Vehicle driving direction recognition method, electronic device and vehicle

Abstract

The present invention discloses a vehicle driving direction recognition method, electronic device and vehicle. The present invention obtains multiple target parameters of the vehicle, judges the driving direction of the vehicle according to each target parameter, sets weights for the driving direction judgment results of each target parameter, and finally judges the driving direction of the vehicle according to the driving direction judgment results of all target parameters and the corresponding weights. The driving direction of the vehicle can be judged more accurately, and the problem of erroneous judgment results due to a single signal failure can be avoided. In addition, the present invention does not need to add additional devices to the vehicle, thereby reducing the cost of the vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and in particular relates to a vehicle driving direction recognition method, electronic equipment and a vehicle. Background Art

[0002] In the process of implementing the EMB (Electromechanical Brake) function, it is necessary to determine whether the vehicle is moving forward or backward. Currently, a single signal is usually used for determination, which has a low accuracy rate. Summary of the invention

[0003] An object of the present invention is to provide a vehicle driving direction recognition method, electronic equipment and vehicle, which can solve the technical problem of low driving direction judgment accuracy in the prior art.

[0004] According to a first aspect of the present invention, a method for identifying a vehicle driving direction is provided, comprising:

[0005] Acquire target parameters of the vehicle, the target parameters including gear position, vehicle speed, a smart wheel speed sensor signal corresponding to each wheel of the vehicle, a steering wheel angle, and a first yaw angular velocity;

[0006] Determine a first direction and a first weight corresponding to the first direction according to the gear position;

[0007] determining a second direction and a second weight corresponding to the second direction according to the vehicle speed;

[0008] Determine a third direction and a third weight corresponding to the third direction according to a smart wheel speed sensor signal corresponding to each wheel of the vehicle;

[0009] determining a fourth direction and a fourth weight corresponding to the fourth direction according to the steering wheel angle and the first yaw angular velocity;

[0010] The driving direction of the vehicle is determined according to the first direction, the first weight, the second direction, the second weight, the third direction, the third weight, the fourth direction, and the fourth weight.

[0011] Optionally, determining the first direction and a first weight corresponding to the first direction according to the gear position includes:

[0012] When the gear position is invalid, determining the first weight to be 0;

[0013] When the gear position is valid, determining the first weight to be 1;

[0014] When the gear position is a forward gear, determining the first direction as a forward direction;

[0015] When the gear position is a reverse gear, the first direction is determined to be a reverse direction.

[0016] Optionally, determining the second direction and a second weight corresponding to the second direction according to the vehicle speed includes:

[0017] When the vehicle speed is invalid, determining the second weight to be 0;

[0018] When the vehicle speed is valid, if the vehicle speed is greater than a preset speed threshold, the second direction is determined to be a forward direction, and the second weight is 0.5;

[0019] When the vehicle speed is valid, if the vehicle speed is less than or equal to the preset vehicle speed threshold, the second weight is determined to be 0.

[0020] Optionally, determining a third direction and a third weight corresponding to the third direction according to a smart wheel speed sensor signal corresponding to each wheel of the vehicle includes:

[0021] Determining the rotation direction of each wheel according to the intelligent wheel speed sensor signal corresponding to each wheel of the vehicle;

[0022] Determining a driving direction corresponding to the rotation direction of each wheel;

[0023] Determine a first value when the driving direction is a forward direction and a second value when the driving direction is a backward direction in the driving direction corresponding to the rotation direction of each wheel;

[0024] The third direction and the third weight are determined according to the first value and the second value.

[0025] Optionally, determining the third direction and the third weight according to the first value and the second value includes:

[0026] If the first value is greater than the second value, the third direction is a forward direction, and the third weight is a ratio of the first value to the sum of the first value and the second value;

[0027] If the first value is less than the second value, the third direction is a backward direction, and the third weight is a ratio of the second value to the sum of the first value and the second value;

[0028] If the first value is equal to the second value, the third weight is determined to be 0.

[0029] Optionally, determining a fourth direction and a fourth weight corresponding to the fourth direction according to the steering wheel angle and the first yaw angular velocity includes:

[0030] When the steering wheel angle exceeds a preset angle threshold and the vehicle speed exceeds a preset speed threshold, calculating a second yaw angular velocity corresponding to the steering wheel angle;

[0031] determining the fourth direction and the fourth weight according to the first yaw angular velocity and the second yaw angular velocity;

[0032] When the steering wheel angle does not exceed the preset angle threshold or the vehicle speed does not exceed the preset speed threshold, the fourth weight is determined to be 0.

[0033] Optionally, determining the fourth direction and the fourth weight according to the first yaw angular velocity and the second yaw angular velocity includes:

[0034] When the first yaw angular velocity and the second yaw angular velocity satisfy a first preset condition, determining that the fourth direction is a forward direction, and determining that the fourth weight is 1;

[0035] The first preset condition is that the first yaw angular velocity and the second yaw angular velocity are both greater than a first threshold, or the first yaw angular velocity and the second yaw angular velocity are both less than a second threshold, wherein the first threshold is a positive number and the second threshold is a negative number;

[0036] When the first yaw angular velocity and the second yaw angular velocity satisfy a second preset condition, determining that the fourth direction is a backward direction, and determining that the fourth weight is 1;

[0037] The second preset condition is that the first yaw rate is greater than the first threshold and the second yaw rate is less than the second threshold, or the first yaw rate is less than the second threshold and the second yaw rate is greater than the first threshold.

[0038] Optionally, determining the driving direction of the vehicle according to the first direction, the first weight, the second direction, the second weight, the third direction, the third weight, the fourth direction, and the fourth weight includes:

[0039] Calculate the weight of the forward direction and the weight of the backward direction, wherein the weight of the forward direction is the sum of the weights corresponding to all the forward directions in the first direction, the second direction, the third direction, and the fourth direction, and the weight of the backward direction is the sum of the weights corresponding to all the backward directions in the first direction, the second direction, the third direction, and the fourth direction;

[0040] When the weight of the forward direction is greater than the weight of the backward direction, determining the driving direction of the vehicle to be the forward direction;

[0041] When the weight of the forward direction is less than the weight of the backward direction, it is determined that the driving direction of the vehicle is the backward direction.

[0042] According to a second aspect of the present invention, an electronic device is provided, comprising a processor and a memory, wherein the memory stores programs or instructions executable by the processor, and when the programs or instructions are executed by the processor, a vehicle driving direction recognition method as described in the first aspect of the present invention is implemented.

[0043] According to a third aspect of the present invention, a vehicle is provided, comprising an electronic device according to the second aspect of the present invention.

[0044] The beneficial effect of the present invention is that the present invention obtains multiple target parameters of the vehicle, judges the driving direction of the vehicle according to each target parameter, and sets weights for the driving direction judgment results of each target parameter, and finally judges the driving direction of the vehicle according to the driving direction judgment results of all target parameters and the corresponding weights, so that the driving direction of the vehicle can be judged more accurately, and the problem of wrong judgment results caused by a single signal failure can be avoided. In addition, the present invention does not need to add additional devices to the vehicle, reducing the cost of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 The present invention is a flow chart of a method for identifying a vehicle driving direction in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0047] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0048] The techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and devices should be considered as part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0049] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0050] In the specification and claims of the present invention, if the term "first" or "second" is involved, it may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the related objects are in an "or" relationship.

[0051] like Figure 1 As shown, this embodiment introduces a vehicle driving direction recognition method, including steps 1100-1600.

[0052] Step 1100: Acquire target parameters of the vehicle, wherein the target parameters include a gear position, a vehicle speed, a smart wheel speed sensor signal corresponding to each wheel of the vehicle, a steering wheel angle, and a first yaw angular velocity.

[0053] The gear position of the vehicle can be determined by obtaining the gear position signal. For example, a gear lever and a gear position controller are provided in the vehicle, and the driver can select the required gear position through the gear lever. The gear position controller can monitor the triggering status of the gear lever in real time and send out a gear position signal, and the gear position of the vehicle is reflected by the gear position signal.

[0054] A vehicle speed sensor is installed on the vehicle, and the vehicle speed sensor can be used to detect the vehicle speed. The vehicle speed can be obtained by identifying the signal of the vehicle speed sensor.

[0055] A vehicle includes multiple wheels, and different types of vehicles have different numbers of wheels. For example, a sedan usually has 4 wheels, while a commercial vehicle may have 8 wheels. Each wheel is equipped with a corresponding intelligent wheel speed sensor, which can detect the wheel speed and the rotation direction of the wheel.

[0056] The first yaw rate may be detected by an angular rate sensor in the vehicle.

[0057] Step 1200: Determine a first direction and a first weight corresponding to the first direction according to the gear position.

[0058] Step 1300: Determine a second direction and a second weight corresponding to the second direction according to the vehicle speed.

[0059] Step 1400: Determine a third direction and a third weight corresponding to the third direction according to the smart wheel speed sensor signal corresponding to each wheel of the vehicle.

[0060] Step 1500: Determine a fourth direction and a fourth weight corresponding to the fourth direction according to the steering wheel angle and the first yaw angular velocity.

[0061] Step 1600: Determine the driving direction of the vehicle according to the first direction, the first weight, the second direction, the second weight, the third direction, the third weight, the fourth direction, and the fourth weight.

[0062] The first direction indicates the driving direction of the vehicle determined according to the gear position, and different gear positions correspond to different driving directions. The second direction indicates the driving direction of the vehicle determined according to the vehicle speed, and different vehicle speeds correspond to different driving directions. The third direction indicates the driving direction of the vehicle determined according to the intelligent wheel speed sensor signal of the vehicle. The fourth direction indicates the driving direction of the vehicle determined according to the steering wheel angle of the vehicle and the first yaw angular velocity.

[0063] Different weights are corresponding to the driving directions determined according to different target parameters, and the weights are set according to the accuracy of the judgment. For example, if the accuracy of judging the driving direction by the vehicle speed is low, while the accuracy of judging the driving direction by the gear position is high, then the second weight can be set to be smaller than the first weight.

[0064] After obtaining the driving direction judgment result of each target parameter and the corresponding weight, the driving direction of the vehicle is finally comprehensively judged.

[0065] The present invention obtains multiple target parameters of the vehicle, determines the driving direction of the vehicle according to each target parameter, and sets weights for the driving direction judgment results of each target parameter. Finally, the driving direction of the vehicle is comprehensively judged according to the driving direction judgment results of all target parameters and the corresponding weights. The driving direction of the vehicle can be judged more accurately, while avoiding the problem of incorrect judgment results due to a single signal failure. In addition, the present invention does not need to add additional devices to the vehicle, reducing the cost of the vehicle.

[0066] In this embodiment, step 1200 includes: when the gear is invalid, determining the first weight to be 0; when the gear is valid, determining the first weight to be 1; when the gear is a forward gear, determining the first direction to be a forward direction; when the gear is a reverse gear, determining the first direction to be a reverse direction.

[0067] After obtaining the gear position of the vehicle, first determine whether the gear position is valid. If the gear position is invalid, the vehicle's driving direction cannot be determined by the gear position. In this case, the first weight is set to 0, indicating that the gear position is not used to determine the vehicle's driving direction.

[0068] If the gear is valid, the vehicle's driving direction can be determined by the gear, and in this case the first weight is set to 1. When the vehicle's gear is in the forward gear, the vehicle is considered to be driving forward, and the first direction is set to the forward direction. When the vehicle's gear is in the reverse gear, the vehicle is considered to be driving backward, and the first direction is set to the reverse direction.

[0069] In this embodiment, step 1300 includes: when the vehicle speed is invalid, determining that the second weight is 0; when the vehicle speed is valid, if the vehicle speed is greater than a preset speed threshold, determining that the second direction is a forward direction, and the second weight is 0.5; when the vehicle speed is valid, if the vehicle speed is less than or equal to the preset speed threshold, determining that the second weight is 0.

[0070] After obtaining the vehicle speed, first determine whether the speed is valid. If the speed is invalid, the vehicle's direction of travel cannot be determined by the speed. In this case, the second weight is set to 0, indicating that the speed is not used to determine the vehicle's direction of travel.

[0071] If the vehicle speed is valid, then the vehicle's direction of travel can be determined by the vehicle speed. Usually, the vehicle's speed is low when it is reversing, so when the vehicle speed is high, it can be considered that the vehicle is moving forward. When the vehicle speed is greater than the preset speed threshold, the vehicle is considered to be moving forward, and the second direction is set to the forward direction. For example, the preset speed threshold can be set to 50km / h, or it can be set to other values. Different preset speed thresholds can also be set for different types of vehicles. Since the accuracy of the result of determining the vehicle's direction of travel by vehicle speed is low, the second weight can be appropriately reduced, such as setting the second weight to 0.5, and the second weight is less than the first weight.

[0072] When the vehicle speed is relatively slow, the vehicle may be in a reverse state and driving backwards. The vehicle may also be driving forward at a low speed. Therefore, it is impossible to determine the vehicle's driving direction when the vehicle speed is relatively slow. When the vehicle speed is less than or equal to the preset speed threshold, the second weight is set to 0, indicating that the vehicle body is not used to determine the vehicle's driving direction when the vehicle speed is relatively slow.

[0073] In this embodiment, step 1400 includes: determining the rotation direction of each wheel according to the intelligent wheel speed sensor signal corresponding to each wheel of the vehicle; determining the driving direction corresponding to the rotation direction of each wheel; determining a first value when the driving direction is a forward direction and a second value when the driving direction is a backward direction in the driving direction corresponding to the rotation direction of each wheel; determining the third direction and the third weight according to the first value and the second value.

[0074] After obtaining the intelligent wheel speed sensor signal of each wheel of the vehicle, the rotation direction of each wheel is determined, and the corresponding driving direction is determined according to the rotation direction of the wheel. For example, when the vehicle is moving forward, the wheel rotates in a clockwise direction. If the rotation direction of a wheel is clockwise, the corresponding driving direction determined according to the rotation direction of the wheel is the forward direction. If the rotation direction of a wheel is counterclockwise, the driving direction determined according to the rotation direction of the wheel is the backward direction.

[0075] Since the vehicle includes multiple wheels, it is necessary to determine the driving direction corresponding to the rotation direction of each wheel. For example, the vehicle includes 4 wheels, namely wheel 1, wheel 2, wheel 3 and wheel 4, wherein the rotation direction of wheel 1 is clockwise, the rotation direction of wheel 2 is clockwise, the rotation direction of wheel 3 is counterclockwise, and the rotation direction of wheel 1 is clockwise. Then, the corresponding driving direction is determined to be the forward direction according to the rotation direction of wheel 1, the corresponding driving direction is determined to be the forward direction according to the rotation direction of wheel 2, the corresponding driving direction is determined to be the backward direction according to the rotation direction of wheel 3, and the corresponding driving direction is determined to be the forward direction according to the rotation direction of wheel 4.

[0076] After obtaining the driving direction corresponding to the rotation direction of each wheel, determine the first value indicating that the driving direction is the forward direction and the second value indicating that the driving direction is the backward direction. The first value is the number of driving directions corresponding to the rotation directions of all the wheels of the vehicle that are in the forward direction, and the second value is the number of driving directions corresponding to the rotation directions of all the wheels of the vehicle that are in the backward direction. For example, the vehicle includes 4 wheels, of which 3 wheels rotate in clockwise directions, and the driving directions corresponding to the rotation directions of these 3 wheels are all in the forward direction, then the first value is 3. Only 1 wheel rotates in the counterclockwise direction, that is, only 1 wheel rotates in the backward direction, then the second value is 1.

[0077] In this embodiment, the third direction and the third weight are determined based on the first value and the second value, including: if the first value is greater than the second value, the third direction is a forward direction, and the third weight is a ratio of the first value to the sum of the first value and the second value; if the first value is less than the second value, the third direction is a backward direction, and the third weight is a ratio of the second value to the sum of the first value and the second value; if the first value is equal to the second value, the third weight is determined to be 0.

[0078] If the first value is greater than the second value, that is, the number of wheels indicating that the driving direction is the forward direction is greater than the number of wheels indicating that the driving direction is the backward direction, in this case, the driving direction of the vehicle is considered to be the forward direction, and the third direction is set to the forward direction. The third weight is determined according to the first value, and the larger the first value is, the larger the third weight is.

[0079] For example, a vehicle includes 4 wheels, and the rotation directions of 3 wheels correspond to the driving direction of the vehicle in the forward direction, and the first value is 3. Only the rotation direction of 1 wheel corresponds to the driving direction of the vehicle in the backward direction, and the second value is 1. Then the third weight is calculated to be 0.75.

[0080] For another example, the driving directions corresponding to the rotation directions of the four wheels of the vehicle are all forward directions, the first value is 4, and the second value is 0. Then the third weight is calculated to be 1.

[0081] If the first value is less than the second value, that is, the number of wheels indicating the forward direction is less than the number of wheels indicating the backward direction, in this case, the vehicle is considered to be traveling in the backward direction, and the third direction is set to the backward direction. The third weight is determined according to the second value, and the larger the second value, the larger the third weight.

[0082] In this embodiment, step 1500 includes steps 1510-1530.

[0083] Step 1510: When the steering wheel angle exceeds a preset angle threshold and the vehicle speed exceeds a preset speed threshold, calculate a second yaw angular velocity corresponding to the steering wheel angle.

[0084] Step 1520: Determine the fourth direction and the fourth weight according to the first yaw angular velocity and the second yaw angular velocity.

[0085] Step 1530: When the steering wheel angle does not exceed the preset angle threshold or the vehicle speed does not exceed the preset speed threshold, determine that the fourth weight is 0.

[0086] If the steering wheel angle is less than a preset angle threshold or the vehicle speed is less than a preset speed threshold, the driving direction of the vehicle cannot be determined by the steering wheel angle. In this case, the fourth weight is set to 0.

[0087] The first yaw rate is the actual yaw rate of the vehicle actually measured by the sensor, and the second yaw rate is the yaw rate calculated according to the steering wheel angle.

[0088] It is determined whether the direction of the first yaw angular velocity is the same as the direction of the second yaw angular velocity, and the fourth direction is determined according to the determination result. If the direction of the first yaw angular velocity is the same as the direction of the second yaw angular velocity, the fourth direction is considered to be a forward direction. If the direction of the first yaw angular velocity is different from the direction of the second yaw angular velocity, the fourth direction is considered to be a backward direction. The direction of the yaw angular velocity can be represented by the positive and negative of the yaw angular velocity.

[0089] In this embodiment, step 1520 includes steps 1521-1522.

[0090] Step 1521: When the first yaw angular velocity and the second yaw angular velocity satisfy a first preset condition, determine that the fourth direction is a forward direction, and determine that the fourth weight is 1; wherein the first preset condition is that both the first yaw angular velocity and the second yaw angular velocity are greater than a first threshold, or both the first yaw angular velocity and the second yaw angular velocity are less than a second threshold, wherein the first threshold is a positive number and the second threshold is a negative number.

[0091] Step 1522: When the first yaw angular velocity and the second yaw angular velocity satisfy a second preset condition, determine that the fourth direction is a backward direction, and determine that the fourth weight is 1; wherein the second preset condition is that the first yaw angular velocity is greater than the first threshold and the second yaw angular velocity is less than the second threshold, or the first yaw angular velocity is less than the second threshold and the second yaw angular velocity is greater than the first threshold.

[0092] If the first yaw angular velocity and the second yaw angular velocity are both greater than the first threshold, that is, the first yaw angular velocity and the second yaw angular velocity are both positive, it means that the direction of the first yaw angular velocity is the same as the direction of the second yaw angular velocity. In this case, the fourth direction is set to the forward direction and the fourth weight is set to 1.

[0093] If the first yaw angular velocity and the second yaw angular velocity are both less than the second threshold, that is, the first yaw angular velocity and the second yaw angular velocity are both negative, it means that the direction of the first yaw angular velocity is the same as the direction of the second yaw angular velocity. In this case, the fourth direction is set to the forward direction and the fourth weight is set to 1.

[0094] If the first yaw angular velocity is greater than the first threshold and the second yaw angular velocity is less than the second threshold, that is, the first yaw angular velocity is positive and the second yaw angular velocity is negative, it means that the direction of the first yaw angular velocity is different from the direction of the second yaw angular velocity. In this case, the fourth direction is set to the backward direction and the fourth weight is set to 1.

[0095] If the first yaw angular velocity is less than the second threshold and the second yaw angular velocity is greater than the first threshold, that is, the first yaw angular velocity is negative and the second yaw angular velocity is positive, it means that the direction of the first yaw angular velocity is different from the direction of the second yaw angular velocity. In this case, the fourth direction is set to the backward direction and the fourth weight is set to 1.

[0096] If the first yaw rate or the second yaw rate is between the second threshold and the first threshold, that is, the absolute value of the first yaw rate or the absolute value of the second yaw rate is small, the reliability is low and it is impossible to judge whether to move forward or backward.

[0097] In this embodiment, step 1600 includes steps 1610-1630.

[0098] Step 1610: Calculate the weight of the forward direction and the weight of the backward direction, wherein the weight of the forward direction is the sum of the weights corresponding to all forward directions in the first direction, the second direction, the third direction, and the fourth direction, and the weight of the backward direction is the sum of the weights corresponding to all backward directions in the first direction, the second direction, the third direction, and the fourth direction.

[0099] For example, if the first direction and the second direction are forward directions, and the third direction and the fourth direction are backward directions, then the weight of the forward direction is the sum of the first weight corresponding to the first direction and the second weight corresponding to the second direction, and the weight of the backward direction is the sum of the third weight corresponding to the third direction and the fourth weight corresponding to the fourth direction.

[0100] Step 1620: When the weight of the forward direction is greater than the weight of the backward direction, determine that the driving direction of the vehicle is the forward direction.

[0101] Step 1630: When the weight of the forward direction is less than the weight of the backward direction, determine that the driving direction of the vehicle is the backward direction.

[0102] In one example, the first direction is the forward direction, the first weight is 1, the second direction is the forward direction, the second weight is 0.5, the third direction is the backward direction, the third weight is 0.75, the fourth direction is the forward direction, the fourth weight is 1, then the weight of the forward direction is 2.5, and the weight of the backward direction is 0.75. In this case, the weight of the forward direction is greater than the weight of the backward direction, and the vehicle is ultimately judged to be traveling in the forward direction.

[0103] This embodiment introduces an electronic device, including a processor and a memory, wherein the memory stores programs or instructions that can be executed by the processor, and when the program or instructions are executed by the processor, a vehicle driving direction recognition method described in any embodiment of the present invention is implemented.

[0104] This embodiment introduces a vehicle, including an electronic device described in an embodiment of the present invention.

[0105] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

[0106] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0107] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0108] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0109] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0110] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0111] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the energy-saving signal sending / receiving method of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0112] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0113] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A method for identifying a vehicle's driving direction, It is characterized in that include: Acquire target parameters of the vehicle, the target parameters including gear position, vehicle speed, a smart wheel speed sensor signal corresponding to each wheel of the vehicle, a steering wheel angle, and a first yaw angular velocity; Determine a first direction and a first weight corresponding to the first direction according to the gear position; determining a second direction and a second weight corresponding to the second direction according to the vehicle speed; Determine a third direction and a third weight corresponding to the third direction according to a smart wheel speed sensor signal corresponding to each wheel of the vehicle; determining a fourth direction and a fourth weight corresponding to the fourth direction according to the steering wheel angle and the first yaw angular velocity; Determine the driving direction of the vehicle according to the first direction, the first weight, the second direction, the second weight, the third direction, the third weight, the fourth direction, and the fourth weight; The determining the third direction and the third weight corresponding to the third direction according to the intelligent wheel speed sensor signal corresponding to each wheel of the vehicle comprises: Determining the rotation direction of each wheel according to the intelligent wheel speed sensor signal corresponding to each wheel of the vehicle; Determining a driving direction corresponding to the rotation direction of each wheel; Determine a first value when the driving direction is a forward direction and a second value when the driving direction is a backward direction in the driving direction corresponding to the rotation direction of each wheel; Determine the third direction and the third weight according to the first value and the second value; The determining the third direction and the third weight according to the first value and the second value includes: If the first value is greater than the second value, the third direction is a forward direction, and the third weight is a ratio of the first value to the sum of the first value and the second value; If the first value is less than the second value, the third direction is a backward direction, and the third weight is a ratio of the second value to the sum of the first value and the second value; If the first value is equal to the second value, determining the third weight to be 0; The determining a fourth direction and a fourth weight corresponding to the fourth direction according to the steering wheel angle and the first yaw angular velocity includes: When the steering wheel angle exceeds a preset angle threshold and the vehicle speed exceeds a preset speed threshold, calculating a second yaw angular velocity corresponding to the steering wheel angle; determining the fourth direction and the fourth weight according to the first yaw angular velocity and the second yaw angular velocity; When the steering wheel angle does not exceed the preset angle threshold or the vehicle speed does not exceed the preset speed threshold, the fourth weight is determined to be 0.

2. The method according to claim 1, It is characterized in that The determining a first direction and a first weight corresponding to the first direction according to the gear position includes: When the gear position is invalid, determining the first weight to be 0; When the gear position is valid, determining the first weight to be 1; When the gear position is a forward gear, determining the first direction as a forward direction; When the gear position is a reverse gear, the first direction is determined to be a reverse direction.

3. The method according to claim 1, It is characterized in that The determining the second direction and the second weight corresponding to the second direction according to the vehicle speed includes: When the vehicle speed is invalid, determining the second weight to be 0; When the vehicle speed is valid, if the vehicle speed is greater than a preset speed threshold, the second direction is determined to be a forward direction, and the second weight is 0.5; When the vehicle speed is valid, if the vehicle speed is less than or equal to the preset speed threshold, the second weight is determined to be 0.

4. The method according to claim 1, It is characterized in that The determining the fourth direction and the fourth weight according to the first yaw angular velocity and the second yaw angular velocity comprises: When the first yaw angular velocity and the second yaw angular velocity satisfy a first preset condition, determining that the fourth direction is a forward direction, and determining that the fourth weight is 1; The first preset condition is that the first yaw angular velocity and the second yaw angular velocity are both greater than a first threshold, or the first yaw angular velocity and the second yaw angular velocity are both less than a second threshold, wherein the first threshold is a positive number and the second threshold is a negative number; When the first yaw angular velocity and the second yaw angular velocity satisfy a second preset condition, determining that the fourth direction is a backward direction, and determining that the fourth weight is 1; The second preset condition is that the first yaw rate is greater than the first threshold and the second yaw rate is less than the second threshold, or the first yaw rate is less than the second threshold and the second yaw rate is greater than the first threshold.

5. The method according to claim 1, It is characterized in that Determining the driving direction of the vehicle according to the first direction, the first weight, the second direction, the second weight, the third direction, the third weight, the fourth direction, and the fourth weight includes: Calculate the weight of the forward direction and the weight of the backward direction, wherein the weight of the forward direction is the sum of the weights corresponding to all the forward directions in the first direction, the second direction, the third direction, and the fourth direction, and the weight of the backward direction is the sum of the weights corresponding to all the backward directions in the first direction, the second direction, the third direction, and the fourth direction; When the weight of the forward direction is greater than the weight of the backward direction, determining the driving direction of the vehicle to be the forward direction; When the weight of the forward direction is less than the weight of the backward direction, it is determined that the driving direction of the vehicle is the backward direction.

6. An electronic device, It is characterized in that It comprises a processor and a memory, wherein the memory stores programs or instructions executable by the processor, and when the programs or instructions are executed by the processor, a vehicle driving direction recognition method as described in any one of claims 1 to 5 is implemented.

7. A vehicle, It is characterized in that An electronic device comprising the electronic device described in claim 6.

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