Vehicle control method and device based on estimated wheel speed, vehicle and storage medium

Abstract

The embodiment of the application provides a vehicle control method and device based on estimated wheel speed, a vehicle and a storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: acquiring wheel speed sensing data of a current wheel sensor; performing data validity screening on the wheel speed sensing data to obtain abnormal wheel speed data and valid wheel speed data; screening an abnormal wheel sensor from the current wheel sensor according to the abnormal wheel speed data; performing type detection on the abnormal wheel sensor to obtain a sensor type of the abnormal wheel sensor; performing wheel speed estimation according to the sensor type and the valid wheel speed data to obtain wheel speed estimation data; and performing brake control on a preset brake system according to the wheel speed estimation data and the valid wheel speed data. The embodiment of the application can ensure that an anti-lock brake system normally works when a wheel speed sensor is damaged, and improves the stability of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and particularly relates to a vehicle control method and device based on estimated wheel speed, a vehicle and a storage medium. BACKGROUND

[0002] An anti-lock braking system is a kind of automobile braking system, which is used to prevent the wheel from locking when the automobile brakes in emergency, so as to maintain the stability and steering ability of the vehicle. The control strategy of the anti-lock braking system is highly dependent on the wheel speed signal provided by the wheel speed sensor signal, but the wheel speed sensor is prone to faults such as wire harness breakage, magnetic encoder contamination and sensor water ingress due to the working environment, which leads to the failure to provide correct wheel speed signal. In the case where the correct wheel speed signal cannot be obtained, the anti-lock braking system will be disabled, and when the emergency braking condition occurs, the wheel will be locked, and the stability of the vehicle is reduced. Therefore, how to ensure the normal work of the anti-lock braking system when the wheel speed sensor is damaged and improve the stability of the vehicle has become a problem to be solved. SUMMARY

[0003] The main purpose of the embodiment of the present application is to provide a vehicle control method and device based on estimated wheel speed, a vehicle and a storage medium, which aims to ensure the normal work of the anti-lock braking system when the wheel speed sensor is damaged and improve the stability of the vehicle.

[0004] To achieve the above purpose, a first aspect of the embodiment of the present application provides a vehicle control method based on estimated wheel speed, which is applied to a vehicle, the vehicle is provided with a preset braking system, the preset braking system includes a current wheel sensor, and the method comprises the following steps.

[0005] Obtaining wheel speed sensing data of the current wheel sensor;

[0006] Performing data validity screening on the wheel speed sensing data to obtain abnormal wheel speed data and valid wheel speed data;

[0007] Screening an abnormal wheel sensor from the current wheel sensor according to the abnormal wheel speed data;

[0008] Performing type detection on the abnormal wheel sensor to obtain a sensor type of the abnormal wheel sensor;

[0009] Performing wheel speed estimation according to the sensor type and the valid wheel speed data to obtain wheel speed estimation data;

[0010] Performing braking control on the preset braking system according to the wheel speed estimation data and the valid wheel speed data.

[0011] In some embodiments, the sensor type comprises a driven wheel sensor or a non-driven wheel sensor, and the wheel speed estimation according to the sensor type and the valid wheel speed data comprises:

[0012] If the sensor type is a non-driven wheel sensor, the valid wheel speed data is subjected to mean value calculation to obtain the wheel speed estimation data;

[0013] If the sensor type is a driven wheel sensor, the wheel speed estimation is performed according to the valid wheel speed data to obtain the wheel speed estimation data.

[0014] In some embodiments, the vehicle comprises a driven wheel, and the wheel speed estimation according to the valid wheel speed data comprises:

[0015] The rotational speed of the driven wheel is estimated according to the valid wheel speed data to obtain rotational speed estimation data;

[0016] The acceleration of the driven wheel is estimated according to the rotational speed estimation data to obtain acceleration estimation data;

[0017] The rotational speed estimation data and the acceleration estimation data are taken as the wheel speed estimation data.

[0018] In some embodiments, the vehicle is provided with a transmission, and the rotational speed estimation of the driven wheel according to the valid wheel speed data comprises:

[0019] The rotational speed of an output shaft of the transmission is obtained to obtain output shaft rotational speed;

[0020] The output shaft rotational speed and the valid wheel speed data are subjected to aggregation calculation to obtain the rotational speed estimation data.

[0021] In some embodiments, the data validity screening of the wheel speed sensor data comprises:

[0022] The wheel speed sensor data is subjected to clustering processing to obtain a clustering region;

[0023] Outlier points in the clustering region are identified to obtain target sensor data;

[0024] The historical sensor data of the target sensor data is obtained; wherein the historical sensor data and the target sensor data are obtained by the same sensor;

[0025] The target sensor data is subjected to mutation recognition detection according to the historical sensor data to obtain the abnormal wheel speed data;

[0026] According to the abnormal wheel speed data, the wheel speed sensing data is screened to obtain effective wheel speed data.

[0027] In some embodiments, the wheel speed sensing data is clustered to obtain a clustering area, including:

[0028] According to a preset field radius and a preset neighborhood point number threshold, core point recognition is performed on the wheel speed sensing data to obtain core sensing data;

[0029] According to the core sensing data, the wheel speed sensing data is screened to obtain boundary sensing data;

[0030] According to the core sensing data, the boundary sensing data is clustered to obtain the clustering area.

[0031] In some embodiments, the abnormal wheel speed data is obtained by detecting the mutation of the target sensing data according to the historical sensing data, including:

[0032] According to the historical sensing data, time series prediction is performed to obtain predicted sensing data;

[0033] The difference between the target sensing data and the predicted sensing data is obtained to obtain a sensing data difference;

[0034] If the sensing data difference is greater than a preset threshold, the target sensing data is determined as the abnormal wheel speed data.

[0035] To achieve the above-mentioned purpose, a second aspect of the embodiment of the present application proposes a vehicle control device based on estimated wheel speed, which comprises:

[0036] A wheel speed acquisition module is configured to acquire wheel speed sensing data of a current wheel sensor;

[0037] A data screening module is configured to perform data validity screening on the wheel speed sensing data to obtain abnormal wheel speed data and effective wheel speed data;

[0038] A sensor screening module is configured to screen an abnormal wheel sensor from the current wheel sensor according to the abnormal wheel speed data;

[0039] A type detection module is configured to perform type detection on the abnormal wheel sensor to obtain a sensor type of the abnormal wheel sensor;

[0040] A wheel speed estimation module is configured to perform wheel speed estimation according to the sensor type and the effective wheel speed data to obtain wheel speed estimation data;

[0041] A brake control module is configured to perform brake control on a preset brake system according to the wheel speed estimation data and the valid wheel speed data.

[0042] To achieve the above object, a third aspect of the embodiments of the present application provides a vehicle, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the method of the first aspect when executing the computer program.

[0043] To achieve the above object, a fourth aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the method of the first aspect when executed by a processor.

[0044] The vehicle control method and device based on wheel speed estimation, vehicle and storage medium provided by the present application, by obtaining wheel speed sensing data of a current wheel sensor, then performing validity screening on the wheel speed sensing data to obtain abnormal wheel speed data and valid wheel speed data, and screening out an abnormal wheel sensor from the current wheel sensor according to the abnormal wheel speed data, the wheel sensor which needs to be estimated is determined according to the wheel speed sensing data; further, the type of the abnormal wheel sensor is detected to obtain the sensor type of the abnormal sensor, then wheel speed estimation is performed according to the sensor type and the valid wheel speed data to obtain wheel speed estimation data, finally, brake control is performed on a preset brake system according to the wheel speed estimation data and the valid wheel speed data, so as to ensure that the brake system can work normally and improve the stability of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a flowchart of the vehicle control method based on wheel speed estimation provided by the embodiments of the present application;

[0046] Figure 2 is Figure 1 a flowchart of step S102 in

[0047] Figure 3 is Figure 2 a flowchart of step S201 in

[0048] Figure 4 is Figure 2 a flowchart of step S204 in

[0049] Figure 5 is Figure 1 a flowchart of step S105 in

[0050] Figure 6 is Figure 5 a flowchart of step S502 in

[0051] Figure 7 isFigure 6 the flowchart of step S601 in FIG. 6;

[0052] Figure 8 FIG. 1 is a structural schematic diagram of a vehicle control device based on estimated wheel speed provided by an embodiment of the present application;

[0053] Figure 9 FIG. 2 is a hardware structure schematic diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0055] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a manner different from the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification and claims and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application.

[0057] First, the terms involved in the present application are analyzed:

[0058] Braking System: A mechanical system used to slow down or stop the movement of a vehicle, which converts kinetic energy into heat energy to achieve deceleration or parking, thereby ensuring the safety of the vehicle. The braking system includes brake disc, brake pad, brake caliper, hydraulic system and other components. The braking system is widely used in automobiles, railways, aviation and industrial equipment, which can effectively improve the controllability and safety of vehicles and equipment.

[0059] Wheel Sensor: A sensor used to monitor the state of the vehicle wheel, which can detect the speed, position and other related data of the wheel in real time. The wheel sensor is used in anti-lock braking system and electronic stability program to ensure the stability and safety of the vehicle during driving. The wheel sensor measures the change of wheel speed to help the system adjust the brake pressure or engine output to prevent wheel lock or loss of grip, thereby effectively improving the handling and safety of the vehicle.

[0060] Driven Wheel: A wheel that is powered to drive the vehicle. The driven wheel is responsible for transmitting power to the wheel, thus propelling the vehicle forward or accelerating.

[0061] Anti-lock braking system is a kind of automobile braking system, which is used to prevent the wheels from locking when the vehicle is braked in emergency, so as to maintain the stability and steering ability of the vehicle. The control strategy of the anti-lock braking system is highly dependent on the wheel speed signal provided by the wheel speed sensor, but the wheel speed sensor is prone to faults such as wire harness breakage, magnetic encoder contamination and sensor water ingress due to working environment, which leads to the failure to provide correct wheel speed signal. In the case of being unable to obtain the correct wheel speed signal, the anti-lock braking system will be disabled, and when the emergency braking condition occurs, the wheels will be locked, and the stability of the vehicle is reduced. Therefore, how to ensure the normal work of the anti-lock braking system when the wheel speed sensor is damaged, and improve the stability of the vehicle, has become a problem to be solved.

[0062] Based on this, the embodiment of the application provides a vehicle control method and device based on estimated wheel speed, a vehicle and a storage medium, which aims to ensure the normal work of the anti-lock braking system when the wheel speed sensor is damaged, and improve the stability of the vehicle.

[0063] The vehicle control method and device based on estimated wheel speed, the vehicle and the storage medium provided by the embodiment of the application are specifically explained through the following embodiments. First, the vehicle control method based on estimated wheel speed in the embodiment of the application is described.

[0064] The vehicle control method based on estimated wheel speed provided by the embodiment of the application relates to the technical field of vehicle control. The vehicle control method based on estimated wheel speed provided by the embodiment of the application can be applied in a terminal, can be applied in a server end, and can also be software running in the terminal or the server end. In some embodiments, the terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc.; the server end can be configured as an independent physical server, can be configured as a server cluster or a distributed system composed of multiple physical servers, can also be configured as a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN, and big data and artificial intelligence platform; and the software can be an application for implementing the vehicle control method based on estimated wheel speed, etc., but is not limited to the above forms.

[0065] The application is operable in a variety of general purpose or special purpose computing system environments or configurations. Examples of computing systems, environments, and / or configurations that can be suitable for use with the application include personal computers, server computers, handheld or laptop devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like. The application can be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like, that perform particular tasks or implement particular abstract data types. The application can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules can be located in local and remote computer storage media including memory storage devices.

[0066] Figure 1 is an optional flowchart of a vehicle control method based on estimated wheel speed provided by an embodiment of the application, Figure 1 The method in the above method is applied to a vehicle, the vehicle is provided with a preset braking system, the preset braking system includes a current wheel sensor, and the method can include but is not limited to steps S101 to S106.

[0067] Step S101, acquiring wheel speed sensing data of the current wheel sensor;

[0068] Step S102, performing data validity screening on the wheel speed sensing data to obtain abnormal wheel speed data and valid wheel speed data;

[0069] Step S103, screening an abnormal wheel sensor from the current wheel sensor according to the abnormal wheel speed data;

[0070] Step S104, performing type detection on the abnormal wheel sensor to obtain a sensor type of the abnormal wheel sensor;

[0071] Step S105, performing wheel speed estimation according to the sensor type and the valid wheel speed data to obtain wheel speed estimation data;

[0072] Step S106, performing braking control on the preset braking system according to the wheel speed estimation data and the valid wheel speed data.

[0073] The steps S101 to S106 shown in the embodiments of the present application are as follows: wheel speed sensor data of the current wheel sensor is obtained, then the wheel speed sensor data is effectively screened to obtain abnormal wheel speed data and effective wheel speed data, and an abnormal wheel sensor is screened from the current wheel sensor according to the abnormal wheel speed data, so as to determine the wheel sensor that needs to be estimated according to the wheel speed sensor data; further, the type of the abnormal wheel sensor is detected to obtain the sensor type of the abnormal sensor, then wheel speed estimation is performed according to the sensor type and the effective wheel speed data to obtain wheel speed estimation data, and finally, the preset brake system is controlled according to the wheel speed estimation data and the effective wheel speed data, so as to ensure that the brake system can work normally and improve the stability of the vehicle.

[0074] In step S101 of some embodiments, the current wheel sensor is a sensor for detecting the wheel speed of the vehicle in real time, wheel speed sensor data is determined based on the wheel speed, and the wheel speed sensor data is transmitted to the vehicle. The way to obtain the wheel speed sensor data can be that the vehicle receives the signal of the current wheel sensor in a wired or wireless manner, which is not limited in the present application.

[0075] Please refer to Figure 2 In some embodiments, step S102 can include but is not limited to steps S201 to S205:

[0076] Step S201, the wheel speed sensor data is clustered to obtain a clustering area;

[0077] Step S202, the clustering area is identified for outliers to obtain target sensor data;

[0078] Step S203, the historical sensor data of the target sensor data is obtained; wherein the historical sensor data and the target sensor data are obtained by the same sensor;

[0079] Step S204, the target sensor data is detected for mutation recognition according to the historical sensor data to obtain abnormal wheel speed data;

[0080] Step S205, the wheel speed sensor data is screened according to the abnormal wheel speed data to obtain effective wheel speed data.

[0081] The steps S201 to S205 shown in the embodiments of the present application are as follows: the wheel speed sensing data is clustered to obtain a clustering area, the clustering area is identified for outliers to obtain target sensing data, the historical sensing data of the target sensing data is obtained, the target sensing data is detected for mutation according to the historical sensing data to obtain abnormal wheel speed data, and finally the wheel speed sensing data is screened according to the abnormal wheel speed data to obtain effective wheel speed data. Therefore, the abnormal wheel speed data is accurately identified in the plurality of wheel speed sensing data, the subsequent accurate determination of the abnormal wheel speed data to be estimated based on the effective wheel speed data is facilitated, and the braking system of the vehicle is stabilized based on the estimated wheel speed data, thereby improving the stability of the vehicle.

[0082] Please refer to Figure 3 In some embodiments, step S201 can include but is not limited to steps S301 to S303:

[0083] Step S301: identifying core points from the wheel speed sensing data according to a preset field radius and a preset neighborhood point number threshold to obtain core sensing data;

[0084] Step S302: screening the wheel speed sensing data according to the core sensing data to obtain boundary sensing data;

[0085] Step S303: clustering the boundary sensing data according to the core sensing data to obtain a clustering area.

[0086] The steps S301 to S303 shown in the embodiments of the present application are as follows: the wheel speed sensing data is clustered to obtain a clustering area, the clustering area is identified for outliers to obtain target sensing data, the historical sensing data of the target sensing data is obtained, the target sensing data is detected for mutation according to the historical sensing data to obtain abnormal wheel speed data, and finally the wheel speed sensing data is screened according to the abnormal wheel speed data to obtain effective wheel speed data. Therefore, the abnormal wheel speed data is accurately identified in the plurality of wheel speed sensing data, the subsequent accurate determination of the abnormal wheel speed data to be estimated based on the effective wheel speed data is facilitated, and the braking system of the vehicle is stabilized based on the estimated wheel speed data, thereby improving the stability of the vehicle.

[0087] In step S301 of some embodiments, any one target wheel speed data is extracted from the wheel speed sensing data. When the number of points within the preset field radius of the target wheel speed data is greater than the preset field point number threshold, the target wheel speed data is determined as a core point. Each wheel speed sensing data is traversed to obtain core point sensing data. For example, the wheel speed sensing data has a first sensor of 90 kilometers per hour, a second sensor of 93 kilometers per hour, a third sensor of 89 kilometers per hour, and a fourth sensor of 0 kilometers per hour. The field radius is plus or minus 3 kilometers per hour, and the field point number threshold is half of the number of wheels plus 1, i.e. the field point number threshold is 3. It is determined that the first sensor is the core sensing data.

[0088] In step S302 of some embodiments, the wheel speed sensor data can be divided into two categories, core sensor data and boundary sensor data, when the data in the wheel speed sensor data is not core sensor data, it is determined as boundary sensor data.

[0089] In step S303 of some embodiments, clustering is performed according to the field radius and the core sensor data, for example, the wheel speed sensor data has a first sensor: 90 kilometers per hour, a second sensor: 93 kilometers per hour, a third sensor: 89 kilometers per hour and a fourth sensor: 0 kilometers per hour, the field radius is plus or minus 3 kilometers per hour, and the field point threshold is half of the number of wheels plus 1, i.e. the field point threshold is 3, then the first sensor is determined as core sensor data, the first sensor data, the second sensor data and the third sensor data belong to the first category, and the fourth sensor data belongs to the second category.

[0090] In step S202 of some embodiments, the number of sensor data of each category in the clustering area is obtained, and the clustering area with the minimum number is determined as an abnormal area, and the sensor data is extracted from the abnormal area, i.e. the target sensor data is obtained.

[0091] In step S203 of some embodiments, the vehicle records the sensor data of each sensor within a preset time threshold, i.e. the historical sensor data of each sensor. The sensor corresponding to the target sensor data is obtained, the target sensor is obtained, and the historical sensor data of the target sensor is obtained.

[0092] Please refer to Figure 4 In some embodiments, step S204 can include but is not limited to steps S401 to S403:

[0093] Step S401, time series prediction is performed according to the historical sensor data, and prediction sensor data is obtained;

[0094] Step S402, the difference between the target sensor data and the prediction sensor data is obtained, and sensor data difference is obtained;

[0095] Step S403, if the sensor data difference is greater than a preset threshold, the target sensor data is determined as abnormal wheel speed data.

[0096] The steps S401 to S403 shown in the embodiments of the present application perform time series prediction according to the historical sensor data to obtain prediction sensor data, and when the difference between the target sensor data and the prediction sensor data is greater than a preset threshold, the target sensor data is determined as abnormal wheel speed data, which realizes accurate screening of abnormal sensor data from wheel speed sensor data.

[0097] In step S401 of some embodiments, historical sensing data is obtained according to a preset historical time length, a least square method model is constructed according to the obtained historical sensing data, and time series prediction is performed based on the least square method model to obtain predicted sensing data.

[0098] In step S402 of some embodiments, the target sensing data is subtracted from the predicted sensing data to obtain a sensing data difference.

[0099] In step S403 of some embodiments, if the sensing data difference is greater than a preset threshold, the target sensing data is determined to be abnormal wheel speed data, and if the sensing data difference is less than the preset threshold, the target sensing data is determined to be valid wheel speed data.

[0100] In step S205 of some embodiments, the wheel speed sensing data can be classified as abnormal wheel speed data, and non-abnormal wheel speed data in the wheel speed sensing data is filtered out to obtain valid wheel speed data.

[0101] In step S103 of some embodiments, a sensor corresponding to the abnormal wheel speed data is obtained, and the sensor corresponding to the abnormal wheel speed data is taken as an abnormal wheel sensor.

[0102] In step S104 of some embodiments, the wheels include drive wheels and non-drive wheels, the sensors of the drive wheels are drive wheel sensors, the sensors of the non-drive wheels are non-drive wheel sensors, a sensor type of the abnormal wheel sensor is obtained according to the drive wheel sensors and the non-drive wheel sensors, and it is determined whether the sensor type is a drive wheel sensor or a non-drive wheel sensor to obtain the sensor type.

[0103] Please refer to Figure 5 In some embodiments, the sensor type includes a drive wheel sensor or a non-drive wheel sensor, and step S105 includes but is not limited to steps S501 to S502:

[0104] In step S501, if the sensor type is a non-drive wheel sensor, mean calculation is performed on the valid wheel speed data to obtain wheel speed estimation data.

[0105] In step S502, if the sensor type is a drive wheel sensor, wheel speed estimation is performed according to the valid wheel speed data to obtain wheel speed estimation data.

[0106] The steps S501 to S502 shown in the embodiments of the present application, when the sensor type is a non-drive wheel sensor, mean calculation is performed on the valid wheel speed data to obtain wheel speed estimation data, and when the sensor type is a drive wheel sensor, wheel speed estimation is performed according to the valid wheel speed data to obtain wheel speed estimation data, so that different estimations are performed for different sensor types, the estimation accuracy is improved, and wheel speed estimation data with high accuracy is obtained.

[0107] In step S501 of some embodiments, when the sensor type is a non-drive wheel sensor, it indicates that the wheel where the abnormal sensor is located belongs to a non-drive wheel. Since the non-drive wheel is pushed by the drive wheel, the wheel speed of the non-drive wheel is equivalent to the wheel speed of the drive wheel. According to the valid wheel data, the mean value is calculated, and the wheel speed estimation of the wheel where the abnormal sensor is located is continued.

[0108] Referring to Figure 6 In some embodiments, the vehicle includes a drive wheel, and step S502 includes but is not limited to steps S601 to S603:

[0109] Step S601: According to the valid wheel speed data, the rotation speed of the drive wheel is estimated to obtain rotation speed estimation data.

[0110] Step S602: According to the rotation speed estimation data, the acceleration of the drive wheel is estimated to obtain acceleration estimation data.

[0111] Step S603: The rotation speed estimation data and the acceleration estimation data are used as wheel speed estimation data.

[0112] The steps S601 to S603 shown in the embodiments of the present application estimate the rotation speed of the drive wheel according to the valid wheel speed data to obtain rotation speed estimation data, estimate the acceleration of the drive wheel according to the rotation speed estimation data to obtain acceleration estimation data, and finally use the rotation speed estimation data and the acceleration estimation data as wheel speed estimation data. Precise wheel speed estimation of the wheel where the abnormal sensor is located is realized, so as to ensure that the preset brake system can work normally and improve the stability of the vehicle.

[0113] Referring to Figure 7 In some embodiments, step S601 can include but is not limited to steps S701 to S702:

[0114] Step S701: Obtain the rotation speed of the output shaft of the transmission to obtain the output shaft rotation speed.

[0115] Step S702: According to the output shaft rotation speed and the valid wheel speed data, aggregate calculation is performed to obtain the rotation speed estimation data.

[0116] The steps S701 to S702 shown in the embodiments of the present application obtain the rotation speed of the output shaft of the transmission to obtain the output shaft rotation speed, and perform aggregate calculation according to the output shaft rotation speed and the valid wheel speed data to obtain the rotation speed estimation data. Precise wheel speed estimation is realized when the wheel where the abnormal sensor is located is a drive wheel.

[0117] In step S701 of some embodiments, the transmission is a component that transmits power output by the engine of the vehicle to the wheels, the output shaft is a component in the transmission, and the shaft for transmitting power to the drive wheels. The output shaft speed of the transmission is obtained by a preset output shaft speed sensor, and the output shaft speed is obtained.

[0118] In step S702 of some embodiments, when the vehicle is running, the planetary carrier speed of the vehicle is equal to the sum of the speeds of the two drive wheels of the vehicle, and at the same time, the planetary carrier speed is equal to the ratio between the output shaft speed and the preset main reducer ratio of the main reducer. The aggregation calculation is shown in formula (1):

[0119] n1=2n t / (i z -n2) (1),

[0120] Wherein, n1 is the speed estimation data, n t is the output shaft speed, i z is the main reduction ratio of the preset main reducer, and n2 is the effective wheel speed data.

[0121] In step S602 of some embodiments, the acceleration of the drive wheel is estimated to obtain the acceleration estimation data, and the acceleration estimation data is shown in formula (2):

[0122]

[0123] Wherein, is the differential of n1, and a1 is the acceleration estimation data.

[0124] In step S603 of some embodiments, the speed estimation data and the acceleration estimation data are used as wheel speed estimation data, so as to provide complete speed data for the preset brake system, complete brake control of the preset brake system, and improve the stability of the vehicle.

[0125] In step S106 of some embodiments, when the wheel speed sensor is damaged, i.e., the preset brake system cannot detect the sensing data of the wheel speed sensor, the preset brake system is in a non-working state. The wheel speed estimation data is used to replace the sensing data of the damaged wheel speed sensor, and the effective wheel speed data is used as the wheel speed sensing data of the normally working wheel speed sensor, so as to keep the preset brake system in a working state, thereby completing the brake control of the preset brake system.

[0126] Please refer to Figure 8 , the application also provides a vehicle control device based on estimated wheel speed, which can realize the above-mentioned vehicle control method based on estimated wheel speed. The device comprises:

[0127] The wheel speed acquisition module 801 is configured to acquire wheel speed sensing data of the current wheel sensor.

[0128] The data screening module 802 is configured to perform data validity screening on the wheel speed sensing data to obtain abnormal wheel speed data and valid wheel speed data.

[0129] The sensor screening module 803 is configured to screen out an abnormal wheel sensor from the current wheel sensors according to the abnormal wheel speed data.

[0130] The type detection module 804 is configured to perform type detection on the abnormal wheel sensor to obtain a sensor type of the abnormal wheel sensor.

[0131] The wheel speed estimation module 805 is configured to perform wheel speed estimation according to the sensor type and the valid wheel speed data to obtain wheel speed estimation data.

[0132] The brake control module 806 is configured to perform brake control on a preset brake system according to the wheel speed estimation data and the valid wheel speed data.

[0133] The specific implementation of the vehicle control device based on the estimated wheel speed is basically the same as that of the vehicle control method based on the estimated wheel speed, and thus will not be described herein.

[0134] The embodiments of the present application further provide a vehicle, which comprises a memory and a processor. The memory stores a computer program, and the processor implements the vehicle control method based on the estimated wheel speed when executing the computer program. The vehicle can be any intelligent terminal, such as a tablet computer or a vehicle-mounted computer.

[0135] Please refer to Figure 9 , Figure 9 The hardware structure of the vehicle of another embodiment is illustrated, which comprises:

[0136] The processor 901 can be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0137] The memory 902 can be implemented in the form of a Read Only Memory (ROM), a static storage device, a dynamic storage device, or a Random Access Memory (RAM), etc. The memory 902 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 902 and are invoked and executed by the processor 901 to implement the vehicle control method based on the estimated wheel speed according to the embodiments of the present application;

[0138] The input / output interface 903 is configured to realize information input and output.

[0139] The communication interface 904 is configured to realize the communication interaction between the device and other devices. The communication can be realized by a wired manner (for example, a USB, a network cable, etc.) or a wireless manner (for example, a mobile network, a WI-FI, a Bluetooth, etc.).

[0140] The bus 905 is configured to transmit information between various components (for example, the processor 901, the memory 902, the input / output interface 903, and the communication interface 904) of the device.

[0141] The processor 901, the memory 902, the input / output interface 903, and the communication interface 904 are connected to each other through the bus 905 to realize the communication connection between the device.

[0142] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the vehicle control method based on the estimated wheel speed.

[0143] The memory is a non-transitory computer readable storage medium, which can be used to store a non-transitory software program and a non-transitory computer executable program. In addition, the memory can include a high-speed random access memory and can also include a non-transitory memory, for example, at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory remotely arranged relative to the processor. These remote memories can be connected to the processor through a network. Examples of the network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0144] The vehicle control method based on estimated wheel speed, vehicle control device based on estimated wheel speed, vehicle and storage medium provided by the embodiments of the present application obtain wheel speed sensing data of a current wheel sensor, then perform validity screening on the wheel speed sensing data to obtain abnormal wheel speed data and valid wheel speed data, and screen out an abnormal wheel sensor from the current wheel sensor according to the abnormal wheel speed data, so as to determine the wheel sensor that needs to be estimated according to the wheel speed sensing data; further, type detection is performed on the abnormal wheel sensor to obtain the sensor type of the abnormal sensor, then wheel speed estimation is performed according to the sensor type and the valid wheel speed data to obtain wheel speed estimation data, and finally, braking control is performed on a preset braking system according to the wheel speed estimation data and the valid wheel speed data, so as to ensure that the braking system can work normally and improve the stability of the vehicle.

[0145] The embodiments described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0146] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and can include more or fewer steps than the figures shown, or combine certain steps or different steps.

[0147] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, that is, can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0148] Those skilled in the art can understand that all or some of the steps in the above disclosed method, the function modules / units in the system and the device can be implemented as software, firmware, hardware and their appropriate combinations.

[0149] The terms "first", "second", "third", "fourth", and the like in the description and in the claims of this application, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of the terms so termed is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of orderly or chronological mundane operation, reverse order operation, based on circuitry availability, based on stated preference or the like, and that "default" or other orderings are thus permissible. Further, the terms "comprise", "comprising", "include", "including", and the like, are specifically intended to be open-ended. That is, references to individual steps and the like do not suhstantially exclude the presence of two or more of a recited step or its integral sub-steps or additional steps whether or not readily ascertainable from the description or the like. Further, the words "a" or "an", as used herein in the disclosure and elsewhere, are used indiscriminately and are to be interpreted in the same way, i.e. as meaning "one or more".

[0150] It should be understood that, in this application, "at least one" means one or more, "multiple" means two or more. "And / or", used to describe the relationship between associated objects, means that there can be three relationships, for example, "A and / or B" can mean: only A, only B, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one of the following" or the like means any combination of these items, including single or multiple combinations. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0151] In several 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 above units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed objects can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0152] The units described above as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. they can be located in one place or distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0153] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, 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 function unit.

[0154] When the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in part, 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 multiple instructions used to cause 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 methods in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various other media that can store programs.

[0155] The preferred embodiments of the embodiments of the present application are described above with reference to the accompanying drawings, and are not intended to limit the scope of the embodiments of the present application. Any modifications, equivalent replacements and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the embodiments of the present application.

Claims

1. A vehicle control method based on estimated wheel speed, applied to a vehicle, the vehicle being provided with a preset braking system, the preset braking system including a current wheel sensor, characterized by, The method comprises: obtaining wheel speed sensor data of the current wheel sensor; performing data validity screening on the wheel speed sensor data to obtain abnormal wheel speed data and valid wheel speed data; screening out an abnormal wheel sensor from the current wheel sensor according to the abnormal wheel speed data; performing type detection on the abnormal wheel sensor to obtain a sensor type of the abnormal wheel sensor; performing wheel speed estimation according to the sensor type and the valid wheel speed data to obtain wheel speed estimation data; performing brake control on the preset brake system according to the wheel speed estimation data and the valid wheel speed data; wherein the sensor type comprises a driving wheel sensor or a non-driving wheel sensor, and the wheel speed estimation according to the sensor type and the valid wheel speed data to obtain wheel speed estimation data comprises: if the sensor type is a non-driving wheel sensor, performing mean value calculation on the valid wheel speed data to obtain the wheel speed estimation data; if the sensor type is a driving wheel sensor, performing wheel speed estimation according to the valid wheel speed data to obtain the wheel speed estimation data; wherein the vehicle comprises a driving wheel, and the wheel speed estimation according to the valid wheel speed data to obtain the wheel speed estimation data comprises: performing speed estimation on the driving wheel according to the valid wheel speed data to obtain speed estimation data; performing acceleration estimation on the driving wheel according to the speed estimation data to obtain acceleration estimation data; taking the speed estimation data and the acceleration estimation data as the wheel speed estimation data.

2. The method of claim 1, wherein, The vehicle is provided with a transmission, and the speed estimation on the driving wheel according to the valid wheel speed data to obtain the speed estimation data comprises: obtaining the speed of the output shaft of the transmission to obtain output shaft speed; performing aggregation calculation according to the output shaft speed and the valid wheel speed data to obtain the speed estimation data.

3. The method according to any of claims 1-2, characterized in that, The data validity screening on the wheel speed sensor data to obtain abnormal wheel speed data and valid wheel speed data comprises: performing clustering processing on the wheel speed sensor data to obtain a clustering area; performing outlier identification on the clustering area to obtain target sensor data; obtaining historical sensor data of the target sensor data; wherein the historical sensor data and the target sensor data are obtained by the same sensor; performing mutation identification detection on the target sensor data according to the historical sensor data to obtain the abnormal wheel speed data; screening the wheel speed sensor data according to the abnormal wheel speed data to obtain the valid wheel speed data.

4. The method of claim 3, wherein, The clustering processing on the wheel speed sensor data to obtain a clustering area comprises: performing core point identification on the wheel speed sensor data according to a preset domain radius and a preset neighborhood point number threshold to obtain core sensor data; screening the wheel speed sensor data according to the core sensor data to obtain boundary sensor data; performing clustering processing on the boundary sensor data according to the core sensor data to obtain the clustering area.

5. The method of claim 3, wherein, The mutation identification detection on the target sensor data according to the historical sensor data to obtain the abnormal wheel speed data comprises: performing time series prediction on the historical sensing data to obtain predicted sensing data; obtaining a difference between the target sensing data and the predicted sensing data to obtain a sensing data difference; if the sensing data difference is greater than a preset threshold, determining that the target sensing data is the abnormal wheel speed data.

6. A vehicle control device based on an estimated wheel speed, characterized by, The device comprises: a wheel speed acquisition module configured to acquire wheel speed sensing data of a current wheel sensor; a data screening module configured to perform data validity screening on the wheel speed sensing data to obtain abnormal wheel speed data and valid wheel speed data; a sensor screening module configured to screen an abnormal wheel sensor from the current wheel sensor according to the abnormal wheel speed data; a type detection module configured to perform type detection on the abnormal wheel sensor to obtain a sensor type of the abnormal wheel sensor; a wheel speed estimation module configured to perform wheel speed estimation according to the sensor type and the valid wheel speed data to obtain wheel speed estimation data; a brake control module configured to perform brake control on a preset brake system according to the wheel speed estimation data and the valid wheel speed data; wherein the sensor type comprises a drive wheel sensor or a non-drive wheel sensor, and the wheel speed estimation module is configured to perform wheel speed estimation according to the sensor type and the valid wheel speed data to obtain wheel speed estimation data, comprising: if the sensor type is a non-drive wheel sensor, performing mean value calculation on the valid wheel speed data to obtain the wheel speed estimation data; if the sensor type is a drive wheel sensor, performing wheel speed estimation according to the valid wheel speed data to obtain the wheel speed estimation data; wherein the vehicle comprises a drive wheel, and the wheel speed estimation according to the valid wheel speed data to obtain the wheel speed estimation data comprises: performing speed estimation on the drive wheel according to the valid wheel speed data to obtain speed estimation data; performing acceleration estimation on the drive wheel according to the speed estimation data to obtain acceleration estimation data; taking the speed estimation data and the acceleration estimation data as the wheel speed estimation data.

7. A vehicle characterized by comprising: The vehicle comprises a memory and a processor, the memory stores a computer program, and the processor implements the vehicle control method based on estimated wheel speed according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium storing a computer program, the computer-readable storage medium comprising: The computer program is executed by the processor to implement the vehicle control method based on estimated wheel speed according to any one of claims 1 to 5.

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