Method, controller, storage medium and program product for recognizing straight direction of travel of vehicle

Abstract

The invention provides a method, a controller, a storage medium and a program product for recognizing a straight driving direction of a vehicle. The method for identifying the straight driving direction of the vehicle comprises the following steps: acquiring the wheel speed of the vehicle; determining the driving direction of the vehicle based on the wheel speed based on the wheel speed; acquiring the acceleration of the vehicle; determining an acceleration-based driving direction of the vehicle based on the acceleration; a direction of travel of the vehicle is determined based on one or both of the wheel speed-based direction of travel and the acceleration-based direction of travel.

Description

Technical Field

[0001] The present application relates to technologies related to vehicle control, and more specifically, to technologies for identifying the straight-line driving direction of a vehicle. Background Art

[0002] During vehicle driving, the driving direction recognition control (DDR) determines the vehicle's direction of movement by verifying the yaw rate sensor and the steering wheel angle sensor. However, in some cases, the vehicle's direction of travel may not be determined. For example, when the vehicle is driving in a straight line, it is impossible to determine whether it is reversing. Summary of the invention

[0003] According to one aspect of the present application, a method for identifying a vehicle's driving direction is provided, the method being executed by a first controller, and the method may include: acquiring the vehicle's wheel speed and wheel speed direction; determining the vehicle's driving direction based on the wheel speed based on the wheel speed direction; acquiring the vehicle's longitudinal acceleration; determining the vehicle's driving direction based on acceleration based on the longitudinal acceleration and the wheel speed; and determining the vehicle's driving direction based on the wheel speed-based driving direction and the acceleration-based driving direction.

[0004] The method for identifying the direction of vehicle travel may optionally or supplementally determine the vehicle's acceleration-based direction of travel based on the longitudinal acceleration and the wheel speed, including: integrating the longitudinal acceleration to obtain the acceleration-integrated vehicle speed; integrating the acceleration-integrated vehicle speed to obtain a reference mileage of the vehicle; comparing the reference mileage with a first mileage threshold and a second mileage threshold respectively; and determining the vehicle's acceleration-based direction of travel based on the comparison result and the direction of the acceleration-integrated vehicle speed within a preset time period.

[0005] The method for identifying the direction of vehicle travel may, optionally or supplementally, further include: when the reference mileage is greater than a first mileage threshold, and the acceleration-integrated vehicle speed is greater than a first speed threshold and less than a second speed threshold, and the acceleration-integrated vehicle speed is positive within a first preset time period, determining that the vehicle is traveling forward; and when the reference mileage is greater than a second mileage threshold, and the acceleration-integrated vehicle speed is greater than a third speed threshold and less than a fourth speed threshold, and the acceleration-integrated vehicle speed is negative within a second preset time period, determining that the vehicle is traveling backward.

[0006] In the method for identifying the direction of vehicle travel, optionally or supplementally, the longitudinal acceleration is determined in the following manner: the vehicle acceleration is obtained from an acceleration sensor of the vehicle as the first acceleration; the longitudinal reference speed of the vehicle is determined according to the wheel speed and the longitudinal acceleration is obtained by differentiating the longitudinal reference speed.

[0007] The method for identifying the driving direction of a vehicle may, optionally or supplementally, further include: when the absolute value of the difference between the acceleration-integrated vehicle speed and the longitudinal reference vehicle speed is greater than the first vehicle speed difference, determining that the current driving direction based on acceleration cannot be determined.

[0008] The method for identifying the direction of vehicle travel may, optionally or supplementally, determine the vehicle's wheel speed-based traveling direction based on the wheel speed direction, including: if the wheel speed directions of at least two wheels among the four acquired wheel speed directions are forward, there is no reverse direction among the four wheel speed directions, and the absolute value of the speed of each of the four wheel speeds is greater than or equal to a first reference wheel speed, then it is determined that the vehicle is traveling forward; if the wheel speed directions of at least two wheels among the four acquired wheel speed directions are backward, there is no forward direction among the four wheel speed directions, and the absolute value of the speed of each of the four wheel speeds is greater than or equal to a second reference wheel speed, then it is determined that the vehicle is traveling backward.

[0009] The method for identifying the direction of vehicle travel may, optionally or supplementally, determine the direction of vehicle travel according to the direction of travel based on wheel speed and the direction of travel based on acceleration, including: when the direction of travel based on wheel speed and the direction of travel based on acceleration are the same direction, determining that the vehicle is traveling in said direction; when the direction of travel based on wheel speed and the direction of travel based on acceleration are inconsistent, determining the direction of travel of the vehicle in a preset manner.

[0010] The method for identifying the direction of vehicle travel may, optionally or additionally, determine the direction of vehicle travel in a preset manner, including: in the case of an abnormal driving direction based on acceleration, determining whether the vehicle speed received from the second controller of the vehicle is greater than a first vehicle speed calibration value within a first continuous time period; in the case that the vehicle speed received from the second controller of the vehicle is greater than the first vehicle speed calibration value within a continuous time period, if the previously determined vehicle driving direction is consistent with the driving direction based on the wheel speed, then determining the vehicle driving direction as the driving direction based on the wheel speed.

[0011] The method for identifying the direction of vehicle travel may, optionally or additionally, determine the direction of vehicle travel in a preset manner, including: in the event that the direction of travel generated based on the wheel speed is abnormal, determining whether the vehicle speed received from the second controller of the vehicle and the acceleration-integrated vehicle speed obtained by integrating the longitudinal acceleration are both greater than a second vehicle speed calibration value within a second duration; in the event that it is determined that the received vehicle speed and the obtained vehicle speed are both greater than the second vehicle speed calibration value within the second duration, if the previously determined vehicle direction of travel is consistent with the direction of travel based on acceleration, then determining that the vehicle's direction of travel is a direction of travel based on acceleration.

[0012] The method for identifying the driving direction of a vehicle may optionally or additionally determine the driving direction of the vehicle in a preset manner, and further include: in the case where the driving direction cannot be determined, outputting a signal indicating that the driving direction of the vehicle cannot be determined. The case where the driving direction cannot be determined may include: the vehicle speed received from the second controller of the vehicle fails to be greater than the first vehicle speed calibration value within a continuous period and / or the previously determined vehicle driving direction is inconsistent with the driving direction based on the wheel speed; the received vehicle speed and the obtained vehicle speed are both not greater than the second vehicle speed calibration value within a second continuous period and / or the previously determined vehicle driving direction is inconsistent with the driving direction based on the acceleration.

[0013] According to another aspect of the present application, a controller for identifying a vehicle driving direction is also provided, the controller comprising a memory and a processor. The memory stores instructions, and the processor executes the instructions and implements any one of the methods described above during the execution of the instructions.

[0014] According to another aspect of the present application, a non-transitory storage medium is also provided, on which program instructions are stored, and these program instructions implement any one of the methods described above during execution.

[0015] According to another aspect of the present application, a computer program product is also provided, including a computer program, which implements any one of the methods described above during execution.

[0016] According to a further aspect of the present application, a vehicle is also provided, which is configured to execute any one of the methods described herein to identify the direction in which the vehicle is traveling in a straight line; or, the vehicle includes the controller provided herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following will describe the embodiments of the present application in detail with reference to the accompanying drawings so that the present application can be more fully understood, wherein:

[0018] Figure 1 is a flow chart of a method for identifying a straight-line driving direction of a vehicle according to some examples of the present application;

[0019] Figure 2 is a schematic process for determining the longitudinal acceleration of a vehicle;

[0020] Figure 3 A specific implementation process of step S106 is illustrated;

[0021] Figure 4 A specific implementation process of step S108 is illustrated;

[0022] Figure 5 It is a schematic diagram of the structure of the controller 3 for identifying the driving direction of a vehicle according to an example of the present application. DETAILED DESCRIPTION

[0023] In order to help those skilled in the art to more accurately understand the subject matter for which protection is sought in the present application, the specific implementation of the present application will be described in detail below in conjunction with the accompanying drawings.

[0024] Figure 1 It is a flowchart of a method for identifying the straight-line driving direction of a vehicle according to some examples of the present application. The method can be executed by a first controller of the vehicle, which is communicatively connected to other relevant components of the vehicle to obtain the required data or information. The communication connection can be a wireless connection based on a communication protocol, or a line connection. As an example, the first controller can be a controller of the vehicle braking system (also called a brake controller), more specifically, for example, an intelligent integrated brake (Integrated Power Brake) controller. Alternatively, the first controller can also be a controller of an electric brake booster iBooster or an electronic stability system ESP. The first controller can also be an independent controller, which can be communicatively connected to the relevant components of the vehicle to execute the method according to the example of the present application, thereby identifying the straight-line driving direction of the vehicle.

[0025] It should also be noted that the first controller may be a plurality of components rather than a single component. For example, the first controller includes an ESP controller and an independent controller that is communicatively connected to the ESP controller, etc., and the method according to the example of the present application is partially executed in the ESP controller and partially executed in the independent controller.

[0026] The method may also be performed by an electric brake booster iBooster or by an electronic stability system ESP.

[0027] In this article, the terms "driving direction based on wheel speed" and "driving direction based on acceleration" are used only to distinguish the driving direction determined according to the wheel speed from the driving direction determined according to the acceleration, and neither of them is used to limit the driving direction of the vehicle.

[0028] In step S100, the wheel speed and wheel speed direction of the vehicle are obtained. As an example, the wheel speed and wheel speed direction of the vehicle are obtained from a wheel speed sensor provided on the vehicle. In this example, the wheel speed sensor is an intelligent wheel speed sensor, which can sense the wheel speed and identify the wheel speed direction. Generally speaking, the wheel speed directions sensed by the intelligent wheel speed sensor include forward (also referred to as forward), reverse (also referred to as backward) and stationary. In addition, it should be understood that in the presence of wheel speed, the vehicle is not necessarily in a driving state. In this example, it can be determined whether the vehicle is in a stationary state by comparing the wheel speed with the reference wheel speed. A wheel speed sensor can be configured for each wheel, or a wheel speed sensor can be configured for each of the two front wheels and a wheel speed sensor can be configured for the two rear wheels, or a wheel speed sensor can be configured for the two front wheels and a wheel speed sensor can be configured for each of the two rear wheels, or a wheel speed sensor can be configured for the two front wheels and a wheel speed sensor can be configured for each of the two rear wheels, or a wheel speed sensor can be configured for the two front wheels and a sensor can be configured for the two rear wheels, or a wheel speed sensor can be configured for the two front wheels and a sensor can be configured for the two rear wheels.

[0029] In step S102, the driving direction of the vehicle is determined based on the acquired wheel speed direction. In this article, the driving direction of the vehicle determined based on the wheel speed direction is referred to as the driving direction based on the wheel speed. For example, if the acquired wheel speed directions of the four wheels, that is, at least two of the four wheel speed directions are in the forward direction and none of the four wheel speed directions is in the reverse direction, it can be determined that the vehicle is not driving backward; further, if the absolute value of each of the four wheel speeds is greater than or equal to the first reference wheel speed, it can be determined that the vehicle is driving forward. If the acquired wheel speed directions of the four wheels, that is, at least two of the four wheel speed directions are in the reverse direction and none of the four wheel speed directions is in the forward direction, it can be determined that the vehicle is not driving forward; further, if the absolute value of each of the four wheel speeds is greater than or equal to the second reference wheel speed, it can be determined that the vehicle is driving backward. The first reference wheel speed and the second reference wheel speed are respectively a recognition starting point for driving forward and driving backward, and their values ​​can be the same or different.

[0030] In step S104, the longitudinal acceleration of the vehicle is obtained. As an example, the longitudinal acceleration may be obtained from a longitudinal acceleration sensor. As an alternative or supplement, the longitudinal acceleration may also be obtained by, for example, Figure 2 The longitudinal acceleration is determined by the process shown in the figure. Figure 2As shown, in step S1041, the vehicle acceleration, i.e., the first acceleration, is obtained from the acceleration sensor of the vehicle. In step S1043, the longitudinal reference speed of the vehicle is determined according to the wheel speed. The wheel speed is obtained from the wheel speed sensor, and the reference speed of the vehicle can be determined by the wheel speed obtained in step S100. For example, the wheel speeds of the rear wheels (i.e., the rear wheel speed) are averaged and the average value is multiplied by the rolling radius to obtain the longitudinal reference speed of the vehicle. In step S1045, the determined longitudinal reference speed is differentiated to obtain the longitudinal acceleration. For example, the rate of change of the determined longitudinal reference speed is calculated according to the Δt time, and the rate of change is the longitudinal acceleration. For example, Δt is 0.005s. If necessary, the longitudinal acceleration can be low-pass filtered. In step S1047, the road surface information is calculated according to the first acceleration and the determined longitudinal acceleration, where the road surface information refers to the acceleration generated by the vehicle due to the road surface slope information.

[0031] Here is an example to illustrate the process of calculating the road surface information in step S1047. The terrain of the road surface will cause the vehicle to generate a longitudinal acceleration Ar, referred to herein as the terrain longitudinal acceleration, which is different from the longitudinal acceleration Aver calculated and determined in step S1045. The longitudinal acceleration Aver calculated and determined in step S1045 is the sum of the terrain longitudinal acceleration Ar and the first acceleration A1. In this example, each of the three accelerations is positive when it points in the direction of the front of the vehicle, that is, the acceleration is positive when the direction of the acceleration is toward the front of the vehicle. It can be understood that when the vehicle is stationary, the longitudinal acceleration is 0m / s 2 , the terrain longitudinal acceleration Ar is opposite to the vehicle acceleration A1. For example, when the vehicle is stationary on an uphill road, the value of the first acceleration A1 is greater than 0 and the terrain longitudinal acceleration Ar is less than 0; when the vehicle is stationary on a downhill road, the first acceleration A1 is less than 0 and the terrain longitudinal acceleration is greater than 0. After Δt time, the vehicle moves. Due to the short time, low speed and basically unchanged terrain of the vehicle driving road, the terrain acceleration caused by the terrain remains basically unchanged. Considering that the longitudinal acceleration Aver of the vehicle is the sum of the first acceleration A1 and the terrain longitudinal acceleration Ar, the sign of the terrain longitudinal acceleration is obtained. A positive value indicates that the terrain longitudinal acceleration points to the front of the vehicle, and a negative value indicates that the terrain longitudinal acceleration points to the rear of the vehicle. Further, the value of the longitudinal acceleration Aver is determined according to formula (1) in combination with the direction of the terrain longitudinal acceleration calculated based on the terrain:

[0032] Aver=|Aver|×Sign(1)

[0033] Where |Aver| is the absolute value of the longitudinal acceleration, and Sign is the sign representing the direction of the terrain longitudinal acceleration, which can be positive or negative.

[0034] The determination of the road surface information, that is, the determination of the terrain longitudinal acceleration and its direction is performed iteratively. A further example is as follows:

[0035] At time T0, the vehicle is stationary and the longitudinal acceleration Aver(T0) is 0. At this time, the terrain longitudinal acceleration Ar and the first acceleration A1 can be expressed as Ar(T0) and A1(T0), respectively. Subsequently, at time T1, Aver(T1) is not equal to 0, but the direction is unknown, the terrain longitudinal acceleration Ar and the first acceleration A1 are Ar(T0) and A1(T1) respectively, thereby obtaining the result sign of A1(T1)+Ar(T0), and according to the acceleration correction, the table can be looked up to modify or determine Ar(T1) based on the obtained result of A1(T1)+Ar(T0), Aver(T1) and A1(T1); at time T2, Aver(T1) is not equal to 0, but the direction is unknown, the terrain longitudinal acceleration Ar and the first acceleration A1 are Ar(T1) and A1(T2) respectively, thereby obtaining the result sign of A1(T2)+Ar(T1), and according to the acceleration correction, the table can be looked up to modify or determine Ar(T1) based on the obtained result of A1(T2)+Ar(T1) at time T2, Aver(T1) and A1(T2). Table 1 given here is an illustration of the process, which includes 6 columns and 3 rows, wherein the column marked X1 gives the time, the column marked X2 gives the longitudinal acceleration Aver, the column marked X3 gives the first acceleration A1, the column marked X4 gives the road acceleration Ar, the column marked X5 gives the longitudinal acceleration direction, and the column marked X6 gives the road acceleration correction; the three rows are labeled Y2, Y3 and Y4 respectively.

[0036] Table 1

[0037]

[0038] Back to Figure 1 In step S106, based on the longitudinal acceleration and the wheel speed, the acceleration-based driving direction of the vehicle is determined. Figure 3 A specific implementation process of step S106 is shown. Figure 3As shown, in step S1061, the longitudinal acceleration is integrated to obtain the acceleration-integrated vehicle speed. In step S1062, the acceleration-integrated vehicle speed is integrated to obtain the reference mileage of the vehicle. In step S1064, the reference mileage is compared with the first mileage threshold and the second mileage threshold respectively. In step S1065, the driving direction of the vehicle based on acceleration is determined according to the comparison result and the direction of the acceleration-integrated vehicle speed within a preset time. More specifically, in step S1064, it is determined whether the reference mileage is greater than the first mileage threshold. If it is greater than the first mileage threshold, it is further determined whether the acceleration-integrated vehicle speed is greater than the first vehicle speed threshold and less than the second vehicle speed threshold, and the acceleration-integrated vehicle speed is continuously positive within the first preset time. If the acceleration-integrated vehicle speed is greater than the first vehicle speed threshold and less than the second vehicle speed threshold and is continuously positive within the first preset time, it is determined that the vehicle is traveling forward. If the reference mileage is greater than the second mileage threshold, and the acceleration-integrated vehicle speed is greater than the third vehicle speed threshold but less than the fourth vehicle speed threshold, and the acceleration-integrated vehicle speed is negative within the second preset time period, it is determined that the vehicle is traveling backwards. In this example, the first preset time period and the second preset time period can be the same, for example, both are 1 second, etc.; or they can be different, for example, one is 1 second and the other is 1.1 seconds. By determining the direction of the acceleration-integrated vehicle speed within a certain time period (preset time period), the accuracy of the judgment of the driving direction based on acceleration is ensured. In this example, the first mileage threshold and the second mileage threshold can be the same or different.

[0039] In addition, as an example, after the vehicle is switched from a stationary state to a moving state, the acquired acceleration may be integrated to obtain the vehicle speed. Specifically, whether the vehicle is stationary is determined based on the sensed values ​​of the wheel speed, the lateral acceleration of the vehicle, the first acceleration, and the yaw angular velocity. The lateral acceleration is obtained by the lateral acceleration sensor and the first acceleration is obtained by the acceleration sensor. In this article, the longitudinal acceleration refers to the acceleration generated when the vehicle accelerates or decelerates along the driving direction; the lateral acceleration refers to the acceleration in the direction perpendicular to the driving direction generated when the vehicle turns.

[0040] An example is given to illustrate the judgment of whether a vehicle is stationary or moving. For example, the vehicle can be considered stationary when its wheel speed, lateral acceleration, and longitudinal acceleration meet the following conditions: the wheel speeds of the four wheels are continuously lower than the start threshold for a period of time such as T; the lateral acceleration is less than the lateral acceleration calibration value and its integral value within a period of time such as 2 seconds is less than the corresponding calibration value; the longitudinal acceleration is less than the longitudinal acceleration calibration value and its integral value within a period of time such as 2 seconds is less than the corresponding calibration value; the yaw angular velocity and its integral value within a period of time such as 2 seconds are less than the corresponding calibration value. If the vehicle does not meet any one of the conditions for being stationary mentioned herein, the vehicle can be considered to be in motion.

[0041] In this example, optionally, if it is recognized that the vehicle is stationary, the acceleration-integrated vehicle speed calculated based on the acceleration and the reference mileage calculated based on the vehicle speed can be reset to initial values, and thus the longitudinal acceleration generated based on the terrain can be re-determined.

[0042] According to some examples of the present application, the absolute value of the difference between the acceleration integral vehicle speed obtained based on the longitudinal acceleration integral and the absolute value of the vehicle speed calculated based on the wheel speed should be smaller than the first vehicle speed difference, and the first vehicle speed difference can be pre-calibrated. Figure 3 The acceleration integral vehicle speed determined in step S1061 is Figure 2 In step S1043, the longitudinal reference speed is determined, and the absolute value of the difference between the two should be less than the first speed calibration value. If the absolute value of the difference is greater than the first speed difference, it is considered that the vehicle's acceleration-based driving direction cannot be determined. In this way, continue to execute Figure 1 In the process shown, the acceleration driving direction determined according to the acceleration is considered valid only when the absolute value of the difference between the subsequently determined acceleration integrated vehicle speed and the longitudinal reference vehicle speed calculated based on the wheel speed is less than the first vehicle speed difference. It should be noted that, here, the difference equal to the first vehicle speed difference can be classified as the case where the difference is greater than the calibration value or the difference is less than the first vehicle speed difference as needed, that is, in some examples, the difference greater than the first vehicle speed difference includes the difference equal to the first vehicle speed difference; in other examples, the difference less than the first vehicle speed difference includes the difference equal to the first vehicle speed difference.

[0043] In step S108, the driving direction of the vehicle is determined according to the driving direction based on the wheel speed and the driving direction based on the acceleration.

[0044] In the description of the method flow of this application, the step numbers are only used to distinguish the steps, and are not used to limit the order of the steps. For example, Figure 1 Step S100 and step S104 may be performed in parallel, that is, the first controller obtains the wheel speed signal from the wheel speed sensor and obtains the acceleration signal from the acceleration sensor; step S102 and step S106 may be performed in parallel.

[0045] When the vehicle is turning, the direction of movement of the vehicle can be determined by the signals of the yaw rate sensor and the steering wheel angle sensor; but when the vehicle is driving in a straight line, it is often difficult to determine the direction of movement of the vehicle. However, by executing the method for identifying vehicle driving according to the example of the present application, the direction of movement of the vehicle when driving in a straight line can be determined. According to the method of this example, a vehicle driving direction is determined according to the wheel speed direction; and then a vehicle driving direction is determined according to the longitudinal acceleration of the vehicle. When the two driving directions are consistent, it is determined that the vehicle is driving in this driving direction; if the two driving directions are inconsistent, the vehicle driving direction can be determined in a preset manner, which will be described below.

[0046] Combination of the above Figure 1 , Figure 2 and Figure 3 The method described may be performed by a controller already in the vehicle; or, the method may be implemented in a separate controller, which is then incorporated into the vehicle to implement the example of the method described herein. In addition, the method according to the example of the present application may be performed continuously after the vehicle is started; after determining the straight-line driving direction of the vehicle, it may not be performed temporarily but may be performed again after a period of time.

[0047] Figure 4 The flowcharts of some specific implementations of step S108 are illustrated. In step S1080, it is determined whether the driving direction based on the wheel speed and the driving direction based on the acceleration point to the same direction. If the result of the determination is that they point to the same direction, it is determined that the vehicle is traveling in the direction, that is, the direction based on the wheel speed and the direction based on the acceleration, as shown in step S1082.

[0048] When the result of the judgment is that the driving direction based on the wheel speed is inconsistent with the driving direction based on the acceleration, the process proceeds to step S1081. A variety of situations may cause the driving direction based on the wheel speed to be inconsistent with the driving direction based on the acceleration, for example: (1) the driving direction based on the wheel speed is opposite to the driving direction based on the acceleration; (2) the driving direction cannot be determined based on the wheel speed, that is, the driving direction determined based on the wheel speed is abnormal; (3) the driving direction cannot be determined based on the acceleration, that is, the driving direction determined based on the acceleration is abnormal. In step S1081, it is determined which of the above three situations the inconsistent situation is. In step S1081, when the result of the judgment is that the direction based on the wheel speed is opposite to the direction based on the acceleration, the process proceeds to step S1083a; in the case where the judgment result is that the driving direction cannot be determined based on the wheel speed, the process proceeds to step S1083b; in the case where the judgment result is that the driving direction cannot be determined based on the acceleration, the process proceeds to step S1083c.

[0049] In step S1083a, it is determined whether the direction based on the wheel speed is consistent with the previous direction based on the wheel speed, and whether the direction based on the acceleration is consistent with the previous direction based on the acceleration. The direction that is consistent is used as the direction of vehicle travel, as shown in step S1085a.

[0050] In step S1083b, it is determined whether the vehicle speed received from the second controller of the vehicle and the acceleration-integrated vehicle speed obtained by integrating the acceleration described above are both greater than the second vehicle speed calibration value within the second duration. If the judgment result is that both are greater than the second vehicle speed calibration value within the second duration and the previously determined driving direction is consistent with the current driving direction determined based on acceleration, it is determined (step S1085b) that the driving direction of the vehicle is the driving direction based on acceleration. On the contrary, if the judgment result in step S1083b is that both the vehicle speed received from the second controller of the vehicle and the acceleration-integrated vehicle speed do not meet the requirement of being greater than the second vehicle speed calibration value within the duration and / or the previously determined driving direction is inconsistent with the current driving direction determined based on acceleration and lasts for a preset value time, then in this example, it is considered that the vehicle driving direction cannot be determined, and it can be selected to enter step S1087 to output a signal indicating that the vehicle driving direction cannot be determined.

[0051] In step S1083c, it is determined whether the vehicle speed received from the second controller of the vehicle is greater than the first vehicle speed calibration value within the first duration. If the judgment result is that the vehicle speed received from the second controller of the vehicle is greater than the first vehicle speed calibration value within the first duration and the previously determined vehicle driving direction is consistent with the vehicle driving direction currently determined based on the wheel speed, it is determined (step S1085c) that the vehicle's driving direction is the wheel speed-based driving direction. If the judgment result is that the vehicle speed received from the second controller of the vehicle is not greater than the first vehicle speed calibration value within the first duration and / or the previously determined vehicle driving direction is inconsistent with the vehicle driving direction currently determined based on the wheel speed and lasts for a preset time, then in this example, it is considered that the vehicle driving direction cannot be determined, and it can be selected to enter step S1087 to output a signal indicating that the vehicle driving direction cannot be determined.

[0052] In the above examples, the first duration and the second duration can be equal or different, and the first calibrated vehicle speed and the second calibrated vehicle speed can also be equal or different. In summary, in all examples of the present application, all calibration values ​​can be preset.

[0053] In each example of the present application, the second controller is a controller for determining the vehicle speed in the vehicle, such as the ESP controller of the vehicle. In addition, it should be understood that the method according to the example of the present application can be performed continuously or at a set time during the vehicle driving process. In the case of continuous operation, the first controller of any example in the method example described herein continuously obtains the wheel speed and continuously determines the driving direction according to the wheel speed, and continuously obtains the acceleration and continuously determines the driving direction according to the acceleration. Therefore, whether it is a driving direction based on the wheel speed or a driving direction based on the acceleration, the previously determined direction and the currently determined direction are continuously generated. As an alternative, in the above example, when the direction based on the wheel speed is inconsistent with the direction based on the acceleration, the direction in which the currently determined direction is consistent with the previously determined direction can be used as the driving direction of the vehicle. The methods listed in this application are only examples and are not limited. The first controller can be any one of the following controllers: a controller of the vehicle braking system, an electric brake booster iBooster, an electronic stability system ESP, a new controller set to the vehicle, etc.

[0054] Figure 5 is a schematic diagram of the structure of a controller 3 for identifying the driving direction of a vehicle according to an example of the present application. Figure 5 As shown, the controller 3 includes a memory 30 and a processor 32. The memory 30 is used to store program instructions, and the processor 32 is configured to execute the program instructions and implement any one of the methods for identifying the driving direction of a vehicle described above in conjunction with the accompanying drawings during the execution process.

[0055] As an example, the controller 3 may be, for example, the first controller used in any one of the method examples described above; or, the controller 3 may be implemented in the first controller. Alternatively, the controller 3 may be arranged in an existing controller of the vehicle, such as an IPB controller.

[0056] The present application also provides a non-transitory storage medium on which a computer program is stored. When the computer program is executed, any one of the methods for identifying the straight-line driving direction of a vehicle described above in conjunction with the accompanying drawings is implemented.

[0057] The present application also provides a computer program product, which, when executed by a processor, implements any one of the methods for identifying the straight-line driving direction of a vehicle described above in conjunction with the accompanying drawings.

[0058] The present application also provides a vehicle. The vehicle is configured to execute any one of the methods described herein to identify the direction in which the vehicle is traveling in a straight line; or the vehicle includes the controller provided herein.

[0059] In the absence of contradiction or conflict, the technical features in the examples described herein may be combined with each other to form implementations not described herein, which should also be covered by the scope of this application.

[0060] Although specific embodiments of the present application have been shown and described in detail to illustrate the principles of the present application, it should be understood that the present application may be implemented in other ways without departing from such principles, for example, the technical features of the various embodiments / examples / examples of the present application may be combined with each other to form new implementation methods.

Claims

1. A method for identifying a vehicle's straight-line driving direction, characterized in that: The method is executed by a first controller, and includes: Get the vehicle's wheel speed and direction; determining a wheel speed-based traveling direction of the vehicle based on the wheel speed direction; Obtaining the longitudinal acceleration of the vehicle; Determining a driving direction of the vehicle based on the acceleration based on the longitudinal acceleration and the wheel speed; The driving direction of the vehicle is determined according to the driving direction based on the wheel speed and the driving direction based on the acceleration.

2. The method according to claim 1, characterized in that: Determining the driving direction of the vehicle based on the acceleration based on the longitudinal acceleration and the wheel speed, comprising: Integrating the longitudinal acceleration to obtain an acceleration-integrated vehicle speed; Integrating the acceleration-integrated vehicle speed to obtain a reference mileage of the vehicle; Comparing the reference mileage with a first mileage threshold and a second mileage threshold respectively; The acceleration-based driving direction of the vehicle is determined according to the comparison result and the direction of the acceleration-integrated vehicle speed within a preset time period.

3. The method according to claim 2, characterized in that The method further comprises: When the reference mileage is greater than a first mileage threshold, the acceleration-integrated vehicle speed is greater than a first vehicle speed threshold and less than a second vehicle speed threshold, and the acceleration-integrated vehicle speed is positive within a first preset time period, determining that the vehicle is moving forward; When the reference mileage is greater than a second mileage threshold, the acceleration-integrated vehicle speed is greater than a third vehicle speed threshold and less than a fourth vehicle speed threshold, and the acceleration-integrated vehicle speed is negative within a second preset time period, it is determined that the vehicle is traveling backward.

4. The method according to claim 1, characterized in that The longitudinal acceleration is determined by: A longitudinal reference speed of the vehicle is determined according to the wheel speeds, and a longitudinal acceleration is obtained by differentiating the longitudinal reference speed.

5. The method according to claim 4, characterized in that The method further comprises: When the absolute value of the difference between the acceleration-integrated vehicle speed and the longitudinal reference vehicle speed is greater than the first vehicle speed difference, it is determined that the current acceleration-based driving direction cannot be determined.

6. The method according to claim 1, characterized in that Determining a wheel speed-based driving direction of the vehicle based on the wheel speed direction includes: If the wheel speed directions of at least two wheels among the four acquired wheel speed directions are forward, there is no reverse direction among the four wheel speed directions, and the absolute value of the speed of each wheel speed among the four wheel speeds is greater than or equal to the first reference wheel speed, it is determined that the vehicle is moving forward; If the wheel speed directions of at least two wheels among the four acquired wheel speed directions are backward, there is no forward direction among the four wheel speed directions, and the absolute value of the speed of each wheel speed among the four wheel speeds is greater than or equal to the second reference wheel speed, it is determined that the vehicle is traveling backward.

7. The method according to claim 1, characterized in that Determining the driving direction of the vehicle according to the driving direction based on the wheel speed and the driving direction based on the acceleration includes: In a case where the driving direction based on the wheel speed and the driving direction based on the acceleration are the same direction, determining that the vehicle is traveling in the direction; In the case that the driving direction based on the wheel speed is inconsistent with the driving direction based on the acceleration, the driving direction of the vehicle is determined in a preset manner.

8. The method according to claim 7, characterized in that Determine the vehicle's direction of travel in a preset manner, including: In the case of an abnormal driving direction based on acceleration, determining whether a vehicle speed received from a second controller of the vehicle is greater than a first vehicle speed calibration value within a first duration; When the vehicle speed received from the second controller of the vehicle is greater than the first vehicle speed calibration value for a continuous period of time, if the previously determined vehicle driving direction is consistent with the driving direction based on the wheel speed, the driving direction of the vehicle is determined to be the driving direction based on the wheel speed.

9. The method according to claim 7, characterized in that: Determine the vehicle's direction of travel in a preset manner, including: In the case where the driving direction generated based on the wheel speed is abnormal, determining whether the vehicle speed received from the second controller of the vehicle and the acceleration integrated vehicle speed obtained by integrating the longitudinal acceleration are both greater than a second vehicle speed calibration value within a second duration; When it is determined that the received vehicle speed and the obtained vehicle speed are both greater than the second vehicle speed calibration value within a second duration, if the previously determined vehicle driving direction is consistent with the acceleration-based driving direction, the vehicle's driving direction is determined to be the acceleration-based driving direction.

10. The method according to claim 8 or 9, characterized in that: Determining the vehicle's driving direction in a preset manner also includes: when the driving direction cannot be determined, outputting a signal indicating that the vehicle's driving direction cannot be determined.

11. A controller for identifying a vehicle's driving direction, characterized in that: The controller comprises: A memory for storing program instructions; A processor, configured to execute the program instructions to implement the method according to any one of claims 1 to 10.

12. A non-transitory storage medium having program instructions stored thereon, characterized in that: When the computer program is executed, the method according to any one of claims 1 to 10 is implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

14. A vehicle, characterized in that: The vehicle is configured to execute the method described in any one of claims 1 to 10 to identify the direction in which the vehicle is traveling in a straight line; or, the vehicle includes a controller according to claim 11.

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