Vehicle speed adjustment method and device

Abstract

The present invention relates to a vehicle speed regulation method and device, belonging to the technical field of vehicle speed regulation, wherein the method comprises obtaining vehicle driving data of a vehicle within a preset time, so as to obtain a vehicle speed fitting curve and a real vehicle speed according to the vehicle driving data; then, the tire rolling radius can be calculated according to the real vehicle speed and the vehicle driving data; then, the vehicle speed of the vehicle at the next time is predicted according to the vehicle speed fitting curve, so as to obtain the predicted vehicle speed at the next time; then, the rotation speed of a motor can be calculated according to the tire rolling radius and the predicted vehicle speed, and the motor can be adjusted according to the rotation speed, so that the motor rotation speed can be adjusted in advance, so as to maintain the stability of the vehicle speed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle speed regulation, and in particular to a vehicle speed regulation method and device. Background Art

[0002] The predictive cruise function is a function that allows the vehicle to accelerate or decelerate in advance by acquiring road condition information in the direction of the vehicle's travel, thereby planning the vehicle's speed. When the vehicle is in cruise mode or maximum speed limit mode, if the driver does not change gears, the vehicle will always maintain a constant speed.

[0003] In the prior art, when the vehicle speed is unstable, it can be determined whether the cause of the unstable vehicle speed is the deviation of the filter time parameter, and the filter time parameter is adjusted when the filter time parameter is deviated, thereby improving the stability of the vehicle speed. However, after the vehicle speed is unstable, the vehicle speed filter time parameter is corrected, and the vehicle speed filter always has the risk of distortion or out-of-tolerance. In the case of large speed fluctuations, the control accuracy will be greatly affected, resulting in deviations in the adjustment of the vehicle speed.

[0004] Therefore, it is urgent to propose a vehicle speed adjustment method and device to solve the technical problem in the prior art that after the vehicle speed becomes unstable, the vehicle speed filter time parameter is corrected, which will lead to deviation in the adjustment of the vehicle speed. Summary of the invention

[0005] In view of this, it is necessary to provide a vehicle speed regulation method and device to solve the technical problem in the prior art that after the vehicle speed becomes unstable, the vehicle speed filter time parameters are corrected, which may lead to deviations in the vehicle speed regulation.

[0006] In order to solve the above problems, the present invention provides a vehicle speed adjustment method, comprising:

[0007] Acquire vehicle driving data of the vehicle within a preset time, and obtain a vehicle speed fitting curve and a real vehicle speed according to the vehicle driving data;

[0008] Obtaining a tire rolling radius according to the actual vehicle speed and the vehicle driving data;

[0009] Predicting the speed of the vehicle according to the speed fitting curve to obtain a predicted speed;

[0010] The rotation speed of the vehicle is adjusted according to the tire rolling radius and the predicted vehicle speed.

[0011] In a possible implementation, the vehicle driving data includes at least one initial vehicle speed and at least one motor speed, and obtaining the vehicle speed fitting curve and the actual vehicle speed according to the vehicle driving data includes:

[0012] obtaining a vehicle speed curve according to the at least one initial vehicle speed;

[0013] Obtaining a speed curve according to the at least one motor speed;

[0014] The vehicle speed curve and the rotation speed curve are fitted to obtain a vehicle speed fitting curve and a real vehicle speed.

[0015] In a possible implementation, fitting the vehicle speed curve and the rotation speed curve to obtain a vehicle speed fitting curve and a real vehicle speed includes:

[0016] Converting the rotation speed of the at least one motor to obtain a converted vehicle speed corresponding to the rotation speed of each motor;

[0017] The rotation speed curve is translated based on a preset number of translation units to obtain a translation rotation speed curve corresponding to each translation unit;

[0018] According to all converted vehicle speeds, all translational rotation speed curves and the vehicle speed curve, a vehicle speed fitting curve and a real vehicle speed are obtained.

[0019] In a possible implementation, obtaining the vehicle speed fitting curve and the real vehicle speed according to all converted vehicle speeds, all translational speed curves and the vehicle speed curve includes:

[0020] Determining a square root corresponding to each translational speed curve according to all the converted vehicle speeds, each translational speed curve and the vehicle speed curve;

[0021] Comparing all square roots of the preset number of translation units, and determining the translation speed curve corresponding to the smallest square root as the target speed curve;

[0022] According to the target speed curve, the real vehicle speed is obtained;

[0023] The vehicle speed curve is fitted with the target speed curve to obtain a vehicle speed fitting curve.

[0024] In a possible implementation, determining the square root corresponding to each translational speed curve according to all the converted vehicle speeds, each translational speed curve and the vehicle speed curve includes:

[0025] Determining, according to each of the translational rotation speed curves and the vehicle speed curve, a plurality of target converted vehicle speeds among all the converted vehicle speeds and a plurality of target initial vehicle speeds among the at least one initial vehicle speed at a preset number of same time points;

[0026] The square root corresponding to each translation unit is obtained according to the multiple target converted vehicle speeds and the multiple target initial vehicle speeds.

[0027] In a possible implementation, obtaining the square root corresponding to each translation unit according to the multiple target converted vehicle speeds and the multiple target initial vehicle speeds includes:

[0028] Calculate the target converted vehicle speed and the target initial vehicle speed at the same time point to obtain the corresponding root mean square error;

[0029] Squaring the root mean square error to obtain a square value corresponding to each root mean square error;

[0030] Accumulate all square values ​​to get the accumulated value;

[0031] The accumulated value and the number of the preset number at the same time point are calculated to obtain a square root corresponding to each translation unit.

[0032] In a possible implementation, the vehicle driving data includes a gearbox speed ratio and a rear axle speed ratio, and obtaining the tire rolling radius according to the real vehicle speed and the vehicle driving data includes:

[0033] Determining a target motor speed at the same time according to the target speed curve and the actual vehicle speed;

[0034] A tire rolling radius is obtained according to the target motor speed, the actual vehicle speed, the gearbox speed ratio and the rear axle speed ratio.

[0035] In a possible implementation, predicting the vehicle speed according to the vehicle speed fitting curve to obtain the predicted vehicle speed includes:

[0036] According to the vehicle speed fitting curve, a vehicle speed change function is obtained;

[0037] The vehicle speed of the vehicle at the next time is predicted according to the vehicle speed change function to obtain a predicted vehicle speed.

[0038] In a possible implementation, adjusting the rotation speed of the vehicle according to the tire rolling radius and the predicted vehicle speed includes:

[0039] Calculating the preset target vehicle speed and the predicted vehicle speed to obtain a vehicle speed difference;

[0040] Calculating the vehicle speed difference and the tire rolling radius to obtain a target adjustment speed;

[0041] The speed of the vehicle is adjusted according to the target adjustment speed.

[0042] On the other hand, the present invention also provides a vehicle speed regulating device, comprising:

[0043] A data acquisition module is used to acquire the vehicle driving data of the vehicle within a preset time, and obtain a vehicle speed fitting curve and a real vehicle speed according to the vehicle driving data;

[0044] A radius determination module, used for obtaining a tire rolling radius according to the real vehicle speed and the vehicle driving data;

[0045] A vehicle speed prediction module, used to predict the vehicle speed according to the vehicle speed fitting curve to obtain a predicted vehicle speed;

[0046] The speed regulating module is used to regulate the speed of the vehicle according to the tire rolling radius and the predicted vehicle speed.

[0047] The beneficial effect of the present invention is to obtain the vehicle driving data within a preset time, so that the vehicle speed fitting curve and the actual vehicle speed can be obtained according to the vehicle driving data; then the tire rolling radius can be calculated according to the actual vehicle speed and the vehicle driving data; then the vehicle speed at the next time can be predicted according to the speed fitting curve to obtain the predicted vehicle speed at the next time; then the rotation speed of the vehicle's motor can be calculated according to the tire rolling radius and the predicted vehicle speed, and the vehicle's motor can be adjusted according to the rotation speed, so that the motor speed can be adjusted in advance, thereby maintaining the stability of the vehicle speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic flow chart of an embodiment of a vehicle speed adjustment method provided by the present invention;

[0049] Figure 2 For the present invention Figure 1 A schematic flow chart of an embodiment of step S101;

[0050] Figure 3 For the present invention Figure 2 A schematic flow chart of an embodiment of step S203;

[0051] Figure 4 For the present invention Figure 3 A schematic flow chart of an embodiment of step S303;

[0052] Figure 5 A schematic diagram of a flow chart of an embodiment of calculating the square root of each translation unit provided by the present invention;

[0053] Figure 6 For the present invention Figure 1A schematic flow chart of an embodiment of step S104;

[0054] Figure 7 A schematic structural diagram of an embodiment of a vehicle speed regulating device provided by the present invention;

[0055] Figure 8 A schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0056] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0057] like Figure 1 As shown, a specific embodiment of the present invention discloses a vehicle speed adjustment method, comprising:

[0058] S101, obtaining vehicle driving data of a vehicle within a preset time, and obtaining a vehicle speed fitting curve and a real vehicle speed according to the vehicle driving data;

[0059] S102, obtaining a tire rolling radius according to the actual vehicle speed and vehicle driving data;

[0060] S103, predicting the vehicle speed according to the vehicle speed fitting curve to obtain a predicted vehicle speed;

[0061] S104: adjusting the rotation speed of the vehicle according to the tire rolling radius and the predicted vehicle speed.

[0062] It should be understood that: it can be applied to any vehicle, and the method of obtaining the vehicle driving data of the vehicle within the preset time in step S101 can be to obtain the vehicle driving data in the vehicle according to the vehicle controller, or to call the historically stored vehicle driving data from the storage medium. The specific preset time can be set according to the actual situation, such as 24 hours, one week, one month, etc., and the embodiment of the present invention is not limited to this.

[0063] In a specific embodiment of the present invention, before the motor / engine speed is adjusted by the PID controller, the actual vehicle speed signal of the PID controller can be adjusted to make it infinitely close to the actual vehicle speed at the current moment. The specific process is to obtain the vehicle driving data of the vehicle within a preset time, and then obtain the vehicle speed fitting curve and the actual vehicle speed according to the vehicle driving data, and then obtain the tire rolling radius during the vehicle driving process according to the actual vehicle speed and the vehicle driving data; then predict the vehicle speed according to the speed fitting curve to obtain the predicted vehicle speed, so that the PID control speed adjustment is more advanced, and the vehicle speed is adjusted according to the tire rolling radius and the predicted speed, so that the motor speed is adjusted in advance to maintain the stability of the vehicle speed.

[0064] Compared with the prior art, the present embodiment provides a method for obtaining vehicle driving data within a preset time, so that a vehicle speed fitting curve and a real vehicle speed can be obtained according to the vehicle driving data; then, the tire rolling radius can be calculated according to the real vehicle speed and the vehicle driving data; then, the vehicle speed at the next time can be predicted according to the speed fitting curve to obtain the predicted vehicle speed at the next time; and then, the rotational speed of the vehicle motor can be calculated according to the tire rolling radius and the predicted vehicle speed, and the vehicle motor can be adjusted according to the rotational speed, so that the motor speed can be adjusted in advance, thereby maintaining a stable vehicle speed.

[0065] In some embodiments of the present invention, the vehicle driving data includes at least one initial vehicle speed and at least one motor speed, such as Figure 2 As shown, step S101 includes:

[0066] S201, obtaining a vehicle speed curve according to at least one initial vehicle speed;

[0067] S202, obtaining a speed curve according to at least one motor speed;

[0068] S203: Fit the vehicle speed curve and the rotation speed curve to obtain a vehicle speed fitting curve and a real vehicle speed.

[0069] In a specific embodiment of the present invention, the vehicle driving data may include at least one initial vehicle speed and at least one motor speed. For example, when the preset time is 24 hours, the initial vehicle speed and motor speed of the vehicle within 24 hours can be obtained. Because the vehicle speed changes during driving, at least one initial vehicle speed and at least one motor speed of the vehicle following time can be obtained. Then, at least one initial vehicle speed can be processed to obtain a speed curve, at least one motor speed can be processed to obtain a speed curve, and the speed curve and the speed curve can be curve-fitted to obtain a speed fitting curve. In the process of curve fitting, the real vehicle speed can be obtained.

[0070] In some embodiments of the present invention, Figure 3 As shown, step S203 includes:

[0071] S301, converting at least one motor speed to obtain a converted vehicle speed corresponding to each motor speed;

[0072] S302, translating the speed curve based on a preset number of translation units to obtain a translation speed curve corresponding to each translation unit;

[0073] S303: Obtain a vehicle speed fitting curve and a real vehicle speed according to all converted vehicle speeds, all translational rotation speed curves and vehicle speed curves.

[0074] In a specific embodiment of the present invention, the tire radius can be set to convert at least one motor speed. According to the calculation formula of vehicle speed and motor speed, motor speed = vehicle speed * [(gearbox speed ratio * rear axle speed ratio) / (0.377 * tire radius)], the formula is used to calculate the converted vehicle speed corresponding to each motor speed in the preset time period. In order to perform curve fitting, it is impossible to completely align the translation once without knowing the translation unit, so several points are found for fitting attempts, and a preset number of translation units need to be set and calculated one by one, for example, a translation unit, b translation unit, c translation unit, etc. That is, the specific process can be: according to the way that each wave peak and trough are roughly aligned in the preset time period, the motor speed time axis is translated to the left side of the time axis (horizontal axis) by a translation unit, b translation unit, c translation unit, etc. In this way, the translation speed curve corresponding to each translation unit can be obtained, and then the vehicle speed fitting curve and the real vehicle speed can be obtained according to all converted vehicle speeds, all translation speed curves and vehicle speed curves.

[0075] In some embodiments of the present invention, Figure 4 As shown, step S303 includes:

[0076] S401, determining a square root corresponding to each translational speed curve according to all converted vehicle speeds, each translational speed curve and the vehicle speed curve;

[0077] S402, comparing all square roots of a preset number of translation units, and determining the translation speed curve corresponding to the minimum square root as the target speed curve;

[0078] S403, obtaining the actual vehicle speed according to the target speed curve;

[0079] S404: Fit the vehicle speed curve with the target speed curve to obtain a vehicle speed fitting curve.

[0080] In some embodiments of the present invention, step S401 includes:

[0081] Determining, according to each translational rotation speed curve and vehicle speed curve, a plurality of target converted vehicle speeds among all converted vehicle speeds at a preset number of same time points and a plurality of target initial vehicle speeds among at least one initial vehicle speed;

[0082] According to the multiple target converted vehicle speeds and the multiple target initial vehicle speeds, a square root corresponding to each translation unit is obtained.

[0083] In a specific embodiment of the present invention, taking a translation unit as an example, after translating the motor speed time axis to the left of the time axis (horizontal axis) by a translation unit, a translation speed curve corresponding to a translation unit can be obtained, and then a preset number of same time points can be taken to determine multiple target converted vehicle speeds among all converted vehicle speeds at the preset number of same time points, and multiple target initial vehicle speeds at corresponding time points in at least one initial vehicle speed, and then multiple target converted vehicle speeds and multiple target initial vehicle speeds of a translation unit can be obtained, and then the square root corresponding to a translation unit can be obtained based on the multiple target converted vehicle speeds and the multiple target initial vehicle speeds.

[0084] In some embodiments of the present invention, Figure 5 As shown, according to multiple target conversion speeds and multiple target initial speeds, the square root corresponding to each translation unit is obtained, including:

[0085] S501, calculating the target converted vehicle speed and the target initial vehicle speed at the same time point to obtain a corresponding root mean square error;

[0086] S502, squaring the root mean square error to obtain a square value corresponding to each root mean square error;

[0087] S503, accumulating all square values ​​to obtain an accumulated value;

[0088] S504: Calculate the accumulated value and the number of preset numbers at the same time point to obtain the square root corresponding to each translation unit.

[0089] In a specific embodiment of the present invention, taking a translation unit as an example, the specific process of calculating the square root can be: the target converted speed and the target initial speed at the same time point among multiple target converted speeds and multiple target initial speeds are calculated to obtain the root mean square error corresponding to the same time point, and then the root mean square error can be squared to obtain the square corresponding to each root mean square error. Then, all the square values ​​of the preset number of the same time point can be accumulated to obtain the accumulated value; then the accumulated value is divided by the preset number of the same time point, and the square root of the result is calculated to obtain the square root △Va corresponding to a translation unit. The same is true for other translation units, and the square root △Vb of b translation units and the square root △Vc of c translation units can be obtained.

[0090] Furthermore, all square roots of all translation units can be compared and the minimum value can be taken. For example, the sizes of △Va, △Vb, △Vc, etc. can be compared. △Va is the minimum value. The translation speed curve after the motor speed time axis is translated a translation units to the left of the time axis (horizontal axis) can be determined as the target speed curve. The real vehicle speed can also be determined based on the target speed curve, that is, the input speed of the PID controller can be infinitely close to the real vehicle speed at the input time, that is, the best fitting point. Then the speed curve can be fitted with the target speed curve to obtain the speed fitting curve.

[0091] In some embodiments of the present invention, the vehicle driving data includes a gearbox speed ratio and a rear axle speed ratio, and step S102 includes:

[0092] According to the target speed curve and the actual vehicle speed, the target motor speed at the same time is determined;

[0093] The tire rolling radius is obtained according to the target motor speed, the actual vehicle speed, the gearbox ratio and the rear axle ratio.

[0094] In a specific embodiment of the present invention, the vehicle driving data may include a transmission speed ratio and a rear axle speed ratio. By obtaining the actual vehicle speed, according to the target speed curve, the target motor speed, transmission speed ratio and rear axle speed ratio at the same moment can be obtained. Then, according to the vehicle speed and speed calculation formula, the target motor speed = actual vehicle speed * [(transmission speed ratio * rear axle speed ratio) / (0.377 * tire radius)], the rolling radius of the tire in motion can be obtained by inverse calculation.

[0095] In some embodiments of the present invention, step S103 includes:

[0096] According to the vehicle speed fitting curve, the vehicle speed change function is obtained;

[0097] The vehicle speed at the next time is predicted according to the vehicle speed change function to obtain the predicted vehicle speed.

[0098] In a specific embodiment of the present invention, a vehicle speed fitting curve can be obtained, and a function of vehicle speed variation over time, i.e., a vehicle speed variation function, can be obtained by taking several points. Then, the vehicle speed at the next time point can be predicted by the vehicle speed variation function, thereby obtaining the predicted vehicle speed at the next time point.

[0099] In some embodiments of the present invention, Figure 6 As shown, step S104 includes:

[0100] S601, calculating the preset target vehicle speed and the predicted vehicle speed to obtain a vehicle speed difference;

[0101] S602, calculating the vehicle speed difference and the tire rolling radius to obtain a target adjustment speed;

[0102] S603: Adjust the speed of the vehicle according to the target adjustment speed.

[0103] In a specific embodiment of the present invention, a preset target vehicle speed can be set, and the specific preset target vehicle speed can be cruise or speed limit, which can be set by the user, and the specific embodiment of the present invention is not limited here. Therefore, the preset target vehicle speed and the predicted vehicle speed can be calculated to obtain the vehicle speed difference, and then the vehicle speed difference and the tire rolling radius can be calculated to obtain the target adjustment speed, and then the vehicle speed can be adjusted in advance according to the target adjustment speed.

[0104] In order to better implement the vehicle speed adjustment method in the embodiment of the present invention, based on the vehicle speed adjustment method, the embodiment of the present invention also provides a vehicle speed adjustment device, such as Figure 7 As shown, the vehicle speed regulating device 700 includes:

[0105] The data acquisition module 701 is used to acquire the vehicle driving data within a preset time, and obtain the vehicle speed fitting curve and the actual vehicle speed according to the vehicle driving data;

[0106] The radius determination module 702 is used to obtain the tire rolling radius according to the actual vehicle speed and vehicle driving data;

[0107] The vehicle speed prediction module 703 is used to predict the vehicle speed according to the vehicle speed fitting curve to obtain the predicted vehicle speed;

[0108] The speed regulating module 704 is used to regulate the speed of the vehicle according to the tire rolling radius and the predicted vehicle speed.

[0109] The vehicle speed regulating device 700 provided in the above embodiment can implement the technical solution described in the above vehicle speed regulating method embodiment. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above vehicle speed regulating method embodiment, which will not be repeated here.

[0110] like Figure 8 As shown, the present invention also provides an electronic device 800. The electronic device 800 includes a processor 801, a memory 802 and a display 803. Figure 8 Only some components of the electronic device 800 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0111] In some embodiments, the memory 802 may be an internal storage unit of the electronic device 800, such as a hard disk or memory of the electronic device 800. In other embodiments, the memory 802 may also be an external storage device of the electronic device 800, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the electronic device 800.

[0112] Furthermore, the memory 802 may include both an internal storage unit of the electronic device 800 and an external storage device. The memory 802 is used to store application software installed in the electronic device 800 and various data.

[0113] In some embodiments, the processor 801 may be a central processing unit (CPU), a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 802, such as the vehicle speed adjustment method of the present invention.

[0114] In some embodiments, the display 803 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 803 is used to display information of the electronic device 800 and to display a visual user interface. The components 801-803 of the electronic device 800 communicate with each other via a system bus.

[0115] In some embodiments of the present invention, when the processor 801 executes the vehicle speed adjustment program in the memory 802, the following steps may be implemented:

[0116] Acquire vehicle driving data within a preset time, and obtain a vehicle speed fitting curve and a real vehicle speed according to the vehicle driving data;

[0117] According to the actual vehicle speed and vehicle driving data, the tire rolling radius is obtained;

[0118] Predicting the vehicle speed according to the speed fitting curve to obtain the predicted vehicle speed;

[0119] The vehicle's rotation speed is adjusted according to the tire rolling radius and the predicted vehicle speed.

[0120] It should be understood that: when the processor 801 executes the vehicle speed adjustment program in the memory 802, in addition to the above functions, other functions can also be implemented. For details, please refer to the description of the corresponding method embodiment above.

[0121] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 800 mentioned, and the electronic device 800 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with IOS, Android, Microsoft or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 800 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0122] Correspondingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the vehicle speed adjustment method steps or functions provided in the above-mentioned method embodiments can be implemented.

[0123] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0124] The vehicle speed regulation method and device provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle speed adjustment method, characterized in that: include: Acquire vehicle driving data of the vehicle within a preset time, and obtain a vehicle speed fitting curve and a real vehicle speed according to the vehicle driving data; Obtaining a tire rolling radius according to the actual vehicle speed and the vehicle driving data; Predicting the speed of the vehicle according to the speed fitting curve to obtain a predicted speed; adjusting the rotation speed of the vehicle according to the tire rolling radius and the predicted vehicle speed; The vehicle driving data includes at least one initial vehicle speed and at least one motor speed, and obtaining a vehicle speed fitting curve and a real vehicle speed according to the vehicle driving data includes: obtaining a vehicle speed curve according to the at least one initial vehicle speed; Obtaining a speed curve according to the at least one motor speed; Fitting the vehicle speed curve and the rotation speed curve to obtain a vehicle speed fitting curve and a real vehicle speed; The step of fitting the vehicle speed curve and the rotation speed curve to obtain a vehicle speed fitting curve and a real vehicle speed includes: Converting the rotation speed of the at least one motor to obtain a converted vehicle speed corresponding to the rotation speed of each motor; The rotation speed curve is translated based on a preset number of translation units to obtain a translation rotation speed curve corresponding to each translation unit; According to all converted vehicle speeds, all translational rotation speed curves and the vehicle speed curve, a vehicle speed fitting curve and a real vehicle speed are obtained.

2. The vehicle speed adjustment method according to claim 1, characterized in that: The obtaining of the vehicle speed fitting curve and the real vehicle speed according to all the converted vehicle speeds, all the translational speed curves and the vehicle speed curve comprises: Determining a square root corresponding to each translational speed curve according to all the converted vehicle speeds, each translational speed curve and the vehicle speed curve; Comparing all square roots of the preset number of translation units, and determining the translation speed curve corresponding to the smallest square root as the target speed curve; According to the target speed curve, the real vehicle speed is obtained; The vehicle speed curve is fitted with the target speed curve to obtain a vehicle speed fitting curve.

3. The vehicle speed adjustment method according to claim 2, characterized in that: Determining the square root corresponding to each translational speed curve according to all the converted vehicle speeds, each translational speed curve and the vehicle speed curve includes: Determining, according to each of the translational rotation speed curves and the vehicle speed curve, a plurality of target converted vehicle speeds among all the converted vehicle speeds and a plurality of target initial vehicle speeds among the at least one initial vehicle speed at a preset number of same time points; The square root corresponding to each translation unit is obtained according to the multiple target converted vehicle speeds and the multiple target initial vehicle speeds.

4. The vehicle speed adjustment method according to claim 3, characterized in that: The step of obtaining the square root corresponding to each translation unit according to the plurality of target converted vehicle speeds and the plurality of target initial vehicle speeds includes: Calculate the target converted vehicle speed and the target initial vehicle speed at the same time point to obtain the corresponding root mean square error; Squaring the root mean square error to obtain a square value corresponding to each root mean square error; Accumulate all square values ​​to get the accumulated value; The accumulated value and the number of the preset number at the same time point are calculated to obtain a square root corresponding to each translation unit.

5. The vehicle speed adjustment method according to claim 2, characterized in that: The vehicle driving data includes a gearbox speed ratio and a rear axle speed ratio, and obtaining a tire rolling radius according to the real vehicle speed and the vehicle driving data includes: Determining a target motor speed at the same time according to the target speed curve and the actual vehicle speed; A tire rolling radius is obtained according to the target motor speed, the actual vehicle speed, the gearbox speed ratio and the rear axle speed ratio.

6. The vehicle speed adjustment method according to claim 1, characterized in that: The predicting the vehicle speed according to the vehicle speed fitting curve to obtain the predicted vehicle speed includes: According to the vehicle speed fitting curve, a vehicle speed change function is obtained; The vehicle speed of the vehicle at the next time is predicted according to the vehicle speed change function to obtain a predicted vehicle speed.

7. The vehicle speed adjustment method according to claim 1, characterized in that: The adjusting the rotation speed of the vehicle according to the tire rolling radius and the predicted vehicle speed includes: Calculating the preset target vehicle speed and the predicted vehicle speed to obtain a vehicle speed difference; Calculating the vehicle speed difference and the tire rolling radius to obtain a target adjustment speed; The speed of the vehicle is adjusted according to the target adjustment speed.

8. A vehicle speed regulating device, characterized in that: include: A data acquisition module is used to acquire the vehicle driving data of the vehicle within a preset time, and obtain a vehicle speed fitting curve and a real vehicle speed according to the vehicle driving data; A radius determination module, used for obtaining a tire rolling radius according to the real vehicle speed and the vehicle driving data; A vehicle speed prediction module, used to predict the vehicle speed according to the vehicle speed fitting curve to obtain a predicted vehicle speed; A speed regulating module, used for regulating the speed of the vehicle according to the tire rolling radius and the predicted vehicle speed; The vehicle driving data includes at least one initial vehicle speed and at least one motor speed, and the data acquisition module is further used to obtain a vehicle speed curve according to the at least one initial vehicle speed; obtain a speed curve according to the at least one motor speed; convert the at least one motor speed to obtain a converted vehicle speed corresponding to each motor speed; The speed curve is translated based on a preset number of translation units to obtain a translation speed curve corresponding to each translation unit; and a speed fitting curve and a real speed are obtained based on all converted vehicle speeds, all translation speed curves and the vehicle speed curve.

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