and the rotating speeds of the M motors are all valid, calculating the wheel speed based on the rotating speed of the front axle motor and the wheel speed of the wheel speed valid front axle wheel to estimate the wheel speed of the wheel speed invalid front axle wheel, to obtain the estimated wheel speed of the wheel speed invalid front axle wheel; calculating the wheel speed based on the rotating speed of the rear axle motor and the wheel speed of the wheel speed valid rear axle wheel to estimate the wheel speed of the wheel speed invalid rear axle wheel, to obtain the estimated wheel speed of the wheel speed invalid rear axle wheel; in the case that the vehicle is in the driving working condition, determining the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed as the target wheel speed; in the case that the vehicle is in the deceleration working condition, determining the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed as the target wheel speed; determining the vehicle speed according to the target wheel speed; wherein the rotating speed calculation wheel speed of the M motors is the wheel speed calculated based on the rotating speeds of the M motors.

[0422] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in the case that the two front axle wheels include one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels are both invalid, and the rotating speeds of the M motors are all valid, calculating the wheel speed based on the rotating speed of the front axle motor and estimating the wheel speed of the wheel speed invalid front axle wheel based on the wheel speed of the wheel speed valid front axle wheel, to obtain the estimated wheel speed of the wheel speed invalid front axle wheel; in the case that the vehicle is in the driving working condition, determining the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed as the target wheel speed; in the case that the vehicle is in the deceleration working condition, determining the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed as the target wheel speed; determining the vehicle speed according to the target wheel speed; wherein the rotating speed calculation wheel speed of the front axle motor is the wheel speed calculated based on the rotating speed of the front axle motor.

[0423] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in the case that the two front axle wheels include one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels are both invalid, and the rotating speeds of the M motors are all valid, calculating the wheel speed based on the rotating speed of the front axle motor and estimating the wheel speed of the wheel speed invalid front axle wheel based on the wheel speed of the wheel speed valid front axle wheel, to obtain the estimated wheel speed of the wheel speed invalid front axle wheel; in the case that the vehicle is in the driving working condition, determining the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed as the target wheel speed; in the case that the vehicle is in the deceleration working condition, determining the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed as the target wheel speed; determining the vehicle speed according to the target wheel speed;

[0424] wherein the rotating speed calculation wheel speed of the front axle motor is the wheel speed calculated based on the rotating speed of the front axle motor.

[0425] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in the case that the wheel speeds of the two front axle wheels are all valid, the two rear axle wheels include one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, and the rotating speeds of the M motors are all valid, the wheel speed of the wheel speed valid rear axle wheel is used to estimate the wheel speed of the wheel speed invalid rear axle wheel based on the rotating speed calculation wheel speed of the rear axle motor, to obtain the estimated wheel speed of the wheel speed invalid rear axle wheel; in the case that the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the wheel speeds of the two front axle wheels, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed is determined as the target wheel speed; in the case that the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the wheel speeds of the two front axle wheels, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed is determined as the target wheel speed; the vehicle speed is determined according to the target wheel speed; wherein the rotating speed calculation wheel speed of the M motors is the wheel speed calculated based on the rotating speeds of the M motors.

[0426] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in the case that the wheel speeds of the two front axle wheels are all valid, the two rear axle wheels include one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, and the rotating speeds of the M motors are all valid, the wheel speed of the wheel speed valid rear axle wheel is used to estimate the wheel speed of the wheel speed invalid rear axle wheel based on the rotating speed calculation wheel speed of the rear axle motor, to obtain the estimated wheel speed of the wheel speed invalid rear axle wheel; in the case that the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the wheel speeds of the two front axle wheels, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed is determined as the target wheel speed; in the case that the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the wheel speeds of the two front axle wheels, the rotating speed calculation wheel speed of the M motors and the ABS wheel speed is determined as the target wheel speed; the vehicle speed is determined according to the target wheel speed; wherein the rotating speed calculation wheel speed of the M motors is the wheel speed calculated based on the rotating speeds of the M motors.

[0427] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in the case that the vehicle is in the driving working condition, the wheel speeds of the two rear axle wheels are both invalid, the two front axle wheels include one invalid front axle wheel and one valid front axle wheel, the rotating speed of the front axle motor is invalid, and the rotating speed of the rear axle motor is valid, determining the minimum value among the wheel speed of the valid front axle wheel, the rotating speed calculation wheel speed of the rear axle motor and the ABS wheel speed as the target wheel speed; in the case that the vehicle is in the deceleration working condition, the wheel speeds of the two rear axle wheels are both invalid, the two front axle wheels include one invalid front axle wheel and one valid front axle wheel, the rotating speed of the front axle motor is invalid, and the rotating speed of the rear axle motor is valid, determining the maximum value among the wheel speed of the valid front axle wheel, the rotating speed calculation wheel speed of the rear axle motor and the ABS wheel speed as the target wheel speed; determining the vehicle speed according to the target wheel speed; wherein the rotating speed calculation wheel speed of the rear axle motor is the wheel speed calculated based on the rotating speed of the rear axle motor.

[0428] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in the case that the vehicle is in the driving working condition, the wheel speeds of the two rear axle wheels are both invalid, the two front axle wheels include one invalid front axle wheel and one valid front axle wheel, the rotating speed of the front axle motor is invalid, and the rotating speed of the rear axle motor is valid, determining the minimum value among the wheel speed of the valid front axle wheel, the rotating speed calculation wheel speed of the rear axle motor and the ABS wheel speed as the target wheel speed; in the case that the vehicle is in the deceleration working condition, the wheel speeds of the two rear axle wheels are both invalid, the two front axle wheels include one invalid front axle wheel and one valid front axle wheel, the rotating speed of the front axle motor is invalid, and the rotating speed of the rear axle motor is valid, determining the maximum value among the wheel speed of the valid front axle wheel, the rotating speed calculation wheel speed of the rear axle motor and the ABS wheel speed as the target wheel speed; determining the vehicle speed according to the target wheel speed; wherein the rotating speed calculation wheel speed of the rear axle motor is the wheel speed calculated based on the rotating speed of the rear axle motor.

[0429] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in the case that the vehicle is in the driving working condition, the wheel speeds of the two front axle wheels are both invalid, the two rear axle wheels include one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, and the rotating speed of the front axle motor is valid and the rotating speed of the rear axle motor is invalid, determining the minimum value among the wheel speed of the wheel speed valid rear axle wheel, the rotating speed of the front axle motor and the ABS wheel speed as the target wheel speed; in the case that the vehicle is in the deceleration working condition, the wheel speeds of the two front axle wheels are both invalid, the two rear axle wheels include one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, and the rotating speed of the front axle motor is valid and the rotating speed of the rear axle motor is invalid, determining the maximum value among the wheel speed of the wheel speed valid rear axle wheel, the rotating speed of the front axle motor and the ABS wheel speed as the target wheel speed; determining the vehicle speed according to the target wheel speed; wherein the rotating speed of the front axle motor is calculated wheel speed is the wheel speed calculated based on the rotating speed of the front axle motor.

[0430] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: in the case that the vehicle is in the driving working condition, the wheel speeds of the N wheels are all invalid, the rotating speed of the front axle motor is valid and the rotating speed of the rear axle motor is invalid, determining the minimum value among the rotating speed of the front axle motor and the ABS wheel speed as the target wheel speed; in the case that the vehicle is in the deceleration working condition, the wheel speeds of the N wheels are all invalid, the rotating speed of the front axle motor is valid and the rotating speed of the rear axle motor is invalid, determining the maximum value among the rotating speed of the front axle motor and the ABS wheel speed as the target wheel speed; in the case that the vehicle is in the driving working condition, the wheel speeds of the N wheels are all invalid, the rotating speed of the front axle motor is invalid and the rotating speed of the rear axle motor is valid, determining the minimum value among the rotating speed of the rear axle motor and the ABS wheel speed as the target wheel speed; in the case that the vehicle is in the deceleration working condition, the wheel speeds of the N wheels are all invalid, the rotating speed of the front axle motor is invalid and the rotating speed of the rear axle motor is valid, determining the maximum value among the rotating speed of the rear axle motor and the ABS wheel speed as the target wheel speed; determining the vehicle speed according to the target wheel speed; wherein the rotating speed of the front axle motor is calculated wheel speed is the wheel speed calculated based on the rotating speed of the front axle motor, and the rotating speed of the rear axle motor is calculated wheel speed is the wheel speed calculated based on the rotating speed of the rear axle motor.

[0431] Optionally, the determining unit 402 determines the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: determining the minimum value of the wheel speed of the at least one wheel and the ABS wheel speed as the target wheel speed in the case that the vehicle is in the driving working condition, the wheel speed of the at least one wheel of the N wheels is valid, and the rotating speed of the M motors is invalid; determining the maximum value of the wheel speed of the at least one wheel and the ABS wheel speed as the target wheel speed in the case that the vehicle is in the deceleration working condition, the wheel speed of the at least one wheel of the N wheels is valid, and the rotating speed of the M motors is invalid; and determining the vehicle speed according to the target wheel speed.

[0432] Optionally, the determining unit 402 is further configured to determine the vehicle speed as 0 in the case that the wheel speed of the N wheels is invalid and the rotating speed of the M motors is invalid.

[0433] Optionally, the vehicle speed determining apparatus 400 further includes a filtering unit 403.

[0434] The filtering unit 403 is configured to perform filtering processing on the vehicle speed to obtain a filtered vehicle speed, and take the filtered vehicle speed as the vehicle speed of the vehicle.

[0435] In the embodiment of the application, the obtaining unit 401, the determining unit 402 and the filtering unit 403 can be a processor in an electronic device, such as a VCU.

[0436] In the embodiment of the application, in the case that at least one parameter of the wheel speed of the N wheels and the rotating speed of the M motors is valid, the working condition of the vehicle is determined according to the rotating speed direction and the torque direction; and the vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotating speed validity information of the M motors, the at least one parameter and the ABS wheel speed. Considering the at least one valid parameter of the wheel speed of the N wheels and the rotating speed of the M motors and the ABS wheel speed, compared with only considering the rotating speed of the wheel, the accuracy of the vehicle speed calculation can be improved.

[0437] Please refer to Figure 5 , Figure 5 is a structural schematic diagram of an electronic device provided by the embodiment of the application, as Figure 5As shown, the electronic device 500 includes a processor 501 and a memory 502, which can be connected to each other through a communication bus 503. The communication bus 503 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 503 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 The memory 502 is configured to store a computer program including program instructions, and the processor 501 is configured to invoke the program instructions to perform the above-mentioned program, including the method included in the above-mentioned program. Figures 1 to 3 The memory 502 is configured to store a computer program including program instructions, and the processor 501 is configured to invoke the program instructions to perform the above-mentioned program, including the method included in the above-mentioned program.

[0438] The processor 501 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above-mentioned program. Specifically, the processor 501 can be a VCU.

[0439] The memory 502 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this. The memory can exist independently and be connected to the processor through a bus. The memory can also be integrated with the processor.

[0440] In addition, the electronic device 500 can also include a communication interface (such as a USB interface, a microphone interface, etc.), an antenna, and other general-purpose components, which will not be described in detail here.

[0441] In the embodiments of the present application, when at least one parameter in the wheel speeds of the N wheels and the rotation speeds of the M motors is valid, the working condition of the vehicle is determined according to the rotation speed direction and the torque direction; and the vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one valid parameter and the ABS wheel speed. Considering the at least one valid parameter in the wheel speeds of the N wheels and the rotation speeds of the M motors and the ABS wheel speed, compared with only considering the wheel rotation speed, the accuracy of the vehicle speed calculation can be improved.

[0442] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program for electronic data exchange, and the computer program causes a computer to execute part or all steps of any vehicle speed determination method described in the above method embodiments.

[0443] It should be noted that, for the above-mentioned method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0444] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0445] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of the units is only a logical function division. There can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical or other forms.

[0446] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiments of the present application.

[0447] In addition, each functional unit in the embodiments of the application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software program module.

[0448] When the integrated unit is realized in the form of a software program module and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such an understanding, the technical solutions of the present application essentially or partially contribute to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various other media that can store program codes.

[0449] Those of ordinary skill in the art can understand that all or part of the steps of the various methods in the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer readable storage medium, which can include a flash disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.

[0450] The embodiments of the present application are described in detail above, and the principles and implementation manners of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea; meanwhile, for those of ordinary skill in the art, according to the idea of the present application, the specific implementation manner and application range can be changed, and the above description of the embodiments should not be understood as a limitation of the present application.

Claims

1. A vehicle speed determination method characterized by comprising: The method comprises: acquiring wheel speed state information of N wheels, the wheel speed state information comprising wheel speed validity information and wheel speed; acquiring motor state information of M motors, the motor state information comprising rotation speed validity information, rotation speed, rotation speed direction and torque direction; acquiring anti-lock state information of an anti-lock braking system (ABS), the anti-lock state information comprising ABS wheel speed; in the case that at least one parameter among the wheel speed of the N wheels and the rotation speed of the M motors is valid, determining the working condition of the vehicle according to the rotation speed direction and the torque direction; determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed; N=4, M=2, the N wheels comprising 2 front axle wheels and 2 rear axle wheels, and the M motors comprising a front axle motor and a rear axle motor; the determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises: in the case that the 2 front axle wheels comprise one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the wheel speeds of the 2 rear axle wheels are both valid, and the rotation speeds of the M motors are both valid, calculating the wheel speed based on the rotation speed of the front axle motor, and estimating the wheel speed of the wheel speed invalid front axle wheel based on the wheel speed of the wheel speed valid front axle wheel, to obtain the estimated wheel speed of the wheel speed invalid front axle wheel; in the case that the vehicle is in a driving working condition, determining the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the wheel speeds of the 2 rear axle wheels, the rotation speed calculation wheel speed of the M motors and the ABS wheel speed as a target wheel speed; in the case that the vehicle is in a deceleration working condition, determining the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the wheel speeds of the 2 rear axle wheels, the rotation speed calculation wheel speed of the M motors and the ABS wheel speed as a target wheel speed; determining the vehicle speed according to the target wheel speed; wherein the rotation speed calculation wheel speed of the M motors is a wheel speed calculated based on the rotation speeds of the M motors.

2. The method of claim 1, wherein, The determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises: in the case that the vehicle is in a driving working condition, the wheel speeds of the N wheels are all valid, and the rotation speeds of the M motors are all valid, determining the minimum value among the wheel speeds of the N wheels, the rotation speed calculation wheel speed of the M motors and the ABS wheel speed as a target wheel speed; in the case that the vehicle is in a deceleration working condition, the wheel speeds of the N wheels are all valid, and the rotation speeds of the M motors are all valid, determining the maximum value among the wheel speeds of the N wheels, the rotation speed calculation wheel speed of the M motors and the ABS wheel speed as a target wheel speed; determining the vehicle speed according to the target wheel speed; The M motor speed calculation wheel speeds are wheel speeds calculated based on the M motor speeds.

3. The method of claim 1, wherein, The determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the motor speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises: In a case where the two front axle wheels comprise one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the two rear axle wheels comprise one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, and the M motor speeds are all valid, the wheel speed of the wheel speed invalid front axle wheel is estimated based on the front axle motor speed calculation wheel speed and the wheel speed of the wheel speed valid front axle wheel, to obtain an estimated wheel speed of the wheel speed invalid front axle wheel; and the wheel speed of the wheel speed invalid rear axle wheel is estimated based on the rear axle motor speed calculation wheel speed and the wheel speed of the wheel speed valid rear axle wheel, to obtain an estimated wheel speed of the wheel speed invalid rear axle wheel; In a case where the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the M motor speed calculation wheel speeds and the ABS wheel speed is determined as the target wheel speed; In a case where the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the M motor speed calculation wheel speeds and the ABS wheel speed is determined as the target wheel speed; The vehicle speed is determined according to the target wheel speed. The M motor speed calculation wheel speeds are wheel speeds calculated based on the M motor speeds.

4. The method of claim 1, wherein, The determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the motor speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises: In a case where the two front axle wheels comprise one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels are all invalid, and the M motor speeds are all valid, the wheel speed of the wheel speed invalid front axle wheel is estimated based on the front axle motor speed calculation wheel speed and the wheel speed of the wheel speed valid front axle wheel, to obtain an estimated wheel speed of the wheel speed invalid front axle wheel; In a case where the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the M motor speed calculation wheel speeds and the ABS wheel speed is determined as the target wheel speed; In a case where the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the M motor speed calculation wheel speeds and the ABS wheel speed is determined as the target wheel speed; The vehicle speed is determined according to the target wheel speed. The speed calculation wheel speed of the M motors is a wheel speed calculated based on the speed of the M motors.

5. The method of claim 1, wherein, The determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises: In a case where the two front axle wheels include one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels are both invalid, and the speed of the front axle motor is valid and the speed of the rear axle motor is invalid, the wheel speed of the wheel speed invalid front axle wheel is estimated based on the speed calculation wheel speed of the front axle motor and the wheel speed of the wheel speed valid front axle wheel, to obtain an estimated wheel speed of the wheel speed invalid front axle wheel; In a case where the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the speed calculation wheel speed of the front axle motor and the ABS wheel speed is determined as the target wheel speed; In a case where the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the speed calculation wheel speed of the front axle motor and the ABS wheel speed is determined as the target wheel speed; The vehicle speed is determined according to the target wheel speed; The speed calculation wheel speed of the M motors is a wheel speed calculated based on the speed of the M motors.

6. The method of claim 1, wherein, The determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises: In a case where the two front axle wheels include one wheel speed invalid front axle wheel and one wheel speed valid front axle wheel, the wheel speeds of the two rear axle wheels are both invalid, and the speed of the front axle motor is valid and the speed of the rear axle motor is invalid, the wheel speed of the wheel speed invalid front axle wheel is estimated based on the speed calculation wheel speed of the front axle motor and the wheel speed of the wheel speed valid front axle wheel, to obtain an estimated wheel speed of the wheel speed invalid front axle wheel; In a case where the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the speed calculation wheel speed of the front axle motor and the ABS wheel speed is determined as the target wheel speed; In a case where the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid front axle wheel, the wheel speed of the wheel speed valid front axle wheel, the speed calculation wheel speed of the front axle motor and the ABS wheel speed is determined as the target wheel speed; The vehicle speed is determined according to the target wheel speed; The speed calculation wheel speed of the M motors is a wheel speed calculated based on the speed of the M motors.

7. The method of claim 1, wherein, The determining the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the speed validity information of the M motors, the at least one parameter and the ABS wheel speed comprises: In the case that the wheel speeds of the two front axle wheels are all valid, the two rear axle wheels include one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, the rotational speed of the front axle motor is invalid, and the rotational speed of the rear axle motor is valid, the wheel speed of the wheel speed invalid rear axle wheel is estimated based on the rotational speed calculation wheel speed of the rear axle motor and the wheel speed of the wheel speed valid rear axle wheel, to obtain an estimated wheel speed of the wheel speed invalid rear axle wheel; In the case that the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the wheel speeds of the two front axle wheels, the rotational speed calculation wheel speed of the rear axle motor and the ABS wheel speed is determined as the target wheel speed; In the case that the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the wheel speeds of the two front axle wheels, the rotational speed calculation wheel speed of the rear axle motor and the ABS wheel speed is determined as the target wheel speed; The vehicle speed is determined according to the target wheel speed; The rotational speed calculation wheel speed of the rear axle motor is a wheel speed calculated based on the rotational speed of the rear axle motor.

8. The method of claim 1, wherein, The vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotational speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: In the case that the wheel speeds of the two front axle wheels are all invalid, the two rear axle wheels include one wheel speed invalid rear axle wheel and one wheel speed valid rear axle wheel, the rotational speed of the front axle motor is invalid, and the rotational speed of the rear axle motor is valid, the wheel speed of the wheel speed invalid rear axle wheel is estimated based on the rotational speed calculation wheel speed of the rear axle motor and the wheel speed of the wheel speed valid rear axle wheel, to obtain an estimated wheel speed of the wheel speed invalid rear axle wheel; In the case that the vehicle is in the driving working condition, the minimum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the rotational speed calculation wheel speed of the rear axle motor and the ABS wheel speed is determined as the target wheel speed; In the case that the vehicle is in the deceleration working condition, the maximum value among the estimated wheel speed of the wheel speed invalid rear axle wheel, the wheel speed of the wheel speed valid rear axle wheel, the rotational speed calculation wheel speed of the rear axle motor and the ABS wheel speed is determined as the target wheel speed; The vehicle speed is determined according to the target wheel speed; The rotational speed calculation wheel speed of the rear axle motor is a wheel speed calculated based on the rotational speed of the rear axle motor.

9. The method of claim 1, wherein, The vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotational speed validity information of the M motors, the at least one parameter and the ABS wheel speed, including: In the case that the vehicle is in the driving working condition, the wheel speeds of the two rear axle wheels are both invalid, the two front axle wheels include one invalid front axle wheel and one valid front axle wheel, the speed of the front axle motor is invalid, and the speed of the rear axle motor is valid, the minimum value of the wheel speed of the valid front axle wheel, the wheel speed calculated based on the speed of the rear axle motor, and the ABS wheel speed is determined as the target wheel speed; In the case that the vehicle is in the deceleration working condition, the wheel speeds of the two rear axle wheels are both invalid, the two front axle wheels include one invalid front axle wheel and one valid front axle wheel, the speed of the front axle motor is invalid, and the speed of the rear axle motor is valid, the maximum value of the wheel speed of the valid front axle wheel, the wheel speed calculated based on the speed of the rear axle motor, and the ABS wheel speed is determined as the target wheel speed; The vehicle speed is determined according to the target wheel speed; The wheel speed calculated based on the speed of the rear axle motor is a wheel speed calculated based on the speed of the rear axle motor.

10. The method of claim 1, wherein, The vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the speed validity information of the M motors, the at least one parameter, and the ABS wheel speed, including: In the case that the vehicle is in the driving working condition, the wheel speeds of the two front axle wheels are both invalid, the two rear axle wheels include one invalid rear axle wheel and one valid rear axle wheel, the speed of the front axle motor is valid, and the speed of the rear axle motor is invalid, the minimum value of the wheel speed of the valid rear axle wheel, the wheel speed calculated based on the speed of the front axle motor, and the ABS wheel speed is determined as the target wheel speed; In the case that the vehicle is in the deceleration working condition, the wheel speeds of the two front axle wheels are both invalid, the two rear axle wheels include one invalid rear axle wheel and one valid rear axle wheel, the speed of the front axle motor is valid, and the speed of the rear axle motor is invalid, the maximum value of the wheel speed of the valid rear axle wheel, the wheel speed calculated based on the speed of the front axle motor, and the ABS wheel speed is determined as the target wheel speed; The vehicle speed is determined according to the target wheel speed; The wheel speed calculated based on the speed of the front axle motor is a wheel speed calculated based on the speed of the front axle motor.

11. The method of claim 1, wherein, The vehicle speed is determined according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the speed validity information of the M motors, the at least one parameter, and the ABS wheel speed, including: In the case that the vehicle is in the driving working condition, the wheel speeds of the N wheels are all invalid, the speed of the front axle motor is valid, and the speed of the rear axle motor is invalid, the minimum value of the wheel speed calculated based on the speed of the front axle motor and the ABS wheel speed is determined as the target wheel speed; In the case that the vehicle is in the deceleration working condition, the wheel speeds of the N wheels are all invalid, the speed of the front axle motor is valid, and the speed of the rear axle motor is invalid, the maximum value of the wheel speed calculated based on the speed of the front axle motor and the ABS wheel speed is determined as the target wheel speed; In the case that the vehicle is in the driving working condition, the wheel speeds of the N wheels are all invalid, the rotation speed of the front axle motor is invalid, and the rotation speed of the rear axle motor is valid, the rotation speed of the rear axle motor is determined to be the minimum value between the wheel speed calculated based on the rotation speed of the rear axle motor and the ABS wheel speed as the target wheel speed; In the case that the vehicle is in the deceleration working condition, the wheel speeds of the N wheels are all invalid, the rotation speed of the front axle motor is invalid, and the rotation speed of the rear axle motor is valid, the rotation speed of the rear axle motor is determined to be the maximum value between the wheel speed calculated based on the rotation speed of the rear axle motor and the ABS wheel speed as the target wheel speed; The vehicle speed is determined according to the target wheel speed. The wheel speed calculated based on the rotation speed of the front axle motor is the wheel speed calculated based on the rotation speed of the front axle motor, and the wheel speed calculated based on the rotation speed of the rear axle motor is the wheel speed calculated based on the rotation speed of the rear axle motor.

12. The method of claim 1, wherein, The determination of the vehicle speed according to the working condition of the vehicle, the wheel speed validity information of the N wheels, the rotation speed validity information of the M motors, the at least one parameter, and the ABS wheel speed comprises: In the case that the vehicle is in the driving working condition, the wheel speed of at least one wheel of the N wheels is valid, and the rotation speeds of the M motors are all invalid, the wheel speed of the at least one wheel and the ABS wheel speed are determined to be the minimum value as the target wheel speed; In the case that the vehicle is in the deceleration working condition, the wheel speed of at least one wheel of the N wheels is valid, and the rotation speeds of the M motors are all invalid, the wheel speed of the at least one wheel and the ABS wheel speed are determined to be the maximum value as the target wheel speed; The vehicle speed is determined according to the target wheel speed.

13. The method of claim 1, wherein, The method further comprises: In the case that the wheel speeds of the N wheels are all invalid, and the rotation speeds of the M motors are all invalid, the vehicle speed is determined to be 0.

14. The method of any one of claims 1-13, wherein, The method further comprises: The vehicle speed is filtered to obtain a filtered vehicle speed, and the filtered vehicle speed is taken as the vehicle speed of the vehicle.

15. An electronic device, comprising: The computer readable storage medium stores a computer program, and the computer program comprises program instructions. The program instructions, when executed by a processor, cause the processor to execute the method according to any one of claims 1-14.

16. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program comprises program instructions. The program instructions, when executed by a processor, cause the processor to execute the method according to any one of claims 1-14.

17. A computer program product, characterised in that, The computer program product comprises a computer program operable to cause a computer to execute the method according to any one of claims 1-14.

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