Driving state monitoring method, vehicle and readable storage medium

Abstract

The invention provides a driving state monitoring method, a vehicle and a readable storage medium. The method comprises the steps that the wheel end vehicle speed corresponding to each wheel is calculated; judging whether each wheel slips or not according to the wheel end vehicle speed corresponding to each wheel; determining a target wheel according to the slipping condition of each wheel and the wheel end vehicle speed corresponding to each wheel; and obtaining the current speed of the vehicle according to the wheel end speed corresponding to the target wheel. Real-time monitoring of the vehicle running state is achieved, the accuracy of the vehicle running state information is improved, reliable data support is provided for precise control of the vehicle running state, the method is suitable for various chassis control system motion state monitoring scenes, and therefore the method is high in universality, wide in application range and high in precision.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a driving state monitoring method, a vehicle and a readable storage medium. Background Art

[0002] When the vehicle is performing different dynamic driving, such as when the vehicle is in straight-line acceleration, cornering acceleration, straight-line braking or cornering braking, the vehicle's motion state will change. In the development of vehicle chassis control functions, vehicle motion observation is very important. The vehicle chassis control function needs to calculate and monitor the reliable vehicle motion state in real time, so as to facilitate the correct intervention of the vehicle's motion state. At present, there is no effective means to accurately monitor the vehicle's motion state. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, an object of the present invention is to propose a driving status monitoring method, which can realize real-time monitoring of the vehicle's operating status, improve the accuracy of the vehicle's operating status information, and provide reliable data support for precise control of the vehicle's operating status. The method is suitable for various chassis control system motion status monitoring scenarios, and therefore has strong versatility, a wide range of applications, and high accuracy.

[0005] To this end, a second object of the present invention is to provide a driving state monitoring device.

[0006] To this end, a third object of the present invention is to provide a vehicle.

[0007] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0008] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a driving status monitoring method, which includes the following steps: calculating the wheel-end vehicle speed corresponding to each wheel; judging whether each wheel is slipping according to the wheel-end vehicle speed corresponding to each wheel; determining the target wheel according to the slip condition of each wheel and the wheel-end vehicle speed corresponding to each wheel; and obtaining the current vehicle speed of the vehicle according to the wheel-end vehicle speed corresponding to the target wheel.

[0009] According to the driving state monitoring method of the embodiment of the present invention, the driving state of each wheel is monitored in real time to obtain the driving data of each wheel, the wheel-end speed corresponding to each wheel is calculated according to the driving data of each wheel of the vehicle, whether each wheel is slipping is judged according to the wheel-end speed corresponding to each wheel, the target wheel is determined according to the slipping condition of each wheel and the wheel-end speed corresponding to each wheel, and the current speed of the vehicle is obtained according to the wheel-end speed corresponding to the target wheel, thereby realizing real-time monitoring of the vehicle's operating state, improving the accuracy of the vehicle's operating state information, and facilitating providing reliable data support for precise control of the vehicle's operating state. The method is suitable for various chassis control system motion state monitoring scenarios, and therefore has strong versatility, a wide range of applicability, and high accuracy.

[0010] In some embodiments, calculating the wheel-end vehicle speed corresponding to each wheel includes: obtaining the wheel speed, tire radius, wheel angle, wheel track and current yaw angle of each wheel; and calculating the corresponding wheel-end vehicle speed according to the wheel speed, tire radius, wheel angle, wheel track and current yaw angle of the vehicle.

[0011] In some embodiments, judging whether each wheel is slipping based on the wheel-end speed corresponding to each wheel includes: calculating the average wheel-end speed based on the wheel-end speed corresponding to each wheel; calculating the difference between the wheel-end speed of each wheel and the average wheel-end speed; judging whether the wheel is slipping based on the difference.

[0012] In some embodiments, judging whether the wheel is slipping based on the difference includes: if the difference is within a preset threshold range, judging that the wheel is not slipping; if the difference is not within the preset threshold range, judging that the wheel is slipping.

[0013] In some embodiments, the target wheel is determined based on the slip conditions of each wheel and the wheel end speed corresponding to each wheel, including: when the vehicle brakes, the wheel with the largest wheel end speed among the non-slip wheels is used as the target wheel.

[0014] In some embodiments, the target wheel is determined based on the slip conditions of each wheel and the wheel end speed corresponding to each wheel, including: when the vehicle accelerates, the wheel with the smallest wheel end speed among the non-slip wheels is used as the target wheel.

[0015] In some embodiments, the current speed of the vehicle is obtained based on the wheel-end speed corresponding to the target wheel, including: obtaining the actual longitudinal acceleration of the vehicle; and obtaining the current speed of the vehicle after performing Kalman filtering on the wheel-end speed corresponding to the target wheel and the actual longitudinal acceleration.

[0016] In some embodiments, the driving state monitoring method also includes: obtaining the actual longitudinal acceleration, actual lateral acceleration, road slope and road inclination of the vehicle; correcting the actual longitudinal acceleration according to the road slope and outputting the corrected longitudinal acceleration, correcting the actual lateral acceleration according to the road inclination and outputting the corrected lateral acceleration.

[0017] In some embodiments, the actual longitudinal acceleration is corrected according to the road surface gradient, including: calculating a road surface gradient acceleration according to the road surface gradient; and correcting the actual longitudinal acceleration according to the road surface gradient acceleration.

[0018] In some embodiments, the actual lateral acceleration is corrected according to the road surface inclination, including: calculating a road surface inclination acceleration according to the road surface inclination; and correcting the actual lateral acceleration according to the road surface inclination acceleration.

[0019] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a driving status monitoring device, which includes: a calculation module, used to calculate the wheel-end vehicle speed corresponding to each wheel; a judgment module, used to judge whether each wheel is slipping according to the wheel-end vehicle speed corresponding to each wheel; a determination module, used to determine the target wheel according to the slip status of each wheel and the wheel-end vehicle speed corresponding to each wheel; and a control module, used to obtain the current vehicle speed of the vehicle according to the wheel-end vehicle speed corresponding to the target wheel.

[0020] According to the driving state monitoring device of the embodiment of the present invention, the driving state of each wheel is monitored in real time to obtain the driving data of each wheel, the wheel-end speed corresponding to each wheel is calculated according to the driving data of each wheel of the vehicle, whether each wheel is slipping is judged according to the wheel-end speed corresponding to each wheel, the target wheel is determined according to the slipping condition of each wheel and the wheel-end speed corresponding to each wheel, and the current speed of the vehicle is obtained according to the wheel-end speed corresponding to the target wheel, thereby realizing real-time monitoring of the vehicle's operating state, improving the accuracy of the vehicle's operating state information, and facilitating providing reliable data support for precise control of the vehicle's operating state. It is suitable for various chassis control system motion state monitoring scenarios, and therefore has strong versatility, a wide range of applicability, and high accuracy.

[0021] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle, which includes: a driving status monitoring device as described in the above-mentioned embodiment; or, the vehicle includes: a processor, a memory, and a driving status monitoring program stored in the memory and executable on the processor, and when the driving status monitoring program is executed by the processor, the driving status monitoring method as described in the above-mentioned embodiment is implemented.

[0022] According to the vehicle of the embodiment of the present invention, the driving status of each wheel is monitored in real time to obtain the driving data of each wheel, the wheel-end speed corresponding to each wheel is calculated according to the driving data of each wheel of the vehicle, whether each wheel is slipping is judged according to the wheel-end speed corresponding to each wheel, the target wheel is determined according to the slipping status of each wheel and the wheel-end speed corresponding to each wheel, and the current speed of the vehicle is obtained according to the wheel-end speed corresponding to the target wheel, thereby realizing real-time monitoring of the vehicle's operating status, improving the accuracy of the vehicle's operating status information, and facilitating providing reliable data support for precise control of the vehicle's operating status. It is suitable for various chassis control system motion status monitoring scenarios, and therefore has strong versatility, a wide range of applicability, and high accuracy.

[0023] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a driving status monitoring program is stored. When the driving status monitoring program is executed by a processor, the driving status monitoring method described in any one of the above-mentioned embodiments of the present invention is implemented.

[0024] According to the computer-readable storage medium of the embodiment of the present invention, when the driving status monitoring program stored thereon is executed by the processor, the driving status of each wheel is monitored in real time to obtain the driving data of each wheel, the wheel-end speed corresponding to each wheel is calculated according to the driving data of each wheel of the vehicle, whether each wheel is slipping is judged according to the wheel-end speed corresponding to each wheel, the target wheel is determined according to the slipping condition of each wheel and the wheel-end speed corresponding to each wheel, and the current speed of the vehicle is obtained according to the wheel-end speed corresponding to the target wheel, thereby realizing real-time monitoring of the vehicle's operating status, improving the accuracy of the vehicle's operating status information, and facilitating providing reliable data support for precise control of the vehicle's operating status. It is suitable for various chassis control system motion status monitoring scenarios, and therefore, has strong versatility, a wide range of applicability, and high accuracy.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0027] Figure 1 is a flow chart of a driving state monitoring method according to an embodiment of the present invention;

[0028] Figure 2 is a flow chart of a driving state monitoring method according to another embodiment of the present invention;

[0029] Figure 3is a structural block diagram of a driving state monitoring device according to an embodiment of the present invention;

[0030] Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0031] Figure 5 is a structural block diagram of a vehicle according to another embodiment of the present invention.

[0032] Reference numerals: driving state monitoring device 2 ; calculation module 21 ; judgment module 22 ; determination module 23 ; control module 24 ; vehicle 3 ; processor 100 ; memory 101 ; driving state monitoring program 102 . DETAILED DESCRIPTION

[0033] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0034] Combine the following Figure 1 and Figure 2 The driving state monitoring method according to the embodiment of the present invention is described by way of example.

[0035] like Figure 1 As shown, the driving state monitoring method of the embodiment of the present invention at least includes steps S1 to S4.

[0036] Step S1, calculating the wheel end speed corresponding to each wheel.

[0037] The wheel-end speed is the speed corresponding to each wheel of the vehicle, that is, the speed of the vehicle at each wheel. Whether the wheel is slipping can be determined based on the wheel-end speed corresponding to each wheel.

[0038] In an embodiment, relevant sensors may be provided on each wheel of the vehicle to monitor the driving state of each wheel of the vehicle under different driving conditions in real time, and the driving data of each wheel of the vehicle may be acquired, thereby calculating based on the driving data of each wheel of the vehicle to obtain the wheel-end speed corresponding to each wheel. By calculating the wheel-end speed corresponding to each wheel, it is convenient to determine whether each wheel is slipping based on the wheel-end speed corresponding to each wheel.

[0039] Step S2, judging whether each wheel is slipping according to the wheel end speed corresponding to each wheel.

[0040] In an embodiment, after obtaining the wheel-end speed corresponding to each wheel, the average wheel-end speed is calculated (i.e., the average of the wheel-end speeds corresponding to each wheel is obtained), and the relationship between the wheel-end speeds corresponding to each wheel and the average wheel-end speed is determined. Based on the difference between the wheel-end speeds corresponding to each wheel and the average wheel-end speed, it is determined whether each wheel is slipping, thereby determining the wheel most reliable for calculating the speed, i.e., the target wheel.

[0041] Step S3, determining the target wheel according to the slip conditions of each wheel and the wheel end speed corresponding to each wheel.

[0042] Among them, the target wheel is the most reliable wheel for calculating the vehicle speed. The slip condition of each wheel is divided into no slip or slip. If any one of the parameters of the slip condition of each wheel and the wheel-end vehicle speed corresponding to each wheel changes, the corresponding target wheel will be different. The target wheel is determined according to the above parameters to ensure that the vehicle's movement status can be fed back in real time at different times of driving through real-time monitoring of the target wheel.

[0043] In an embodiment, after determining the wheel-end speed corresponding to each wheel, it is determined whether each wheel is slipping, and the target wheel is determined based on the result of whether each wheel is slipping and the wheel-end speed corresponding to each wheel, so that the target wheel is used for motion state monitoring of various chassis control systems. By determining the target wheel, that is, the wheel that best represents the vehicle motion state or whose motion state is closest to the vehicle motion state, the accuracy of real-time monitoring of the vehicle motion state can be improved.

[0044] Step S4, obtaining the current speed of the vehicle according to the wheel end speed corresponding to the target wheel.

[0045] In an embodiment, after determining the target wheel, the wheel-end speed corresponding to the target wheel is obtained, and after processing the wheel-end speed corresponding to the target wheel, the current speed of the vehicle is obtained, thereby realizing real-time monitoring of the vehicle's operating status and improving the accuracy of vehicle motion status monitoring.

[0046] The vehicle in the embodiment of the present invention may include dual motors, three motors or four motors. A dual motor vehicle is a vehicle in which a motor is provided on each of the front and rear axles, wherein one motor drives the front axle alone and the other motor drives the rear axle alone; a three motor vehicle is a vehicle in which dual motors are provided on one axle, which are respectively used to drive the left and right wheels corresponding to the axle, and one motor is provided on the other axle, which is used to drive the left and right wheels corresponding to the axle. A three motor vehicle includes, for example: dual motors on the rear axle and a single motor on the front axle, or dual motors on the front axle and a single motor on the rear axle. In other words, the vehicle has three motors, one motor is provided on the front axle for driving the front axle alone, and the other two motors are provided on the rear axle for driving the left and right wheels of the rear axle; or, one motor is provided on the rear axle for driving the rear axle alone, and the other two motors are provided on the front axle for driving the left and right wheels of the front axle. A four-motor vehicle is a vehicle equipped with four motors, each of which drives one wheel. That is, the front axle is equipped with two motors to drive the two wheels of the front axle respectively, and the rear axle is equipped with two motors to drive the two wheels of the rear axle respectively. In this way, independent control of the motors can be achieved to improve the response speed of the vehicle and make the vehicle more flexible, so that the ground adhesion can be fully utilized and slip control can be achieved, which is beneficial to improving the driving power and stability.

[0047] According to the driving state monitoring method of the embodiment of the present invention, the driving state of each wheel is monitored in real time to obtain the driving data of each wheel, the wheel-end speed corresponding to each wheel is calculated according to the driving data of each wheel of the vehicle, whether each wheel is slipping is judged according to the wheel-end speed corresponding to each wheel, the target wheel is determined according to the slipping condition of each wheel and the wheel-end speed corresponding to each wheel, and the current speed of the vehicle is obtained according to the wheel-end speed corresponding to the target wheel, thereby realizing real-time monitoring of the vehicle's operating state, improving the accuracy of the vehicle's operating state information, and facilitating providing reliable data support for precise control of the vehicle's operating state. The method is suitable for various chassis control system motion state monitoring scenarios, and therefore has strong versatility, a wide range of applicability, and high accuracy.

[0048] In some embodiments, the wheel-end vehicle speed corresponding to each wheel is calculated, including: obtaining the wheel speed, tire radius, wheel angle, wheel track and current yaw angle of each wheel; and calculating the wheel-end vehicle speed of the corresponding wheel according to the wheel speed, tire radius, wheel angle, wheel track and current yaw angle of the vehicle.

[0049] In an embodiment, by providing relevant sensors on each wheel of the vehicle, the driving status of each wheel of the vehicle under different driving conditions is monitored in real time, and the driving data of each wheel of the vehicle, such as the wheel speed, tire radius, wheel angle, wheelbase and current yaw angle of each wheel, are obtained. After obtaining the above parameters, calculation is performed based on the above parameters to convert the wheel speed of each wheel into the speed of each wheel at the center of mass of the vehicle, that is, the wheel end speed corresponding to each wheel.

[0050] Specifically, the wheel-end speed corresponding to each wheel = wheel speed of each wheel * tire radius * cos (wheel turning angle) - vehicle's current yaw angle * wheelbase / 2. By calculating the wheel-end speed corresponding to each wheel, it is convenient to conduct a comprehensive assessment of the vehicle's operating status based on the wheel-end speed, determine whether each wheel is slipping, and then accurately determine the target vehicle's wheels.

[0051] In some embodiments, judging whether each wheel is slipping based on the wheel-end speed corresponding to each wheel includes: calculating the average wheel-end speed based on the wheel-end speed corresponding to each wheel; calculating the difference between the wheel-end speed of each wheel and the average wheel-end speed; judging whether the wheel is slipping based on the difference.

[0052] In the embodiment, after the wheel-end vehicle speed corresponding to each wheel is obtained, the wheel-end vehicle speed average is calculated according to the wheel-end vehicle speed corresponding to each wheel, and the difference between the wheel-end vehicle speed of each wheel and the wheel-end vehicle speed average is calculated, so as to judge whether the wheel corresponding to the difference is slipping according to the difference. The wheel-end vehicle speed average is obtained by taking the average value of the sum of the wheel-end vehicle speeds corresponding to each wheel.

[0053] In some embodiments, determining whether the wheel is slipping based on the difference includes: if the difference is within a preset threshold range, determining that the wheel is not slipping; if the difference is not within the preset threshold range, determining that the wheel is slipping.

[0054] In an embodiment, after calculating the difference between the wheel-end speed of each wheel and the average wheel-end speed, it is determined whether the difference between the wheel-end speed of each wheel and the average wheel-end speed is within a preset threshold range. If the difference between the wheel-end speed of a certain wheel and the average wheel-end speed is within the preset threshold range, it is considered that the wheel-end speed of the wheel changes relatively smoothly, and the wheel is determined not to slip; if the difference between the wheel-end speed of a certain wheel and the average wheel-end speed is not within the preset threshold range, it is considered that the wheel-end speed of the wheel changes relatively dramatically, and the wheel is determined to slip, thereby determining the corresponding target wheel according to the different slip conditions of the wheels.

[0055] In some embodiments, the target wheel is determined based on the slip conditions of each wheel and the wheel end speed corresponding to each wheel, including: when the vehicle brakes, the wheel with the largest wheel end speed among the non-slip wheels is used as the target wheel.

[0056] In an embodiment, when the vehicle brakes, the wheel end speed of the non-slipping wheels is obtained, and the wheel with the largest wheel end speed among the non-slipping wheels is used as the target wheel to ensure that the wheel that monitors the vehicle's motion state most accurately or closest is selected.

[0057] In some embodiments, the target wheel is determined based on the slip conditions of each wheel and the wheel end speed corresponding to each wheel, including: when the vehicle accelerates, the wheel with the smallest wheel end speed among the non-slip wheels is used as the target wheel.

[0058] In an embodiment, when the vehicle accelerates, the wheel end speed of the non-slipping wheels is obtained, and the wheel with the smallest wheel end speed among the non-slipping wheels is used as the target wheel to ensure that the wheel that monitors the vehicle's motion state most accurately or closest is selected.

[0059] In some embodiments, the current speed of the vehicle is obtained according to the wheel-end speed corresponding to the target wheel, including: obtaining the actual longitudinal acceleration of the vehicle; and obtaining the current speed of the vehicle after performing Kalman filtering on the wheel-end speed corresponding to the target wheel and the actual longitudinal acceleration.

[0060] In an embodiment, by providing relevant sensors on each wheel of the vehicle, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time, and the driving data of each wheel of the vehicle, such as the actual longitudinal acceleration of the vehicle, is obtained. After obtaining the above parameters, the actual longitudinal acceleration of the vehicle and the wheel-end speed corresponding to the target wheel are input into a Kalman filter, and the wheel-end speed corresponding to the target wheel and the actual longitudinal acceleration are processed by Kalman filtering to obtain the comprehensive speed at the center of mass of the vehicle, that is, the current speed of the vehicle, and the current speed of the vehicle is output. The processed current speed has high accuracy, thereby reducing the error of motion state monitoring of various chassis control systems.

[0061] In some embodiments, the driving state monitoring method also includes: obtaining the vehicle's actual longitudinal acceleration, actual lateral acceleration, road slope and road inclination of the vehicle's driving road; correcting the actual longitudinal acceleration according to the road slope to compensate the actual longitudinal acceleration for the vehicle's center of mass position, and outputting the corrected longitudinal acceleration, correcting the actual lateral acceleration according to the road inclination to compensate the actual lateral acceleration for the vehicle's center of mass position, and outputting the corrected lateral acceleration.

[0062] Among them, the road slope of the vehicle's driving road is the longitudinal slope, that is, the slope in the driving direction; the road inclination is the lateral inclination, such as the inclination of the road in the left and right directions, for example, the road surface is low on the left and high on the right, or high on the left and low on the right.

[0063] In an embodiment, by providing relevant sensors on each wheel of the vehicle, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time, and driving data of each wheel of the vehicle, such as the actual longitudinal acceleration, actual lateral acceleration, road slope and road inclination of the vehicle, is obtained. The actual longitudinal acceleration is corrected according to the road slope, and the corrected longitudinal acceleration is output. The actual lateral acceleration is corrected according to the road inclination, and the corrected lateral acceleration is output. By correcting the longitudinal acceleration and lateral acceleration, interfering road information is filtered out, that is, the influence of different accelerations caused by different road slopes and road inclinations on the vehicle motion state monitoring results is reduced, so that the longitudinal acceleration and lateral acceleration output by the vehicle are more accurate.

[0064] In some embodiments, the actual longitudinal acceleration is corrected according to the road surface gradient, including: calculating the road surface gradient acceleration according to the road surface gradient; and correcting the actual longitudinal acceleration according to the road surface gradient acceleration.

[0065] In an embodiment, after obtaining the road surface slope and the actual longitudinal acceleration, the road surface slope acceleration is calculated, that is, the road surface slope acceleration = sin road surface slope * actual longitudinal acceleration. After determining the road surface slope acceleration, the difference between the actual longitudinal acceleration and the road surface slope acceleration is calculated to obtain the corrected longitudinal acceleration to determine a more accurate longitudinal acceleration.

[0066] In some embodiments, the actual lateral acceleration is corrected according to the road surface inclination, including: calculating the road surface inclination acceleration according to the road surface inclination; and correcting the actual lateral acceleration according to the road surface inclination acceleration.

[0067] In an embodiment, after obtaining the road surface inclination and the actual lateral acceleration, the road surface inclination acceleration is calculated, that is, the road surface inclination acceleration = sin road surface inclination * actual lateral acceleration. After determining the road surface inclination acceleration, the difference between the actual lateral acceleration and the road surface inclination acceleration is calculated to obtain the corrected lateral acceleration to determine a more accurate lateral acceleration.

[0068] Reference below Figure 2 The driving state monitoring method according to the embodiment of the present invention is described by way of example.

[0069] like Figure 2 As shown, the driving state monitoring method of the embodiment of the present invention at least includes steps S11 to S21.

[0070] Step S11, obtaining the actual longitudinal acceleration, actual lateral acceleration, road slope and road inclination of the vehicle.

[0071] Step S12, calculating the road surface gradient acceleration according to the road surface gradient, correcting the actual longitudinal acceleration according to the road surface gradient acceleration, and outputting the corrected longitudinal acceleration.

[0072] Step S13, calculating the road surface inclination acceleration according to the road surface inclination, correcting the actual lateral acceleration according to the road surface inclination acceleration, and outputting the corrected lateral acceleration.

[0073] Step S14, obtaining the wheel speed, tire radius, wheel turning angle, wheel track and current yaw angle of each wheel, and calculating the wheel end speed of the corresponding wheel.

[0074] Step S15, calculating the mean wheel end speed according to the wheel end speed corresponding to each wheel, and calculating the difference between the wheel end speed of each wheel and the mean wheel end speed.

[0075] Step S16, determining whether the difference is within a preset threshold range, if so, executing step S18; if not, executing step S17;

[0076] Step S17, determining whether the wheels are slipping.

[0077] Step S18, determining whether the wheels are not slipping.

[0078] Step S19: when the vehicle brakes, the wheel with the maximum wheel end speed among the non-slip wheels is used as the target wheel.

[0079] Step S20: When the vehicle accelerates, the wheel with the smallest wheel end speed among the non-slip wheels is used as the target wheel.

[0080] Step S21, obtaining the actual longitudinal acceleration of the vehicle, performing Kalman filtering on the wheel end speed corresponding to the target wheel and the actual longitudinal acceleration to obtain the current speed of the vehicle.

[0081] According to the driving state monitoring method of the embodiment of the present invention, the driving state of each wheel is monitored in real time to obtain the driving data of each wheel, the wheel-end speed corresponding to each wheel is calculated according to the driving data of each wheel of the vehicle, whether each wheel is slipping is judged according to the wheel-end speed corresponding to each wheel, the target wheel is determined according to the slipping condition of each wheel and the wheel-end speed corresponding to each wheel, and the current speed of the vehicle is obtained according to the wheel-end speed corresponding to the target wheel, thereby realizing real-time monitoring of the vehicle's operating state, improving the accuracy of the vehicle's operating state information, and facilitating providing reliable data support for precise control of the vehicle's operating state. The method is suitable for various chassis control system motion state monitoring scenarios, and therefore has strong versatility, a wide range of applicability, and high accuracy.

[0082] Reference below Figure 3 The driving state monitoring device 2 according to the embodiment of the present invention will be described.

[0083] like Figure 3 As shown, the driving state monitoring device 2 of the embodiment of the present invention includes: a calculation module 21, a judgment module 22, a determination module 23 and a control module 24, wherein:

[0084] The calculation module 21 is used to calculate the wheel-end vehicle speed corresponding to each wheel; the judgment module 22 is used to judge whether each wheel is slipping according to the wheel-end vehicle speed corresponding to each wheel; the determination module 23 is used to determine the target wheel according to the slip condition of each wheel and the wheel-end vehicle speed corresponding to each wheel; the control module 24 is used to obtain the current vehicle speed of the vehicle according to the wheel-end vehicle speed corresponding to the target wheel.

[0085] In the embodiment, the driving state of each wheel of the vehicle under different driving conditions can be monitored in real time by setting relevant sensors on each wheel of the vehicle, and the driving data of each wheel of the vehicle can be obtained. The calculation module 21 calculates according to the driving data of each wheel of the vehicle to obtain the wheel-end vehicle speed corresponding to each wheel. By calculating the wheel-end vehicle speed corresponding to each wheel, it is convenient to judge whether each wheel is slipping according to the wheel-end vehicle speed corresponding to each wheel. Among them, the wheel-end vehicle speed is the rotation speed of each wheel of the vehicle in the current state, and it can be judged whether the wheel is slipping according to the wheel-end vehicle speed corresponding to each wheel.

[0086] The judgment module 22 calculates the average wheel-end speed (i.e., the average of the wheel-end speeds corresponding to each wheel), and judges the relationship between the wheel-end speeds corresponding to each wheel and the average wheel-end speed, and judges whether each wheel is slipping based on the difference between the wheel-end speeds corresponding to each wheel and the average wheel-end speed, thereby determining the wheel with the most reliable speed calculation, i.e., the target wheel.

[0087] After the determination module 23 determines the wheel-end vehicle speed corresponding to each wheel, it determines whether each wheel is slipping, and determines the target wheel according to the result of whether each wheel is slipping and the wheel-end vehicle speed corresponding to each wheel, so that the target wheel is used in the motion state monitoring of various chassis control systems. By determining the target wheel, that is, the wheel that best represents the vehicle motion state or whose motion state is closest to the vehicle motion state, the accuracy of real-time monitoring of the vehicle motion state can be improved. Among them, the target wheel is the wheel that is most reliable for calculating the vehicle speed. The slippage of each wheel is divided into the wheel not slipping or the wheel slipping. If any one of the parameters of the slippage of each wheel and the wheel-end vehicle speed corresponding to each wheel changes, the corresponding target wheel is different. Determining the target wheel according to the above parameters can ensure that the vehicle motion state can be fed back in real time through real-time monitoring of the target wheel at different times of driving.

[0088] According to the driving state monitoring device 2 of the embodiment of the present invention, the driving state of each wheel is monitored in real time to obtain the driving data of each wheel, the wheel end speed corresponding to each wheel is calculated according to the driving data of each wheel of the vehicle, whether each wheel is slipping is judged according to the wheel end speed corresponding to each wheel, the target wheel is determined according to the slipping condition of each wheel and the wheel end speed corresponding to each wheel, and the current speed of the vehicle is obtained according to the wheel end speed corresponding to the target wheel, thereby realizing real-time monitoring of the vehicle's operating state, improving the accuracy of the vehicle's operating state information, and providing reliable data support for precise control of the vehicle's operating state. It is suitable for various chassis control system motion state monitoring scenarios, and therefore has strong versatility, a wide range of applicability, and high accuracy.

[0089] In some embodiments, when the calculation module 21 calculates the wheel-end vehicle speed corresponding to each wheel, it is specifically used to: obtain the wheel speed, tire radius, wheel angle, wheel track and current yaw angle of each wheel; calculate the wheel-end vehicle speed of the corresponding wheel based on the wheel speed, tire radius, wheel angle, wheel track and current yaw angle of the vehicle.

[0090] In some embodiments, when the judgment module 22 judges whether each wheel is slipping according to the wheel-end speed corresponding to each wheel, it is specifically used to: calculate the average wheel-end speed according to the wheel-end speed corresponding to each wheel; calculate the difference between the wheel-end speed of each wheel and the average wheel-end speed; and judge whether the wheel is slipping according to the difference.

[0091] In some embodiments, when the judgment module 22 judges whether the wheel is slipping based on the difference, it is specifically used to: if the difference is within the preset threshold range, it is judged that the wheel is not slipping; if the difference is not within the preset threshold range, it is judged that the wheel is slipping.

[0092] In some embodiments, when the determination module 23 determines the target wheel according to the slip conditions of each wheel and the wheel end speed corresponding to each wheel, it is specifically used to: when the vehicle brakes, the wheel with the largest wheel end speed among the non-slip wheels is used as the target wheel.

[0093] In some embodiments, when the determination module 23 determines the target wheel according to the slip conditions of each wheel and the wheel end speed corresponding to each wheel, it is specifically used to: when the vehicle accelerates, the wheel with the smallest wheel end speed among the non-slip wheels is used as the target wheel.

[0094] In some embodiments, when the control module 24 obtains the current speed of the vehicle based on the wheel-end speed corresponding to the target wheel, it is specifically used to: obtain the actual longitudinal acceleration of the vehicle; and obtain the current speed of the vehicle after performing Kalman filtering on the wheel-end speed corresponding to the target wheel and the actual longitudinal acceleration.

[0095] In some embodiments, the control module 24 is also specifically used to: obtain the vehicle's actual longitudinal acceleration, actual lateral acceleration, the road slope and road inclination of the vehicle's driving road; correct the actual longitudinal acceleration according to the road slope, and output the corrected longitudinal acceleration; correct the actual lateral acceleration according to the road inclination, and output the corrected lateral acceleration.

[0096] In some embodiments, when the control module 24 corrects the actual longitudinal acceleration according to the road surface gradient, it is specifically used to: calculate the road surface gradient acceleration according to the road surface gradient; and correct the actual longitudinal acceleration according to the road surface gradient acceleration.

[0097] In some embodiments, when the control module 24 corrects the actual lateral acceleration according to the road surface inclination, it is specifically used to: calculate the road surface inclination acceleration according to the road surface inclination; and correct the actual lateral acceleration according to the road surface inclination acceleration.

[0098] According to the driving state monitoring device 2 of the embodiment of the present invention, the driving state of each wheel is monitored in real time to obtain the driving data of each wheel, the wheel end speed corresponding to each wheel is calculated according to the driving data of each wheel of the vehicle, whether each wheel is slipping is judged according to the wheel end speed corresponding to each wheel, the target wheel is determined according to the slipping condition of each wheel and the wheel end speed corresponding to each wheel, and the current speed of the vehicle is obtained according to the wheel end speed corresponding to the target wheel, thereby realizing real-time monitoring of the vehicle's operating state, improving the accuracy of the vehicle's operating state information, and providing reliable data support for precise control of the vehicle's operating state. It is suitable for various chassis control system motion state monitoring scenarios, and therefore has strong versatility, a wide range of applicability, and high accuracy.

[0099] Reference below Figure 4 and Figure 5 A vehicle 3 according to an embodiment of the present invention will be described.

[0100] In some embodiments, Figure 4 As shown, the vehicle 3 of the embodiment of the present invention includes the driving state monitoring device 2 as described in any one of the above embodiments of the present invention.

[0101] In other embodiments, Figure 5 As shown, the vehicle 3 of the embodiment of the present invention includes a processor 100, a memory 101, and a driving state monitoring program 102 stored in the memory 101 and executable on the processor 100. When the driving state monitoring program 102 is executed by the processor, the driving state monitoring method of the above embodiment is implemented.

[0102] According to the vehicle 3 of the embodiment of the present invention, the driving status of each wheel is monitored in real time to obtain the driving data of each wheel, the wheel-end speed corresponding to each wheel is calculated according to the driving data of each wheel of the vehicle, whether each wheel is slipping is judged according to the wheel-end speed corresponding to each wheel, the target wheel is determined according to the slip status of each wheel and the wheel-end speed corresponding to each wheel, and the current speed of the vehicle is obtained according to the wheel-end speed corresponding to the target wheel, thereby realizing real-time monitoring of the vehicle's operating status, improving the accuracy of the vehicle's operating status information, and providing reliable data support for precise control of the vehicle's operating status. It is suitable for various chassis control system motion status monitoring scenarios, and therefore has strong versatility, a wide range of applicability, and high accuracy.

[0103] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0104] A driving state monitoring program is stored on a computer-readable storage medium in an embodiment of the present invention. When the driving state monitoring program is executed by a processor, the driving state monitoring method described in any one of the above embodiments of the present invention is implemented.

[0105] According to the computer-readable storage medium of the embodiment of the present invention, when the driving state monitoring program stored thereon is executed by the processor, the driving state of each wheel is monitored in real time to obtain the driving data of each wheel, the wheel-end speed corresponding to each wheel is calculated according to the driving data of each wheel of the vehicle, whether each wheel is slipping is judged according to the wheel-end speed corresponding to each wheel, the target wheel is determined according to the slipping condition of each wheel and the wheel-end speed corresponding to each wheel, and the current speed of the vehicle is obtained according to the wheel-end speed corresponding to the target wheel, thereby realizing real-time monitoring of the vehicle's operating state and improving the accuracy of the vehicle's operating state information. The system is suitable for various chassis control system motion state monitoring scenarios and various chassis control system motion state monitoring. Therefore, the system has strong versatility, a wide range of applicability, and high accuracy.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0107] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A driving state monitoring method, characterized in that: The following steps are involved: Calculate the wheel end speed corresponding to each wheel; Determine whether each wheel is slipping according to the wheel end speed corresponding to each wheel; Determine the target wheel according to the slip condition of each wheel and the wheel end speed corresponding to each wheel; The current speed of the vehicle is obtained according to the wheel end speed corresponding to the target wheel.

2. The driving state monitoring method according to claim 1, characterized in that: Calculate the wheel end speed corresponding to each wheel, including: Obtaining the wheel speed, tire radius, wheel angle, wheel track and current yaw angle of the vehicle of each wheel; The wheel end speed of the corresponding wheel is calculated according to the wheel speed, tire radius, wheel turning angle, wheel track and the current yaw angle of the vehicle.

3. The driving state monitoring method according to claim 1, characterized in that: Determine whether each wheel is slipping based on the wheel end speed corresponding to each wheel, including: Calculate the average wheel end speed according to the wheel end speed corresponding to each wheel; Calculating the difference between the wheel end speed of each wheel and the wheel end speed average; It is determined whether the wheel is slipping according to the difference.

4. The driving state monitoring method according to claim 3, characterized in that: Determining whether the wheel is slipping according to the difference includes: If the difference is within a preset threshold range, it is determined that the wheel is not slipping; If the difference is not within a preset threshold range, it is determined that the wheel is slipping.

5. The driving state monitoring method according to claim 1, characterized in that: The target wheel is determined according to the slip conditions of each wheel and the wheel end speed corresponding to each wheel, including: When the vehicle brakes, the wheel with the maximum wheel end speed among the non-slip wheels is used as the target wheel.

6. The driving state monitoring method according to claim 1, characterized in that: The target wheel is determined according to the slip conditions of each wheel and the wheel end speed corresponding to each wheel, including: When the vehicle accelerates, the wheel with the smallest wheel end speed among the non-slip wheels is used as the target wheel.

7. The driving state monitoring method according to claim 1, characterized in that: Obtaining the current speed of the vehicle according to the wheel end speed corresponding to the target wheel, including: Get the actual longitudinal acceleration of the vehicle; The current speed of the vehicle is obtained by performing Kalman filtering on the wheel end speed corresponding to the target wheel and the actual longitudinal acceleration.

8. The driving state monitoring method according to claim 1, characterized in that: Also includes: Acquiring the actual longitudinal acceleration, the actual lateral acceleration, the road surface gradient and the road surface inclination of the vehicle; The actual longitudinal acceleration is corrected according to the road surface gradient, and the corrected longitudinal acceleration is output; the actual lateral acceleration is corrected according to the road surface inclination, and the corrected lateral acceleration is output.

9. The driving state monitoring method according to claim 8, characterized in that: Correcting the actual longitudinal acceleration according to the road slope includes: Calculating a road surface gradient acceleration according to the road surface gradient; The actual longitudinal acceleration is corrected according to the road surface gradient acceleration.

10. The driving state monitoring method according to claim 8, characterized in that: Correcting the actual lateral acceleration according to the road surface inclination includes: Calculating a road surface inclination acceleration according to the road surface inclination; The actual lateral acceleration is corrected according to the road surface inclination acceleration.

11. A vehicle, characterized in that: include: A processor, a memory, and a driving state monitoring program stored in the memory and executable on the processor, wherein the driving state monitoring program, when executed by the processor, implements the driving state monitoring method as described in any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that: A driving state monitoring program is stored on a computer-readable storage medium, and when the driving state monitoring program is executed by a processor, the driving state monitoring method according to any one of claims 1 to 10 is implemented.

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