Vehicle speed calculation method and device

Abstract

The invention relates to the technical field of vehicle speed calculation, in particular to a vehicle speed calculation method and device. Acquiring a wheel rotating speed and a motor rotating speed corresponding to the target vehicle; comparing the wheel rotating speed with the motor rotating speed; determining whether the wheel rotating speed and / or the motor rotating speed are / is normal according to a comparison result; and calculating the target vehicle speed of the target vehicle according to the determination result. The accuracy of the calculated target speed of the target vehicle is ensured. The problem that the target speed of the target vehicle cannot run normally due to the fact that the wheel rotating speed and / or the motor rotating speed are / is abnormal and the abnormal wheel rotating speed and / or the abnormal motor rotating speed are / is continuously used for calculating the target speed of the target vehicle, the calculated target speed is not accurate, the vehicle speed fault is reported, and the target vehicle cannot run normally is solved.

Description

Technical Field

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

[0002] Vehicle speed is a core parameter in autonomous driving. Positioning, control, decision-making and navigation all rely on accurate vehicle speed input. The speed-based dead reckoning method can obtain the real-time position of the vehicle, providing a basis for multi-source fusion positioning; vehicle speed is a key input in the control system, which directly affects the acceleration, braking and steering control operations of the autonomous driving vehicle; similar to positioning and control, vehicle speed is also an important factor that must be considered in decision-making and navigation. Decision-making navigation requires the formulation of safe and efficient driving strategies and path planning based on status information such as vehicle speed.

[0003] However, in the prior art, the vehicle speed is usually obtained by wheel speed sensors installed on multiple wheels, and abnormal wheel speed fault diagnosis is achieved by mutual verification. When a wheel speed sensor failure or excessive slip rate occurs on a single wheel, the influence of the abnormal wheel speed sensor on the final vehicle speed is reduced by reducing the weight. However, when multiple wheel speed sensors have consistency abnormalities, for example, all wheel speed sensor signals are 0, wheel slippage causes abnormal increase in all wheel speeds, etc., the calculated vehicle speed is inaccurate, which in turn causes a speed fault to be reported, which seriously affects the normal driving of the vehicle. Summary of the invention

[0004] In view of this, the present invention provides a vehicle speed calculation method and device to solve the problem of how to ensure that the calculated vehicle speed is accurate.

[0005] In a first aspect, the present invention provides a vehicle speed calculation method, the method comprising:

[0006] Get the wheel speed and motor speed corresponding to the target vehicle;

[0007] Compare the wheel speed and motor speed;

[0008] According to the comparison result, determine whether the wheel speed and / or the motor speed is normal;

[0009] Based on the determination result, a target vehicle speed of the target vehicle is calculated.

[0010] The vehicle speed calculation method provided in the embodiment of the present application obtains the wheel speed and motor speed corresponding to the target vehicle; the wheel speed and the motor speed are compared to ensure the accuracy of the comparison result. Based on the comparison result, it is determined whether the wheel speed and / or the motor speed are normal, ensuring the accuracy of the result of determining whether the wheel speed and / or the motor speed are normal. Based on the determination result, the target speed of the target vehicle is calculated to ensure the accuracy of the calculated target speed of the target vehicle. It avoids the situation where the target speed of the target vehicle is calculated using the abnormal wheel speed and / or the motor speed due to abnormal wheel speed and / or the motor speed, resulting in inaccuracy in the calculated target speed, thereby causing a speed failure to be reported, and then causing the target vehicle to be unable to drive normally.

[0011] In an optional implementation, comparing the wheel speed and the motor speed includes:

[0012] Convert the wheel speed to a first vehicle speed in target units;

[0013] Convert the motor speed into a second vehicle speed in a target unit;

[0014] The first vehicle speed is compared to the second vehicle speed.

[0015] The vehicle speed calculation method provided in the embodiment of the present application converts the wheel speed into a first vehicle speed of a target unit, thereby ensuring the accuracy of the calculated first vehicle speed. The motor speed is converted into a second vehicle speed of a target unit, thereby ensuring the accuracy of the calculated second vehicle speed. The first vehicle speed and the second vehicle speed are compared, thereby ensuring the accuracy of the comparison result obtained, and further ensuring the accuracy of whether the wheel speed and / or motor speed is normal determined based on the comparison result.

[0016] In an optional implementation, determining whether the wheel speed and / or the motor speed is normal according to the comparison result includes:

[0017] Calculating a first speed difference between a wheel speed and a motor speed;

[0018] If the first speed difference is within a first preset speed difference range, it is determined that the wheel speed and the motor speed are both normal;

[0019] If the first speed difference is outside the first preset speed difference range, obtaining a reference vehicle speed corresponding to the target vehicle;

[0020] Based on the relationship between the reference vehicle speed and the motor speed, detect whether the motor speed is normal;

[0021] According to the detection result, the output speed in a normal state is determined from the wheel speed and the motor speed;

[0022] Check the output speed to determine whether it is normal.

[0023] The vehicle speed calculation method provided in the embodiment of the present application calculates the first speed difference between the wheel speed and the motor speed, thereby ensuring the accuracy of the calculated first speed difference. If the first speed difference is within the first preset speed difference range, it is determined that the wheel speed and the motor speed are both normal, thereby ensuring the accuracy of the result that the wheel speed and the motor speed are both normal. If the first speed difference is outside the first preset speed difference range, the reference speed corresponding to the target vehicle is obtained, thereby ensuring the accuracy of the reference speed corresponding to the acquired target vehicle. Based on the relationship between the reference speed and the motor speed, it is detected whether the motor speed is normal, thereby ensuring the accuracy of the result of whether the motor speed is normal. According to the detection result, the output speed in a normal state is determined from the wheel speed and the motor speed, and the output speed is detected to determine whether the output speed is normal, thereby realizing double detection of the wheel speed and the motor speed, thereby ensuring the accuracy of the result of whether the wheel speed and / or the motor speed are finally determined to be normal.

[0024] In an optional implementation, based on the relationship between the reference vehicle speed and the motor speed, detecting whether the motor speed is normal includes:

[0025] Based on the reference vehicle speed, a reference acceleration is calculated;

[0026] Converting the motor speed into a second vehicle speed in target units, and calculating a second acceleration based on the second vehicle speed;

[0027] calculating a first acceleration difference between the second acceleration and the reference acceleration;

[0028] If the first acceleration difference is within a first preset acceleration difference range, it is determined that the motor speed is normal, and further that the wheel speed is abnormal;

[0029] If the first acceleration difference is outside the first preset acceleration difference range, it is determined that the motor speed is abnormal, and furthermore, it is determined that the wheel speed is normal.

[0030] The vehicle speed calculation method provided in the embodiment of the present application calculates a reference acceleration based on a reference vehicle speed, thereby ensuring the accuracy of the calculated reference acceleration. The motor speed is converted into a second vehicle speed of a target unit, and based on the second vehicle speed, the second acceleration is calculated, thereby ensuring the accuracy of the calculated first acceleration difference. The first acceleration difference between the second acceleration and the reference acceleration is calculated. If the first acceleration difference is within a first preset acceleration difference range, it is determined that the motor speed is normal, and then the wheel speed is abnormal, thereby ensuring the accuracy of the result of determining that the motor speed is normal, and then the wheel speed is abnormal. If the first acceleration difference is outside the first preset acceleration difference range, it is determined that the motor speed is abnormal, and then the wheel speed is normal, thereby ensuring the accuracy of the result of determining that the motor speed is abnormal, and then the wheel speed is normal.

[0031] In an optional implementation, detecting the output speed to determine whether the output speed is normal includes:

[0032] Obtaining a third vehicle speed corresponding to the target vehicle;

[0033] converting the output speed into a fourth vehicle speed of a target unit;

[0034] calculating a second speed difference between the fourth vehicle speed and the third vehicle speed;

[0035] If the second speed difference is within the second preset speed difference range, it is determined that the output speed is normal;

[0036] If the second speed difference is outside the second preset speed difference range, it is determined that the output speed is abnormal.

[0037] The vehicle speed calculation method provided in the embodiment of the present application obtains the third vehicle speed corresponding to the target vehicle. The output speed is converted into a fourth vehicle speed of the target unit; the second speed difference between the fourth vehicle speed and the third vehicle speed is calculated to ensure the accuracy of the calculated second speed difference, so that it can be determined whether the motor speed is normal based on the second speed difference. If the second speed difference is within the second preset speed difference range, the output speed is determined to be normal, ensuring the accuracy of the determined output speed being normal. If the second speed difference is outside the second preset speed difference range, the output speed is determined to be abnormal, ensuring the accuracy of the result of the determined output speed being abnormal.

[0038] In an optional implementation, if the detection result is that the motor speed is abnormal, determining the output speed as the wheel speed, detecting the output speed to determine whether the output speed is normal includes:

[0039] Obtaining the sub-wheel speed corresponding to each wheel included in the wheel speed;

[0040] Calculate the third wheel speed difference between the rotation speeds of two sub-wheels on the left and right sides of the same axle, and the fourth wheel speed difference between the rotation speeds of two sub-wheels on the same side but different axles;

[0041] If the third wheel speed difference is outside the third preset speed difference range, or / and the fourth wheel speed difference is outside the fourth preset speed difference range, it is determined that the wheel speed is abnormal;

[0042] If the third wheel speed difference is within the third preset speed difference range, and the fourth wheel speed difference is within the fourth preset speed difference range, it is determined that the wheel speed is normal.

[0043] The vehicle speed calculation method provided in the embodiment of the present application obtains the sub-wheel speed corresponding to each wheel included in the wheel speed; calculates the third wheel speed difference between the two sub-wheel speeds on the left and right sides of the same axle, and the fourth wheel speed difference between the two sub-wheel speeds on the same side but different axles, thereby ensuring the accuracy of the calculated third wheel speed difference and fourth wheel speed difference. If the third wheel speed difference is outside the third preset speed difference range, or / and the fourth wheel speed difference is outside the fourth preset speed difference range, then the wheel speed is determined to be abnormal, thereby ensuring the accuracy of the result of the abnormal wheel speed determination. If the third wheel speed difference is within the third preset speed difference range, and the fourth wheel speed difference is within the fourth preset speed difference range, then the wheel speed is determined to be normal, thereby ensuring the accuracy of the result of the normal wheel speed determination.

[0044] In an optional implementation, if the detection result is that the motor speed is abnormal, determining the output speed as the wheel speed, detecting the output speed to determine whether the output speed is normal includes:

[0045] converting the wheel speed into a first vehicle speed in target units, and calculating a first acceleration based on the first vehicle speed;

[0046] calculating a second acceleration difference between the first acceleration and a reference acceleration;

[0047] If the second acceleration difference is within a second preset acceleration difference range, it is determined that the wheel speed is normal; the second preset acceleration difference range includes the first preset acceleration difference range;

[0048] If the second acceleration difference is outside the second preset acceleration difference range, it is determined that the wheel speed is abnormal.

[0049] The vehicle speed calculation method provided in the embodiment of the present application converts the wheel speed into a first vehicle speed of a target unit, and calculates the first acceleration based on the first vehicle speed, thereby ensuring the accuracy of the calculated first acceleration. The second acceleration difference between the first acceleration and the reference acceleration is calculated, thereby ensuring the accuracy of the calculated second acceleration difference. If the second acceleration difference is within the second preset acceleration difference range, it is determined that the wheel speed is normal, thereby ensuring the accuracy of the determined second acceleration difference. If the second acceleration difference is outside the second preset acceleration difference range, it is determined that the wheel speed is abnormal, thereby ensuring the accuracy of the result of the determined abnormal wheel speed.

[0050] In an optional implementation, after determining whether the wheel speed and / or the motor speed is normal according to the comparison result, the method further includes:

[0051] If the wheel speed and motor speed are both normal, the fault level output is prohibited;

[0052] If the wheel speed or motor speed is abnormal, the first fault level is output;

[0053] If both the wheel speed and the motor speed are abnormal, a second fault level is output; the second fault level is higher than the first fault level.

[0054] The vehicle speed calculation method provided in the embodiment of the present application prohibits outputting the fault level if both the wheel speed and the motor speed are normal; if the wheel speed or the motor speed is abnormal, the first fault level is output; if both the wheel speed and the motor speed are abnormal, the second fault level is output; the second fault level is higher than the first fault level, thereby ensuring the accuracy of the generated fault level.

[0055] In an optional implementation, calculating the target speed of the target vehicle according to the determination result includes:

[0056] If the wheel speed and the motor speed are both normal, the target speed of the target vehicle is calculated based on the wheel speed and the motor speed;

[0057] If the wheel speed is abnormal, the target speed of the target vehicle is calculated based on the motor speed;

[0058] If the motor speed is abnormal, the target speed of the target vehicle is calculated based on the wheel speed;

[0059] If the wheel speed and the motor speed are both abnormal, the target speed of the target vehicle is calculated based on the target device corresponding to the target vehicle.

[0060] The vehicle speed calculation method provided in the embodiment of the present application calculates the target speed of the target vehicle based on the wheel speed and the motor speed if both the wheel speed and the motor speed are normal; if the wheel speed is abnormal, the target speed of the target vehicle is calculated based on the motor speed; if the motor speed is abnormal, the target speed of the target vehicle is calculated based on the wheel speed; if both the wheel speed and the motor speed are abnormal, the target speed of the target vehicle is calculated based on the target device corresponding to the target vehicle, thereby ensuring the accuracy of the calculated target speed corresponding to the target vehicle. This avoids the situation where the target speed of the target vehicle is calculated based on the abnormal wheel speed and / or motor speed due to abnormal wheel speed and / or motor speed, resulting in inaccuracy in the calculated target speed, thereby causing a speed failure to be reported, and further causing the target vehicle to be unable to travel normally.

[0061] In a second aspect, the present invention provides a vehicle speed calculation device, the device comprising:

[0062] An acquisition module is used to acquire the wheel speed and motor speed corresponding to the target vehicle;

[0063] A comparison module is used to compare the wheel speed and the motor speed;

[0064] A determination module, used to determine whether the wheel speed and / or the motor speed is normal according to the comparison result;

[0065] The calculation module is used to calculate the target speed of the target vehicle according to the determination result.

[0066] In a third aspect, the present invention provides an electronic device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the vehicle speed calculation method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0067] In a fourth aspect, the present invention provides a target vehicle, including an electronic device and a vehicle body, wherein the electronic device is used to execute the vehicle speed calculation method of the first aspect or any corresponding embodiment thereof.

[0068] In a fifth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the vehicle speed calculation method of the first aspect or any corresponding embodiment thereof.

[0069] In a sixth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the vehicle speed calculation method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0071] Figure 1 is a schematic flow chart of a vehicle speed calculation method according to an embodiment of the present invention;

[0072] Figure 2 is a flow chart of another vehicle speed calculation method according to an embodiment of the present invention;

[0073] Figure 3 is a schematic diagram for comparing a first vehicle speed and a second vehicle speed according to an embodiment of the present invention;

[0074] Figure 4 is a schematic diagram of comparing a reference acceleration and a second acceleration in corresponding time periods according to an embodiment of the present invention;

[0075] Figure 5 is a flow chart of another vehicle speed calculation method according to an embodiment of the present invention;

[0076] Figure 6 is a structural block diagram of a vehicle speed calculation device according to an embodiment of the present invention;

[0077] Figure 7 is a structural block diagram of another vehicle speed calculation device according to an embodiment of the present invention;

[0078] Figure 8 It is a schematic diagram of the hardware structure of the electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0079] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0080] Vehicle speed is a core parameter in autonomous driving. Positioning, control, decision-making and navigation all rely on accurate vehicle speed input. The speed-based dead reckoning method can obtain the real-time position of the vehicle, providing a basis for multi-source fusion positioning; vehicle speed is a key input in the control system, which directly affects the acceleration, braking and steering control operations of the autonomous driving vehicle; similar to positioning and control, vehicle speed is also an important factor that must be considered in decision-making and navigation. Decision-making navigation requires the formulation of safe and efficient driving strategies and path planning based on status information such as vehicle speed.

[0081] However, in the prior art, the vehicle speed is usually obtained by wheel speed sensors installed on multiple wheels, and abnormal wheel speed fault diagnosis is achieved by mutual verification. When a wheel speed sensor failure or excessive slip rate occurs on a single wheel, the influence of the abnormal wheel speed sensor on the final vehicle speed is reduced by reducing the weight. However, when multiple wheel speed sensors have consistency abnormalities, for example, all wheel speed sensor signals are 0, wheel slippage causes abnormal increase in all wheel speeds, etc., the calculated vehicle speed is inaccurate, which in turn causes a speed fault to be reported, which seriously affects the normal driving of the vehicle.

[0082] It should be noted that the execution subject of the vehicle speed calculation method provided in the embodiment of the present application may be a device for calculating the vehicle speed, and the device for calculating the vehicle speed may be implemented as part or all of an electronic device through software, hardware, or a combination of software and hardware, wherein the electronic device may be a server or a terminal, wherein the server in the embodiment of the present application may be a single server or a server cluster composed of multiple servers, and the terminal in the embodiment of the present application may be a smart phone, a personal computer, a tablet computer, a wearable device, an intelligent robot, or other intelligent hardware devices. In the following method embodiments, the execution subject is an electronic device as an example for explanation.

[0083] According to an embodiment of the present invention, an embodiment of a vehicle speed calculation method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0084] In this embodiment, a vehicle speed calculation method is provided, which can be used in the above electronic device. Figure 1 is a flow chart of a vehicle speed calculation method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0085] Step S101, obtaining the wheel speed and motor speed corresponding to the target vehicle.

[0086] Specifically, the electronic device can obtain the wheel speed corresponding to the target vehicle sent by the wheel speed sensor based on the communication connection with the wheel speed sensor. The wheel speed sensor can be a Hall wheel speed sensor, a magnetoelectric wheel speed sensor, or other wheel speed sensors. The embodiment of the present application does not specifically limit the wheel speed sensor.

[0087] The electronic device can also obtain the motor speed corresponding to the target vehicle based on the communication connection with the motor speed sensor. The motor speed sensor can be a capacitive motor speed sensor, a rotary motor speed sensor, or other motor speed sensors. The embodiment of the present application does not specifically limit the motor speed sensor.

[0088] Step S102, comparing the wheel speed and the motor speed.

[0089] Optionally, the electronic device may convert the motor speed into a target motor speed that is consistent with the unit of the wheel speed, and then compare the wheel speed with the target motor speed.

[0090] Optionally, the electronic device may convert the wheel speed into a target wheel speed that is consistent with the unit of the motor speed, and then compare the target wheel speed with the motor speed.

[0091] This step will be described in detail below.

[0092] Step S103: determining whether the wheel speed and / or the motor speed are normal according to the comparison result.

[0093] Specifically, the electronic device may determine whether the wheel speed and / or the motor speed are normal based on a comparison result of the wheel speed and the motor speed.

[0094] This step will be described in detail below.

[0095] Step S104, calculating the target speed of the target vehicle according to the determination result.

[0096] Specifically, the electronic device may calculate the target vehicle speed of the target vehicle according to the result of determining whether the wheel speed and / or the motor speed are normal.

[0097] This step will be described in detail below.

[0098] The vehicle speed calculation method provided in this embodiment obtains the wheel speed and motor speed corresponding to the target vehicle; the wheel speed and the motor speed are compared to ensure the accuracy of the comparison result. Based on the comparison result, it is determined whether the wheel speed and / or the motor speed are normal, ensuring the accuracy of the result of determining whether the wheel speed and / or the motor speed are normal. Based on the determination result, the target speed of the target vehicle is calculated to ensure the accuracy of the calculated target speed of the target vehicle. It avoids the situation where the target speed of the target vehicle is calculated using the abnormal wheel speed and / or the motor speed due to abnormal wheel speed and / or the motor speed, resulting in inaccuracy in the calculated target speed, thereby causing a speed failure to be reported, and then causing the target vehicle to be unable to drive normally.

[0099] In this embodiment, a vehicle speed calculation method is provided, which can be used in the above electronic device. Figure 2 is a flow chart of a vehicle speed calculation method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0100] Step S201, obtaining the wheel speed and motor speed corresponding to the target vehicle.

[0101] For details about this step, please refer to the above description of step S101, which will not be elaborated here.

[0102] Step S202, comparing the wheel speed and the motor speed.

[0103] Specifically, the above step S202 may include the following steps:

[0104] Step S2021, converting the wheel speed into a first vehicle speed in a target unit.

[0105] Specifically, the electronic device can obtain the transmission coefficient of the target vehicle and the tire radius of the target vehicle, and then convert the wheel speed into a first vehicle speed of the target unit according to the correspondence between the motor speed and the transmission coefficient and tire radius of the target vehicle.

[0106] The target unit can be either meters per second or kilometers per hour.

[0107] Exemplarily, the electronic device may convert the wheel speed into the first vehicle speed in the target unit based on the following formula:

[0108] Spd1=Vpm·2πR·C / 60

[0109] Among them, Vpm is the wheel speed, in revolutions per minute; R is the tire radius, in meters; C is the transmission coefficient; Spd1 is the first vehicle speed after conversion, in meters per second.

[0110] Step S2022, converting the motor speed into a second vehicle speed in target units.

[0111] Specifically, the electronic device can obtain the transmission coefficient of the target vehicle and the tire radius of the target vehicle, and then convert the motor speed into a second vehicle speed of the target unit according to the corresponding relationship between the motor speed and the transmission coefficient and tire radius of the target vehicle.

[0112] The target unit can be either meters per second or kilometers per hour.

[0113] Exemplarily, the electronic device may convert the motor speed into the second vehicle speed in target units based on the following formula:

[0114] Spd2=Rpm·2πR·C / 60

[0115] Among them, Rpm is the motor speed, in revolutions per minute; R is the tire radius, in meters; C is the transmission coefficient; Spd2 is the second vehicle speed after conversion, in meters per second.

[0116] Step S2023: compare the first vehicle speed and the second vehicle speed.

[0117] Specifically, the electronic device may compare the first vehicle speed and the second vehicle speed.

[0118] For example, Figure 3 As shown in FIG. 1 , it is a schematic diagram for comparing the first vehicle speed and the second vehicle speed. It can be seen from the figure that there is a large first speed difference between the first vehicle speed and the second vehicle speed.

[0119] Step S203: Determine whether the wheel speed and / or motor speed is normal based on the comparison result.

[0120] Specifically, the above step S203 may include the following steps:

[0121] Step S2031, calculating a first speed difference between the wheel speed and the motor speed.

[0122] Specifically, the electronic device may calculate a first speed difference between the first vehicle speed and the second vehicle speed.

[0123] Step S2032: If the first speed difference is within a first preset speed difference range, it is determined that the wheel speed and the motor speed are both normal.

[0124] Specifically, the electronic device may receive a first preset speed difference range input by a user, or may receive a first preset speed difference range sent by other devices, and the electronic device may set the first preset speed difference range according to the property information of the wheels and motors corresponding to the target vehicle. The embodiment of the present application does not specifically limit the manner in which the electronic device obtains the first preset speed difference range.

[0125] Specifically, the electronic device may compare the first speed difference with the maximum speed difference and the minimum speed difference corresponding to the first preset speed difference range. If the first speed difference is greater than or equal to the minimum speed difference in the first preset speed difference range, and less than or equal to the maximum speed difference in the first preset speed difference range, it is determined that the first speed difference is within the first preset speed difference range, and further determines that the wheel speed and the motor speed are normal.

[0126] Step S2033: if the first speed difference is outside the first preset speed difference range, a reference vehicle speed corresponding to the target vehicle is obtained.

[0127] Specifically, if the first speed difference is greater than the maximum speed difference in the first preset speed difference range, or the first speed difference is less than the minimum speed difference in the first preset speed difference range, it is determined that the first speed difference is outside the first preset speed difference range, and then it can be determined that the wheel speed or the motor speed is abnormal.

[0128] At this time, the electronic device can obtain the reference speed corresponding to the target vehicle, wherein the source of the reference speed includes but is not limited to an inertial measurement unit (IMU) installed on the vehicle, an on-board acceleration sensor, a measurement based on a global satellite navigation system (GNSS) or a visual sensor, etc.

[0129] Step S2034, based on the relationship between the reference vehicle speed and the motor speed, detecting whether the motor speed is normal.

[0130] In an optional implementation of the present application, the electronic device may convert the motor speed into a second vehicle speed in target units. Then, the electronic device calculates a second speed difference between the second vehicle speed and the reference vehicle speed.

[0131] The electronic device may receive the second preset speed difference range input by the user, or may receive the second preset speed difference range sent by other devices, and the electronic device may set the second preset speed difference range according to the property information of the motor corresponding to the target vehicle. The embodiment of the present application does not specifically limit the manner in which the electronic device obtains the second preset speed difference range.

[0132] Specifically, the electronic device may compare the second speed difference with the maximum speed difference and the minimum speed difference corresponding to the second preset speed difference range. If the second speed difference is greater than the minimum speed difference in the second preset speed difference range and less than the maximum speed difference in the second preset speed difference range, it is determined that the first speed difference is within the first preset speed difference range, and then the motor speed is determined to be normal, and then the wheel speed is determined to be abnormal. If the second speed difference is greater than the maximum speed difference in the second preset speed difference range, or the second speed difference is less than the minimum speed difference in the second preset speed difference range, it is determined that the second speed difference is outside the second preset speed difference range, and then the motor speed can be determined to be abnormal, and then the wheel speed is determined to be normal.

[0133] Specifically, the above step S2034 may include the following steps:

[0134] Step a1, calculating a reference acceleration based on a reference vehicle speed.

[0135] Specifically, the electronic device may perform derivative calculation on the reference vehicle speed to obtain a reference acceleration corresponding to the reference vehicle speed.

[0136] Step a2: converting the motor speed into a second vehicle speed in a target unit, and calculating a second acceleration based on the second vehicle speed.

[0137] Specifically, the electronic device converts the motor speed into a second vehicle speed in target units. Then, the electronic device may perform derivative calculation on the second vehicle speed to obtain a second acceleration corresponding to the second vehicle speed.

[0138] Step a3, calculating a first acceleration difference between the second acceleration and the reference acceleration.

[0139] Specifically, the electronic device may calculate a first acceleration difference between the second acceleration and the reference acceleration.

[0140] Step a4: if the first acceleration difference is within a first preset acceleration difference range, it is determined that the motor speed is normal, and further that the wheel speed is abnormal.

[0141] Specifically, the electronic device can receive a first preset acceleration difference range input by a user, or can receive a first preset acceleration difference range sent by other devices. The electronic device can also set the first preset acceleration difference range according to actual conditions. The embodiment of the present application does not specifically limit the manner in which the electronic device obtains the first preset acceleration difference range.

[0142] Then, the electronic device compares the first acceleration difference with the maximum acceleration difference and the minimum acceleration difference in the first preset acceleration difference range. If the first acceleration difference is less than or equal to the maximum acceleration difference in the first preset acceleration difference range, and greater than or equal to the minimum acceleration difference in the first preset acceleration difference range, the electronic device determines that the first acceleration difference is within the first preset acceleration difference range, and further determines that the motor speed is normal, and further determines that the wheel speed is abnormal.

[0143] Step a5: if the first acceleration difference is outside the first preset acceleration difference range, it is determined that the motor speed is abnormal, and then the wheel speed is determined to be normal.

[0144] Specifically, if the first acceleration difference is greater than the maximum acceleration difference in the first preset acceleration difference range, or less than the minimum acceleration difference in the first preset acceleration difference range, the electronic device determines that the first acceleration difference is outside the first preset acceleration difference range, and then determines that the motor speed is abnormal, and then determines that the wheel speed is normal.

[0145] For example, Figure 4 The figure shows a comparison between the reference acceleration and the second acceleration in the corresponding time period. Figure 4 It can be seen that there is an abnormal acceleration in which the first acceleration difference between the reference acceleration and the second acceleration is outside the first preset acceleration difference range.

[0146] Step S2035: Determine the output speed in a normal state from the wheel speed and the motor speed according to the detection result.

[0147] Specifically, if the detection result shows that the motor speed is normal and the wheel speed is abnormal, the electronic device determines the motor speed in a normal state from the wheel speed and the motor speed as the output speed.

[0148] If the detection result shows that the motor speed is abnormal and the wheel speed is normal, the electronic device determines the wheel speed in a normal state from the wheel speed and the motor speed as the output speed.

[0149] Step S2036, detecting the output speed to determine whether the output speed is normal.

[0150] In an optional implementation manner of the present application, the above step S2036 may include the following steps:

[0151] Step b1, obtaining a third vehicle speed corresponding to the target vehicle.

[0152] Specifically, the electronic device may obtain a third vehicle speed corresponding to the target vehicle.

[0153] Among them, the source of the third vehicle speed includes but is not limited to an inertial measurement unit (IMU) installed on the vehicle, a vehicle-mounted acceleration sensor, and measurement based on a global satellite navigation system (GNSS) or a visual sensor.

[0154] It should be noted that the sources of the third vehicle speed and the reference vehicle speed are different, and the embodiment of the present application does not specifically limit the sources of the third vehicle speed and the reference vehicle speed.

[0155] Step b2, converting the output speed into a fourth vehicle speed in target units.

[0156] Specifically, the electronic device may convert the output rotation speed into a fourth vehicle speed of the target unit.

[0157] It should be noted that when the output speed is the motor speed, the electronic device can convert the motor speed into the fourth vehicle speed of the target unit; when the output speed is the wheel speed, the electronic device can convert the wheel speed into the fourth vehicle speed of the target unit.

[0158] It should be noted that the units of the fourth vehicle speed and the third vehicle speed are consistent, that is, the third vehicle speed is also a target unit.

[0159] Step b3, calculating a second speed difference between the fourth vehicle speed and the third vehicle speed.

[0160] Specifically, the electronic device may calculate a second speed difference between the fourth vehicle speed and the third vehicle speed.

[0161] Step b4: If the second speed difference is within the second preset speed difference range, it is determined that the output speed is normal.

[0162] Specifically, the electronic device can receive the second preset speed difference range input by the user, or can receive the second preset speed difference range sent by other devices, and the electronic device can set the second preset speed difference range according to the property information of the wheels and motors corresponding to the target vehicle. The embodiment of the present application does not specifically limit the manner in which the electronic device obtains the second preset speed difference range.

[0163] Specifically, the electronic device can compare the second speed difference with the maximum speed difference and the minimum speed difference corresponding to the second preset speed difference range. If the second speed difference is greater than or equal to the minimum speed difference in the second preset speed difference range, and less than or equal to the maximum speed difference in the second preset speed difference range, it is determined that the second speed difference is within the second preset speed difference range, and then the output speed is determined to be normal.

[0164] Step b5: If the second speed difference is outside the second preset speed difference range, it is determined that the output speed is abnormal.

[0165] Specifically, if the second speed difference is greater than the maximum speed difference in the second preset speed difference range, or the second speed difference is less than the minimum speed difference in the second preset speed difference range, it is determined that the second speed difference is outside the second preset speed difference range, and the output speed is determined to be abnormal.

[0166] In an optional implementation manner of the present application, if the detection result is that the motor speed is abnormal, the output speed is determined to be the wheel speed, and the above step S2036 may include the following steps:

[0167] Step c1, obtaining the sub-wheel speed corresponding to each wheel included in the wheel speed.

[0168] Specifically, the electronic device may obtain the sub-wheel rotation speed sent by each wheel speed sensor based on the communication connection between the wheel speed sensors corresponding to each wheel.

[0169] Step c2, calculating the third wheel speed difference between the rotational speeds of the two sub-wheels on the left and right sides of the same axle, and the fourth wheel speed difference between the rotational speeds of the two sub-wheels on the same side but different axles.

[0170] Specifically, the electronic device can subtract the rotation speeds of the two sub-wheels on the left and right sides of the same axle to obtain the third wheel speed difference, that is, the third wheel speed difference = the rotation speed of the left sub-wheel - the rotation speed of the right sub-wheel.

[0171] The electronic device can subtract the rotation speeds of the two sub-wheels on the same side but different axles to obtain the fourth wheel speed difference, that is, the fourth wheel speed difference = the front axle sub-wheel rotation speed - the rear axle sub-wheel rotation speed (or the rear axle sub-wheel rotation speed - the front axle sub-wheel rotation speed).

[0172] Step c3: if the third wheel speed difference is outside the third preset speed difference range, or / and the fourth wheel speed difference is outside the fourth preset speed difference range, it is determined that the wheel speed is abnormal.

[0173] Specifically, the electronic device can receive the third preset speed difference range and the fourth preset speed difference range input by the user, and can also receive the third preset speed difference range and the fourth preset speed difference range sent by other devices. The electronic device can also set the third preset speed difference range and the fourth preset speed difference range according to the usage conditions of the vehicle. The embodiment of the present application does not specifically limit the manner in which the electronic device obtains the third preset speed difference range and the fourth preset speed difference range.

[0174] Then, the electronic device can compare each third wheel speed difference with the maximum speed difference and the minimum speed difference in the third preset speed difference range. If there is a third wheel speed difference greater than the maximum speed difference in the third preset speed difference range, or less than the minimum speed difference in the third preset speed difference range, it is determined that there is a third wheel speed difference outside the third preset speed difference range.

[0175] The electronic device may compare each fourth wheel speed difference with the maximum speed difference and the minimum speed difference in the fourth preset speed difference range. If there is a fourth wheel speed difference greater than the maximum speed difference in the fourth preset speed difference range, or less than the minimum speed difference in the fourth preset speed difference range, it is determined that there is a fourth wheel speed difference outside the fourth preset speed difference range.

[0176] If the third wheel speed difference is outside the third preset speed difference range, or / and the fourth wheel speed difference is outside the fourth preset speed difference range, the electronic device determines that the wheel speed is abnormal.

[0177] Step c4: if the third wheel speed difference is within the third preset speed difference range, and the fourth wheel speed difference is within the fourth preset speed difference range, it is determined that the wheel speed is normal.

[0178] Specifically, if each third wheel speed difference is greater than or equal to the minimum speed difference in the third preset speed difference range, and less than or equal to the maximum speed difference in the third preset speed difference range, it is determined that each third wheel speed difference is within the third preset speed difference range.

[0179] If each fourth wheel speed difference is greater than or equal to the minimum speed difference in the fourth preset speed difference range, and less than or equal to the maximum speed difference in the fourth preset speed difference range, it is determined that each fourth wheel speed difference is within the fourth preset speed difference range.

[0180] If the third wheel speed difference is within the third preset speed difference range, and the fourth wheel speed difference is within the fourth preset speed difference range, it is determined that the wheel speed is normal.

[0181] In an optional implementation manner of the present application, if the detection result is that the motor speed is abnormal, the output speed is determined to be the wheel speed, and the above step S2036 may further include the following steps:

[0182] Step d1, converting the wheel speed into a first vehicle speed in a target unit, and calculating a first acceleration based on the first vehicle speed.

[0183] Specifically, the electronic device may convert the wheel speed into a first vehicle speed in a target unit. Then, the electronic device may perform a derivative calculation on the first vehicle speed to obtain the first acceleration.

[0184] Step d2, calculating a second acceleration difference between the first acceleration and the reference acceleration.

[0185] Specifically, the electronic device may calculate a second acceleration difference between the first acceleration and the reference acceleration.

[0186] Step d3: If the second acceleration difference is within a second preset acceleration difference range, it is determined that the wheel speed is normal.

[0187] The second preset acceleration difference range includes the first preset acceleration difference range.

[0188] Specifically, the electronic device can receive a second preset acceleration difference range input by a user, or can receive a second preset acceleration difference range sent by other devices. The electronic device can also set the second preset acceleration difference range according to actual conditions. The embodiment of the present application does not specifically limit the manner in which the electronic device obtains the second preset acceleration difference range.

[0189] Then, the electronic device compares the second acceleration difference with the maximum acceleration difference and the minimum acceleration difference in the second preset acceleration difference range. If the second acceleration difference is less than or equal to the maximum acceleration difference in the second preset acceleration difference range, and greater than or equal to the minimum acceleration difference in the second preset acceleration difference range, the electronic device determines that the second acceleration difference is within the second preset acceleration difference range, and further determines that the wheel speed is normal.

[0190] Step d4: If the second acceleration difference is outside the second preset acceleration difference range, it is determined that the wheel speed is abnormal.

[0191] Specifically, if the second acceleration difference is greater than the maximum acceleration difference in the second preset acceleration difference range, or less than the minimum acceleration difference in the second preset acceleration difference range, the electronic device determines that the second acceleration difference is outside the second preset acceleration difference range, and further determines that the wheel speed is abnormal.

[0192] Step S204: Calculate the target speed of the target vehicle according to the determination result.

[0193] For details about this step, please refer to the above description of step S104, which will not be elaborated here.

[0194] The vehicle speed calculation method provided in this embodiment converts the wheel speed into a first vehicle speed of a target unit, thereby ensuring the accuracy of the calculated first vehicle speed. The motor speed is converted into a second vehicle speed of a target unit, thereby ensuring the accuracy of the calculated second vehicle speed. The first vehicle speed and the second vehicle speed are compared, thereby ensuring the accuracy of the comparison result obtained, and further ensuring the accuracy of whether the wheel speed and / or motor speed determined according to the comparison result is normal.

[0195] Then, the first speed difference between the wheel speed and the motor speed is calculated, ensuring the accuracy of the calculated first speed difference. If the first speed difference is within the first preset speed difference range, it is determined that the wheel speed and the motor speed are both normal, ensuring the accuracy of the result that the wheel speed and the motor speed are both normal. If the first speed difference is outside the first preset speed difference range, the reference speed corresponding to the target vehicle is obtained, ensuring the accuracy of the obtained reference speed corresponding to the target vehicle.

[0196] Then, based on the reference vehicle speed, the reference acceleration is calculated to ensure the accuracy of the calculated reference acceleration. The motor speed is converted into a second vehicle speed in target units, and based on the second vehicle speed, the second acceleration is calculated to ensure the accuracy of the calculated first acceleration difference. The first acceleration difference between the second acceleration and the reference acceleration is calculated. If the first acceleration difference is within the first preset acceleration difference range, it is determined that the motor speed is normal, and then the wheel speed is abnormal, ensuring the accuracy of the result of determining that the motor speed is normal and then the wheel speed is abnormal. If the first acceleration difference is outside the first preset acceleration difference range, it is determined that the motor speed is abnormal, and then the wheel speed is normal, ensuring the accuracy of the result of determining that the motor speed is abnormal and then the wheel speed is normal.

[0197] According to the detection results, the output speed in a normal state is determined from the wheel speed and the motor speed. The third vehicle speed corresponding to the target vehicle is obtained. The output speed is converted into a fourth vehicle speed of the target unit; the second speed difference between the fourth vehicle speed and the third vehicle speed is calculated to ensure the accuracy of the calculated second speed difference, so that it can be determined whether the motor speed is normal based on the second speed difference. If the second speed difference is within the second preset speed difference range, the output speed is determined to be normal, ensuring the accuracy of the determined output speed being normal. If the second speed difference is outside the second preset speed difference range, the output speed is determined to be abnormal, ensuring the accuracy of the result of the determined output speed being abnormal.

[0198] In an optional implementation of the present application, if the detection result is that the motor speed is abnormal, the output speed is determined to be the wheel speed, and the sub-wheel speeds corresponding to each wheel included in the wheel speed are obtained; the third wheel speed difference between the speeds of the two sub-wheels on the left and right sides of the same axis, and the fourth wheel speed difference between the speeds of the two sub-wheels on the same side but different axes are calculated, to ensure the accuracy of the calculated third wheel speed difference and fourth wheel speed difference. If there is a third wheel speed difference outside the third preset speed difference range, or / and there is a fourth wheel speed difference outside the fourth preset speed difference range, then the wheel speed is determined to be abnormal, to ensure the accuracy of the result of the abnormal wheel speed. If the third wheel speed difference is within the third preset speed difference range, and the fourth wheel speed difference is within the fourth preset speed difference range, then the wheel speed is determined to be normal, to ensure the accuracy of the result of the normal wheel speed.

[0199] In an optional implementation of the present application, if the detection result is that the motor speed is abnormal, the output speed is determined to be the wheel speed, the wheel speed is converted into a first vehicle speed of a target unit, and based on the first vehicle speed, the first acceleration is calculated to ensure the accuracy of the calculated first acceleration. The second acceleration difference between the first acceleration and the reference acceleration is calculated to ensure the accuracy of the calculated second acceleration difference. If the second acceleration difference is within the second preset acceleration difference range, the wheel speed is determined to be normal, ensuring the accuracy of the determined second acceleration difference. If the second acceleration difference is outside the second preset acceleration difference range, the wheel speed is determined to be abnormal, ensuring the accuracy of the result of the determined abnormal wheel speed.

[0200] In this embodiment, a vehicle speed calculation method is provided, which can be used in the above electronic device. Figure 5 is a flow chart of a vehicle speed calculation method according to an embodiment of the present invention. Figure 5 As shown, the process includes the following steps:

[0201] Step S301, obtaining the wheel speed and motor speed corresponding to the target vehicle.

[0202] For details about this step, please refer to the above description of step S201, which will not be elaborated here.

[0203] Step S302, comparing the wheel speed and the motor speed.

[0204] For details about this step, please refer to the above description of step S202, which will not be elaborated here.

[0205] Step S303: Determine whether the wheel speed and / or motor speed is normal based on the comparison result.

[0206] For details about this step, please refer to the above description of step S203, which will not be elaborated here.

[0207] Step S304: If the wheel speed and the motor speed are both normal, outputting the fault level is prohibited.

[0208] Specifically, if the wheel speed and the motor speed are both normal, the electronic device is prohibited from outputting the fault level.

[0209] Step S305: if the wheel speed or the motor speed is abnormal, a first fault level is output.

[0210] Specifically, if either the wheel speed or the motor speed is abnormal, the electronic device outputs a first fault level.

[0211] Step S306: If both the wheel speed and the motor speed are abnormal, a second fault level is output.

[0212] The second fault level is higher than the first fault level.

[0213] Specifically, if the wheel speed and the motor speed are both abnormal, the electronic device outputs a second fault level.

[0214] Step S307, calculating the target speed of the target vehicle according to the determination result.

[0215] Specifically, the above step S307 may include the following steps:

[0216] Step S3071: If the wheel speed and the motor speed are both normal, the target speed of the target vehicle is calculated based on the wheel speed and the motor speed.

[0217] Specifically, the electronic device can convert the wheel speed into a first vehicle speed of a target unit; convert the motor speed into a second vehicle speed of a target unit; and then average the first vehicle speed and the second vehicle speed to obtain a target vehicle speed of the target vehicle.

[0218] Step S3072: If the wheel speed is abnormal, the target vehicle speed is calculated based on the motor speed.

[0219] Specifically, if the wheel speed is abnormal, the electronic device converts the motor speed into a second vehicle speed of a target unit, and then determines the second vehicle speed as a target vehicle speed of the target vehicle.

[0220] Step S3073: If the motor speed is abnormal, the target speed of the target vehicle is calculated based on the wheel speed.

[0221] Specifically, if the wheel speed is abnormal, the electronic device converts the wheel speed into a first vehicle speed of a target unit, and then determines the first vehicle speed as a target vehicle speed of the target vehicle.

[0222] Step S3074: If both the wheel speed and the motor speed are abnormal, the target speed of the target vehicle is calculated based on the target device corresponding to the target vehicle.

[0223] Specifically, if the wheel speed and the motor speed are both abnormal, the electronic device may calculate a target vehicle speed of the target vehicle based on a target device corresponding to the target vehicle.

[0224] The target device may be an inertial measurement unit (IMU), a vehicle-mounted acceleration sensor, a device based on a global satellite navigation system (GNSS) or a visual sensor.

[0225] Exemplarily, the electronic device may measure the acceleration of the target vehicle based on an inertial measurement unit, and then integrate the calculated acceleration to calculate the target vehicle speed of the target vehicle.

[0226] Exemplarily, the electronic device may measure the acceleration of the target vehicle based on an onboard acceleration sensor, and then integrate the calculated acceleration to calculate the target vehicle speed of the target vehicle.

[0227] For example, the electronic device can detect the vehicle through a visual sensor and track the position change of the vehicle in the image sequence. According to the displacement and time interval of the vehicle between adjacent frames, the speed of the vehicle can be calculated.

[0228] Exemplarily, the electronic device may obtain the location information of the target vehicle based on a global satellite navigation system. Specifically, the electronic device determines the time interval between two time points, obtains the position change of the target vehicle between the two time points, and calculates the target speed of the target vehicle according to the position change and the time interval of the target vehicle between the two time points.

[0229] The vehicle speed calculation method provided in the embodiment of the present application prohibits outputting the fault level if both the wheel speed and the motor speed are normal; if the wheel speed or the motor speed is abnormal, the first fault level is output; if both the wheel speed and the motor speed are abnormal, the second fault level is output; the second fault level is higher than the first fault level, thereby ensuring the accuracy of the generated fault level.

[0230] In addition, if the wheel speed and the motor speed are both normal, the target speed of the target vehicle is calculated based on the wheel speed and the motor speed; if the wheel speed is abnormal, the target speed of the target vehicle is calculated based on the motor speed; if the motor speed is abnormal, the target speed of the target vehicle is calculated based on the wheel speed; if the wheel speed and the motor speed are both abnormal, the target speed of the target vehicle is calculated based on the target device corresponding to the target vehicle, thereby ensuring the accuracy of the calculated target speed corresponding to the target vehicle. This avoids the situation where the target speed of the target vehicle is calculated using the abnormal wheel speed and / or motor speed due to abnormal wheel speed and / or motor speed, resulting in inaccurate calculated target speed, which in turn results in a speed fault being reported, and the target vehicle cannot travel normally.

[0231] In this embodiment, a vehicle speed calculation device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0232] This embodiment provides a vehicle speed calculation device, such as Figure 6 As shown, including:

[0233] An acquisition module 401 is used to acquire the wheel speed and motor speed corresponding to the target vehicle;

[0234] A comparison module 402 is used to compare the wheel speed and the motor speed;

[0235] A determination module 403 is used to determine whether the wheel speed and / or the motor speed are normal according to the comparison result;

[0236] The calculation module 404 is used to calculate the target speed of the target vehicle according to the determination result.

[0237] In some optional implementations, the comparison module 402 is specifically configured to convert the wheel speed into a first vehicle speed in target units; convert the motor speed into a second vehicle speed in target units; and compare the first vehicle speed with the second vehicle speed.

[0238] In some optional embodiments, the determination module 403 is specifically used to calculate a first speed difference between the wheel speed and the motor speed; if the first speed difference is within a first preset speed difference range, it is determined that the wheel speed and the motor speed are both normal; if the first speed difference is outside the first preset speed difference range, the reference speed corresponding to the target vehicle is obtained; based on the relationship between the reference speed and the motor speed, whether the motor speed is normal is detected; according to the detection result, the output speed in a normal state is determined from the wheel speed and the motor speed; the output speed is detected to determine whether the output speed is normal.

[0239] In some optional embodiments, the determination module 403 is specifically used to calculate a reference acceleration based on a reference vehicle speed; convert the motor speed into a second vehicle speed in a target unit, and calculate a second acceleration based on the second vehicle speed; calculate a first acceleration difference between the second acceleration and the reference acceleration; if the first acceleration difference is within a first preset acceleration difference range, it is determined that the motor speed is normal, and then the wheel speed is abnormal; if the first acceleration difference is outside the first preset acceleration difference range, it is determined that the motor speed is abnormal, and then the wheel speed is normal.

[0240] In some optional embodiments, the determination module 403 is specifically used to obtain a third vehicle speed corresponding to the target vehicle; convert the output speed into a fourth vehicle speed of the target unit; calculate a second speed difference between the fourth vehicle speed and the third vehicle speed; if the second speed difference is within a second preset speed difference range, determine that the output speed is normal; if the second speed difference is outside the second preset speed difference range, determine that the output speed is abnormal.

[0241] In some optional embodiments, if the detection result is that the motor speed is abnormal, the output speed is determined to be the wheel speed, and the determination module 403 is specifically used to obtain the sub-wheel speeds corresponding to each wheel included in the wheel speed; calculate the third wheel speed difference between the two sub-wheel speeds on the left and right sides of the same axle, and the fourth wheel speed difference between the two sub-wheel speeds on the same side but different axles; if the third wheel speed difference is outside the third preset speed difference range, or / and, there is a fourth wheel speed difference outside the fourth preset speed difference range, it is determined that the wheel speed is abnormal; if the third wheel speed difference is within the third preset speed difference range, and the fourth wheel speed difference is within the fourth preset speed difference range, it is determined that the wheel speed is normal.

[0242] In some optional embodiments, such as Figure 7 , the above-mentioned vehicle speed calculation device further includes:

[0243] The output prohibition module 405 is used to prohibit outputting the fault level if the wheel speed and the motor speed are both normal;

[0244] A first output module 406, configured to output a first fault level if the wheel speed or the motor speed is abnormal;

[0245] The second output module 407 is used to output a second fault level if both the wheel speed and the motor speed are abnormal; the second fault level is higher than the first fault level.

[0246] In some optional embodiments, the calculation module 404 is specifically used to calculate the target speed of the target vehicle based on the wheel speed and the motor speed if both the wheel speed and the motor speed are normal; if the wheel speed is abnormal, the target speed of the target vehicle is calculated based on the motor speed; if the motor speed is abnormal, the target speed of the target vehicle is calculated based on the wheel speed; if both the wheel speed and the motor speed are abnormal, the target speed of the target vehicle is calculated based on the target device corresponding to the target vehicle.

[0247] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0248] The vehicle speed calculation device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0249] The embodiment of the present invention also provides an electronic device having the above Figure 6 and Figure 7 The vehicle speed calculation device shown.

[0250] See also Figure 8 , Figure 8 is a schematic diagram of the structure of an electronic device provided by an optional embodiment of the present invention, such as Figure 8 As shown, the electronic device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 8 A processor 10 is taken as an example.

[0251] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0252] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0253] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0254] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0255] The electronic device further comprises a communication interface 30 for the electronic device to communicate with other devices or a communication network.

[0256] An embodiment of the present invention further provides a target vehicle, including an electronic device and a vehicle body, wherein the electronic device is used to execute the vehicle speed calculation method of the first aspect or any corresponding embodiment thereof.

[0257] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0258] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0259] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle speed calculation method, characterized in that: The method comprises: Get the wheel speed and motor speed corresponding to the target vehicle; Comparing the wheel speed and the motor speed; Determining whether the wheel speed and / or the motor speed is normal according to the comparison result; According to the determination result, a target vehicle speed of the target vehicle is calculated.

2. The method according to claim 1, characterized in that The comparing the wheel speed and the motor speed includes: converting the wheel speed into a first vehicle speed in target units; Converting the motor speed into a second vehicle speed in target units; The first vehicle speed and the second vehicle speed are compared.

3. The method according to claim 1 or 2, characterized in that: Determining whether the wheel speed and / or the motor speed is normal according to the comparison result includes: Calculating a first speed difference between the wheel speed and the motor speed; If the first speed difference is within a first preset speed difference range, determining that the wheel speed and the motor speed are both normal; If the first speed difference is outside the first preset speed difference range, obtaining a reference vehicle speed corresponding to the target vehicle; Based on the relationship between the reference vehicle speed and the motor speed, detecting whether the motor speed is normal; According to the detection result, determining the output speed in a normal state from the wheel speed and the motor speed; The output speed is detected to determine whether the output speed is normal.

4. The method according to claim 3, characterized in that The detecting whether the motor speed is normal based on the relationship between the reference vehicle speed and the motor speed includes: Calculating a reference acceleration based on the reference vehicle speed; converting the motor speed into a second vehicle speed in target units, and calculating a second acceleration based on the second vehicle speed; calculating a first acceleration difference between the second acceleration and the reference acceleration; If the first acceleration difference is within a first preset acceleration difference range, it is determined that the motor speed is normal, and further that the wheel speed is abnormal; If the first acceleration difference is outside the first preset acceleration difference range, it is determined that the motor speed is abnormal, and further determined that the wheel speed is normal.

5. The method according to claim 4, characterized in that The detecting the output speed to determine whether the output speed is normal includes: Obtaining a third vehicle speed corresponding to the target vehicle; converting the output speed into a fourth vehicle speed in target units; calculating a second speed difference between the fourth vehicle speed and the third vehicle speed; If the second speed difference is within a second preset speed difference range, determining that the output speed is normal; If the second speed difference is outside the second preset speed difference range, it is determined that the output speed is abnormal.

6. The method according to claim 4, characterized in that If the detection result is that the motor speed is abnormal, determining that the output speed is the wheel speed, and detecting the output speed to determine whether the output speed is normal includes: Obtaining a sub-wheel speed corresponding to each wheel included in the wheel speed; Calculate a third wheel speed difference between the rotational speeds of two sub-wheels on the left and right sides of the same axle, and a fourth wheel speed difference between the rotational speeds of two sub-wheels on the same side but different axles; If the third wheel speed difference is outside the third preset speed difference range, or / and the fourth wheel speed difference is outside the fourth preset speed difference range, then determining that the wheel speed is abnormal; If the third wheel speed difference is within the third preset speed difference range, and the fourth wheel speed difference is within the fourth preset speed difference range, it is determined that the wheel speed is normal.

7. The method according to claim 4, characterized in that If the detection result is that the motor speed is abnormal, determining that the output speed is the wheel speed, and detecting the output speed to determine whether the output speed is normal includes: converting the wheel speed into a first vehicle speed in a target unit, and calculating a first acceleration based on the first vehicle speed; Calculating a second acceleration difference between the first acceleration and the reference acceleration; If the second acceleration difference is within a second preset acceleration difference range, it is determined that the wheel speed is normal; and the second preset acceleration difference range includes the first preset acceleration difference range; If the second acceleration difference is outside the second preset acceleration difference range, it is determined that the wheel speed is abnormal.

8. The method according to claim 1, characterized in that: After determining whether the wheel speed and / or the motor speed is normal according to the comparison result, the method further includes: If the wheel speed and the motor speed are both normal, outputting the fault level is prohibited; If the wheel speed or the motor speed is abnormal, a first fault level is output; If the wheel speed and the motor speed are both abnormal, a second fault level is output; the second fault level is higher than the first fault level.

9. The method according to claim 1, characterized in that: The step of calculating the target speed of the target vehicle according to the determination result includes: If the wheel speed and the motor speed are both normal, calculating the target vehicle speed of the target vehicle based on the wheel speed and the motor speed; If the wheel speed is abnormal, calculating the target vehicle speed of the target vehicle based on the motor speed; If the motor speed is abnormal, calculating the target vehicle speed of the target vehicle based on the wheel speed; If both the wheel speed and the motor speed are abnormal, the target vehicle speed of the target vehicle is calculated based on a target device corresponding to the target vehicle.

10. A vehicle speed calculation device, characterized in that: The device comprises: An acquisition module is used to acquire the wheel speed and motor speed corresponding to the target vehicle; A comparison module, used for comparing the wheel speed and the motor speed; A determination module, used for determining whether the wheel speed and / or the motor speed is normal according to the comparison result; The calculation module is used to calculate the target speed of the target vehicle according to the determination result.

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