Method, device and equipment for determining pulse coefficient

Abstract

The invention provides a pulse coefficient determination method, device and equipment, and the method comprises the steps: obtaining W pieces of original motion data in a vehicle driving process, and selecting a plurality of pieces of original motion data from the W pieces of original motion data as target motion data; calculating a first parameter value corresponding to the target motion data based on the pulse number and the satellite positioning vehicle speed included in the target motion data, and calculating a second parameter value corresponding to the target motion data based on the satellite positioning vehicle speed included in the target motion data; determining a target pulse coefficient corresponding to the vehicle based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data; the target pulse factor is stored for the vehicle. According to the technical scheme, the accurate pulse coefficient can be obtained.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device and equipment for determining a pulse coefficient. Background Art

[0002] The pulse coefficient refers to the number of pulses of the driving speed sensor when the vehicle travels per kilometer. The pulse coefficient is important information for measuring vehicle speed and can be used to calculate vehicle speed.

[0003] In vehicles, pulse signals are used in multiple systems, such as vehicle speed sensors, engine speed sensors, accelerator pedal sensors, etc. The signals sent by these sensors need to undergo some conversions before they can be recognized by the electronic control module. When performing these conversions, the pulse signals need to be counted, and the accuracy of the count depends on the accuracy of the pulse coefficient. If the pulse coefficient is inaccurate, the electronic control module may not work properly, resulting in unstable vehicle operation or failure to start the vehicle.

[0004] However, there is no effective way to determine the pulse coefficient, and it is impossible to obtain an accurate pulse coefficient, that is, an erroneous pulse coefficient may be obtained, resulting in unstable vehicle operation or failure to start the vehicle. Summary of the invention

[0005] The present application provides a method for determining a pulse coefficient, the method comprising:

[0006] Acquire W original motion data during the vehicle's travel, and select a plurality of original motion data from the W original motion data as target motion data; wherein the target motion data includes the number of pulses and the satellite positioning vehicle speed, and the number of pulses is the number of pulses of the driving speed sensor when the vehicle travels per unit time;

[0007] For each target motion data, a first parameter value corresponding to the target motion data is calculated based on the number of pulses included in the target motion data and the satellite positioning vehicle speed, and a second parameter value corresponding to the target motion data is calculated based on the satellite positioning vehicle speed included in the target motion data;

[0008] Determine a target pulse coefficient corresponding to the vehicle based on a first parameter value corresponding to each target motion data and a second parameter value corresponding to each target motion data; wherein the target pulse coefficient represents the number of pulses of the driving speed sensor when the vehicle travels a unit mileage;

[0009] The target pulse factor is stored for the vehicle.

[0010] The present application provides a device for determining a pulse coefficient, the device comprising:

[0011] An acquisition module is used to acquire W original motion data during the vehicle's travel, and select a plurality of original motion data from the W original motion data as target motion data; wherein the target motion data includes the number of pulses and the satellite positioning vehicle speed, and the number of pulses is the number of pulses of the driving speed sensor when the vehicle travels per unit time;

[0012] A determination module, configured to calculate, for each target motion data, a first parameter value corresponding to the target motion data based on the number of pulses included in the target motion data and the satellite positioning vehicle speed, and calculate a second parameter value corresponding to the target motion data based on the satellite positioning vehicle speed included in the target motion data;

[0013] The determination module is further used to determine a target pulse coefficient corresponding to the vehicle based on a first parameter value corresponding to each target motion data and a second parameter value corresponding to each target motion data; wherein the target pulse coefficient represents the number of pulses of the driving speed sensor when the vehicle travels a unit mileage;

[0014] A storage module is used to store the target pulse coefficient for the vehicle.

[0015] The present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method for determining a pulse coefficient is implemented.

[0016] The present application provides an electronic device, comprising: a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor; wherein the processor is used to execute the machine-executable instructions to implement the above-mentioned method for determining a pulse coefficient.

[0017] The present application provides a machine-readable storage medium, which stores machine-executable instructions that can be executed by a processor; wherein the processor is used to execute the machine-executable instructions to implement the above-mentioned method for determining a pulse coefficient.

[0018] It can be seen from the above technical scheme that in the embodiments of the present application, the first parameter value corresponding to the target motion data can be calculated based on the number of pulses and the satellite positioning vehicle speed, the second parameter value corresponding to the target motion data can be calculated based on the satellite positioning vehicle speed, and the target pulse coefficient corresponding to the vehicle can be determined based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data, so as to obtain an accurate pulse coefficient, and the pulse coefficient with the smallest error can be calculated in real time, effectively eliminating the cumulative error. The pulse coefficient has higher accuracy, smaller error, and is more precise, avoiding unstable vehicle operation or inability to start the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a method for determining a pulse coefficient in one embodiment of the present application;

[0020] Figure 2 It is a schematic diagram of the relationship between the number of pulses P and the satellite positioning vehicle speed V in this application;

[0021] Figure 3 is a flow chart of a method for determining a pulse coefficient in one embodiment of the present application;

[0022] Figure 4 is a schematic diagram of optimization of motion data collection in one embodiment of the present application;

[0023] Figure 5 is a schematic structural diagram of a device for determining a pulse coefficient in one embodiment of the present application;

[0024] Figure 6 It is a hardware structure diagram of an electronic device in one embodiment of the present application. DETAILED DESCRIPTION

[0025] In the embodiment of the present application, a method for determining a pulse coefficient is proposed, which can be applied to a vehicle-mounted terminal, see Figure 1 FIG. 4 is a flow chart of the method, which may include:

[0026] Step 101: Obtain W original motion data during vehicle driving, and select multiple original motion data (such as part of the original motion data or all of the original motion data) from the W original motion data as target motion data. Wherein, W is a positive integer greater than 1, and the target motion data includes the number of pulses and the satellite positioning vehicle speed, and the number of pulses is the number of pulses of the driving speed sensor when the vehicle travels per unit time.

[0027] Step 102: for each target motion data, a first parameter value corresponding to the target motion data is calculated based on the number of pulses included in the target motion data and the satellite positioning vehicle speed, and a second parameter value corresponding to the target motion data is calculated based on the satellite positioning vehicle speed included in the target motion data.

[0028] Step 103: Determine a target pulse coefficient corresponding to the vehicle based on a first parameter value corresponding to each target motion data and a second parameter value corresponding to each target motion data; wherein the target pulse coefficient may represent the number of pulses of a driving speed sensor when the vehicle travels a unit mileage.

[0029] Step 104: Store the target pulse coefficient for the vehicle.

[0030] Exemplarily, selecting multiple original motion data from W original motion data as target motion data may include but is not limited to: for each original motion data, if the original motion data meets a preset filtering condition, the original motion data may be used as the target motion data; wherein the preset filtering condition may include but is not limited to at least one of the following: the satellite positioning vehicle speed included in the original motion data is greater than a first speed threshold, and the satellite positioning vehicle speed is less than a second speed threshold, wherein the first speed threshold may be less than the second speed threshold; the number of pulses included in the original motion data is greater than a first number threshold; the number of satellites corresponding to the satellite positioning vehicle speed included in the original motion data is greater than a second number threshold, and the horizontal precision factor corresponding to the satellite positioning vehicle speed is less than a third number threshold.

[0031] Exemplarily, calculating the first parameter value corresponding to the target motion data based on the number of pulses included in the target motion data and the satellite positioning vehicle speed may include but is not limited to: determining the product value between the number of pulses and the satellite positioning vehicle speed as the first parameter value corresponding to the target motion data.

[0032] Exemplarily, calculating the second parameter value corresponding to the target motion data based on the satellite positioning vehicle speed included in the target motion data may include but is not limited to: determining the square value of the satellite positioning vehicle speed included in the target motion data as the second parameter value corresponding to the target motion data.

[0033] Exemplarily, determining the target pulse coefficient corresponding to the vehicle based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data may include but is not limited to: calculating a first summation value of the first parameter values ​​corresponding to all target motion data; calculating a second summation value of the second parameter values ​​corresponding to all target motion data; determining the target pulse coefficient corresponding to the vehicle based on the first summation value, the second summation value and a fixed constant, wherein the fixed constant is determined based on unit time.

[0034] Exemplarily, based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data, determining the target pulse coefficient corresponding to the vehicle may include but is not limited to: using the following formula to determine the target pulse coefficient corresponding to the vehicle:

[0035] Where K represents the target pulse coefficient, M represents a fixed constant, and V i represents the satellite positioning vehicle speed included in the motion data of the i-th target, P i represents the number of pulses included in the motion data of the i-th target, V i P i represents the first parameter value corresponding to the i-th target motion data, V i 2represents the second parameter value corresponding to the i-th target motion data, the value range of i is 1 to n, and n represents the total number of target motion data.

[0036] Exemplarily, after storing the target pulse coefficient for the vehicle, during the driving process of the vehicle, the vehicle speed to be compared at the target time can be determined based on the target pulse coefficient, and the satellite positioning speed of the vehicle at the target time can be obtained; if the deviation between the speed to be compared and the satellite positioning speed is not less than the preset deviation threshold, then W original motion data during the driving process of the vehicle are re-acquired, and the target pulse coefficient corresponding to the vehicle is re-determined based on the W original motion data, and the re-determined target pulse coefficient is stored; if the deviation is less than the preset deviation threshold, the stored target pulse coefficient is kept unchanged.

[0037] It can be seen from the above technical scheme that in the embodiments of the present application, the first parameter value corresponding to the target motion data can be calculated based on the number of pulses and the satellite positioning vehicle speed, the second parameter value corresponding to the target motion data can be calculated based on the satellite positioning vehicle speed, and the target pulse coefficient corresponding to the vehicle can be determined based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data, so as to obtain an accurate pulse coefficient, and the pulse coefficient with the smallest error can be calculated in real time, effectively eliminating the cumulative error. The pulse coefficient has higher accuracy, smaller error, and is more precise, avoiding unstable vehicle operation or inability to start the vehicle.

[0038] The following describes a method for determining the pulse coefficient in an embodiment of the present application in combination with a specific application scenario.

[0039] The pulse coefficient refers to the number of revolutions or pulses of the driving speed sensor for each kilometer of vehicle mileage, that is, the number of pulses output by the driving speed sensor for each kilometer of vehicle mileage. The pulse coefficient is important information for measuring vehicle speed, and the pulse coefficient can be used to calculate the vehicle speed. For example, the pulse coefficient is used to record the mileage of the vehicle, and the mileage is calculated by calculating the cumulative number of pulses received over a period of time.

[0040] For example, assuming that the pulse coefficient indicates that 637 revolutions are required for every 1 km traveled (i.e., the number of pulses of the driving speed sensor is 637 for every kilometer traveled by the vehicle), then the number of pulses of the driving speed sensor can be counted in real time. If the cumulative number of pulses received in time period X is 637 (i.e., the driving speed sensor outputs 637 pulse signals), it means that the vehicle travels 1 km in time period X, and then the vehicle speed in time period X can be calculated based on the length of time period X and the vehicle travel distance (i.e., 1 km).

[0041] The pulse coefficient is an important parameter of the vehicle terminal. By counting the pulse signal output by the drive speed sensor and combining it with the pulse coefficient, the vehicle speed can be determined. If the pulse coefficient is inaccurate, the accurate vehicle speed cannot be obtained. In some scenarios, if the pulse coefficient is inaccurate, it may also cause the electronic control module to not work properly, resulting in unstable vehicle operation or failure to start the vehicle.

[0042] The vehicle terminal can be a driving recorder (also called a departmental standard machine), a navigation vehicle machine, etc. There is no restriction on the type of the vehicle terminal, and it can be any terminal that needs to know the pulse coefficient. For example, a driving recorder is a digital electronic recording device that records and stores the vehicle's driving speed, time, mileage, and other status information related to the vehicle's driving, and can output data through an interface.

[0043] In order to obtain an accurate pulse coefficient, in an embodiment of the present application, a first parameter value can be calculated based on the number of pulses and the satellite-positioned vehicle speed, a second parameter value can be calculated based on the satellite-positioned vehicle speed, and the pulse coefficient can be determined based on the first parameter value and the second parameter value, thereby calculating the pulse coefficient with the smallest error, effectively eliminating the cumulative error, and making the pulse coefficient more accurate, the error of the pulse coefficient smaller, and the pulse coefficient more precise.

[0044] For example, the number of pulses (also called pulse count) can be recorded as P. The number of pulses is the number of pulses of the driving speed sensor when the vehicle travels per unit time. The unit time can be 1 second, 1 minute, 2 minutes, 5 minutes, etc., or 1 hour. There is no limit to this unit time. Taking the unit time of 1 second as an example, the number of pulses represents the number of pulses when the vehicle travels for one second.

[0045] The satellite positioning vehicle speed can be recorded as V. The unit of the satellite positioning vehicle speed can be km / h. The satellite positioning vehicle speed is the vehicle speed provided by the satellite, for example, the vehicle speed provided by the Beidou satellite.

[0046] The pulse coefficient can be recorded as K. The pulse coefficient can represent the number of pulses of the driving speed sensor when the vehicle travels a unit mileage. The unit mileage can be 1 meter, 2 meters, 5 meters, etc., or 1 kilometer (1km), 2 kilometers, 5 kilometers, etc., and there is no restriction on this unit mileage. Taking the unit mileage of 1km as an example, the pulse coefficient can represent the number of pulses of the driving speed sensor when the vehicle travels 1km. For example, the pulse coefficient indicates that 637 turns are required for every 1km traveled (that is, the number of pulses of the driving speed sensor is 637 when the vehicle travels every kilometer).

[0047] The driving speed sensor is a sensor that can output pulse signals. For example, the driving speed sensor can output one pulse signal for each rotation of the vehicle. Of course, the driving speed sensor can also output two pulse signals, or four pulse signals, or eight pulse signals for each rotation of the vehicle. There is no limitation to this. Take the example that the driving speed sensor can output one pulse signal for each rotation of the vehicle.

[0048] Based on the number of pulses P, the satellite positioning speed V and the pulse coefficient K, the relationship between the number of pulses P, the satellite positioning speed V and the pulse coefficient K can be expressed as the following formula: V = (P*M) / K. By deforming the above formula, the relationship between the number of pulses P, the satellite positioning speed V and the pulse coefficient K can also be expressed as the following formula: P = (K / M)*V. In the above formula, M represents a fixed constant, and the fixed constant M is determined based on the unit time. Assuming that the number of pulses represents the number of pulses when the vehicle travels for one second (that is, the unit time is one second), and the unit of the satellite positioning speed is km / h, the fixed constant M is 3600 (that is, 1 hour divided by one second). Assuming that the number of pulses represents the number of pulses when the vehicle travels for one minute (that is, the unit time is one minute), the fixed constant M is 60 (that is, 1 hour divided by one minute), and so on.

[0049] If the fixed constant M is 3600, the relationship between the number of pulses P, the satellite positioning vehicle speed V and the pulse coefficient K can be expressed as follows: V = (P*3600) / K, or, P = (K / 3600)*V.

[0050] Assuming C = K / M, such as C = K / 3600, by transforming the above formula, the relationship between the pulse number P, the satellite positioning vehicle speed V and the pulse coefficient K can also be expressed as the following formula: P = C*V, that is, there is a first-order linear relationship between the pulse number P and the satellite positioning vehicle speed V, and they pass through the origin in the rectangular coordinate system. Figure 2 As shown, it is a schematic diagram of the relationship between the number of pulses P and the satellite positioning vehicle speed V.

[0051] exist Figure 2 In the figure, the horizontal axis represents the satellite positioning vehicle speed V, and the vertical axis represents the number of pulses P. The satellite positioning vehicle speed V and the number of pulses P at the same time correspond to one coordinate point. After constructing multiple coordinate points in the rectangular coordinate system, C represents the slope of the line passing through the origin with the shortest distance from all coordinate points. Since C = K / 3600, the pulse coefficient K represents the slope of the line passing through the origin with the shortest distance from all coordinate points.

[0052] In summary, the pulse coefficient K can be determined based on the number of pulses P and the satellite positioning vehicle speed V. Based on the above principle, a method for determining the pulse coefficient is proposed in an embodiment of the present application, and the method can be applied to a vehicle-mounted terminal, which can be a driving recorder (also called a departmental standard machine), a navigation vehicle machine, etc. There is no restriction on the type of the vehicle-mounted terminal, and it can be any terminal that needs to know the pulse coefficient.

[0053] See also Figure 3 FIG. 1 is a flow chart of a method for determining a pulse coefficient, and the method may include:

[0054] Step 301: Acquire W raw motion data of a vehicle during driving, where W may be a positive integer greater than 1, and the raw motion data may include the number of pulses P and the satellite positioning vehicle speed V.

[0055] For example, the value of W can be configured based on experience. In order to improve the accuracy of the pulse coefficient, W can be a larger value, which means that the pulse coefficient needs to be determined based on a large amount of original motion data. The larger the value of W, the higher the accuracy of the pulse coefficient, and the greater the amount of calculation. Therefore, the value of W is not the larger the better, and the amount of calculation needs to be considered. In summary, a compromise value can be configured to ensure the accuracy of the pulse coefficient and reduce the amount of calculation. For example, W can be 500, 600, 800, 1000, etc.

[0056] For example, during the driving of the vehicle, original motion data a1, original motion data a2, original motion data a3, and so on can be obtained, and a total of W original motion data can be obtained.

[0057] The original motion data a1 may include the pulse number P1 at time t1 and the satellite positioning vehicle speed V1. The pulse number P1 may represent the pulse number of the driving speed sensor when the vehicle travels for one second, that is, the number of pulse signals output by the driving speed sensor within one second from one second before time t1 to time t1. The satellite positioning vehicle speed V1 may represent the vehicle speed of the vehicle at time t1 provided by the satellite.

[0058] The original motion data a2 may include the pulse number P2 and the satellite-positioned vehicle speed V2 at time t2, the original motion data a3 may include the pulse number P3 and the satellite-positioned vehicle speed V3 at time t3, and so on.

[0059] Step 302: Select a plurality of original motion data from the W original motion data as target motion data, and the target motion data may include the number of pulses P and the satellite positioning vehicle speed V.

[0060] Exemplarily, all the original motion data are selected from the W original motion data as the target motion data, that is, all the W original motion data are used as the target motion data. Alternatively, some of the original motion data are selected from the W original motion data as the target motion data, for example, some of the original motion data can be randomly selected from the W original motion data as the target motion data, or some algorithm can be used to select some of the original motion data from the W original motion data as the target motion data.

[0061] See also Figure 4 As shown in FIG. 1 , it is a schematic diagram of motion data acquisition optimization. After obtaining W raw motion data, there may be raw motion data with large errors and raw motion data with small errors. Based on this, it is necessary to select raw motion data with small errors from the W raw motion data as target motion data. In order to select raw motion data with small errors as target motion data, a certain algorithm can be used to select part of the raw motion data from the W raw motion data as target motion data.

[0062] Exemplarily, in order to select the original motion data with small error as the target motion data, then, for each original motion data, if the original motion data meets the preset filtering condition, the original motion data is used as the target motion data, and if the original motion data does not meet the preset filtering condition, the original motion data is not used as the target motion data. After performing the above processing on each original motion data, the original motion data with small error can be selected from the W original motion data as the target motion data.

[0063] Exemplarily, the preset filtering condition may include but is not limited to at least one of the following:

[0064] Condition 1: the satellite-positioned vehicle speed included in the original motion data is greater than a first speed threshold, and the satellite-positioned vehicle speed is less than a second speed threshold, wherein the first speed threshold may be less than the second speed threshold.

[0065] The first speed threshold can be configured based on experience, for example, the first speed threshold can be 25km / h, 30km / h, etc. The second speed threshold can be configured based on experience, for example, the second speed threshold can be 90km / h, 100km / h, etc. For example, condition 1 can be to select the original motion data with a speed range of 25km / h to 100km / h, and the positioning accuracy of satellite positioning during motion can be greater than that of static.

[0066] For example, for each raw motion data, if the satellite positioning vehicle speed included in the raw motion data is greater than the first speed threshold, and the satellite positioning vehicle speed included in the raw motion data is less than the second speed threshold, then the raw motion data meets condition 1. If the satellite positioning vehicle speed included in the raw motion data is not greater than the first speed threshold, then the raw motion data does not meet condition 1. If the satellite positioning vehicle speed included in the raw motion data is not less than the second speed threshold, then the raw motion data does not meet condition 1.

[0067] Condition 2: The number of pulses included in the original motion data is greater than a first number threshold.

[0068] The first quantity threshold can be configured based on experience, for example, the first quantity threshold can be 10, 15, etc. For example, condition 2 can be to select raw motion data with a pulse number greater than or equal to 10 within 1 second. When the pulse number is greater than or equal to 10, the collected pulse number is relatively accurate.

[0069] For example, for each original motion data, if the number of pulses included in the original motion data is greater than the first number threshold, the original motion data meets condition 2. If the number of pulses included in the original motion data is not greater than the first number threshold, the original motion data does not meet condition 2.

[0070] Condition 3: The number of satellites corresponding to the satellite-based vehicle speed included in the original motion data is greater than the second number threshold, and the horizontal precision factor corresponding to the satellite-based vehicle speed is less than the third number threshold.

[0071] The second quantity threshold can be configured based on experience, for example, the second quantity threshold can be 7, 8, 9, etc. The third quantity threshold can be configured based on experience, for example, the third quantity threshold can be 60, 65, 70, etc. There is no restriction on the second quantity threshold and the third quantity threshold. For example, condition 3 can be selecting raw motion data with a number of satellites greater than 7 and a horizontal precision factor less than 60, and the satellite positioning vehicle speed in the raw motion data with a number of satellites greater than 7 and a horizontal precision factor less than 60 is relatively accurate.

[0072] For example, for each raw motion data, if the number of satellites corresponding to the satellite-positioned vehicle speed included in the raw motion data is greater than the second number threshold, and the horizontal precision factor corresponding to the satellite-positioned vehicle speed included in the raw motion data is less than the third number threshold, then the raw motion data meets condition 3. If the number of satellites corresponding to the satellite-positioned vehicle speed included in the raw motion data is not greater than the second number threshold, then the raw motion data does not meet condition 3. If the horizontal precision factor corresponding to the satellite-positioned vehicle speed included in the raw motion data is not less than the third number threshold, then the raw motion data does not meet condition 3.

[0073] For example, when providing the satellite-positioned vehicle speed, the number of satellites corresponding to the satellite-positioned vehicle speed may also be provided. For example, when the number of satellites is 10, it means that the satellite-positioned vehicle speed is determined based on data from 10 satellites.

[0074] For example, when providing the satellite positioning vehicle speed, the horizontal precision factor (Hypertensive Disease Of Pregnancy) corresponding to the satellite positioning vehicle speed can also be provided. The smaller the horizontal precision factor, the higher the accuracy. The two main factors affecting the horizontal precision factor are: the phase distribution and the angle between multiple satellites and the vehicle in the sky at the time of positioning. The elevation angle of the selected satellite above the vehicle at the time. The smaller the horizontal precision factor corresponding to the satellite positioning vehicle speed, the higher the accuracy of the satellite positioning vehicle speed.

[0075] Exemplarily, if the preset filtering condition includes condition 1, condition 2 and condition 3 at the same time, for each original motion data, if the original motion data satisfies condition 1, condition 2 and condition 3 at the same time, the original motion data satisfies the preset filtering condition, that is, the original motion data is used as the target motion data. If the original motion data does not satisfy at least one of condition 1, condition 2 and condition 3, the original motion data does not satisfy the preset filtering condition, that is, the original motion data is not used as the target motion data.

[0076] If the preset filtering condition includes both condition 1 and condition 2 (condition 1 and condition 3, or condition 2 and condition 3), for each original motion data, if the original motion data satisfies both condition 1 and condition 2, the original motion data satisfies the preset filtering condition, that is, the original motion data is used as the target motion data. If the original motion data does not satisfy at least one of condition 1 and condition 2, the original motion data does not satisfy the preset filtering condition, that is, the original motion data is not used as the target motion data.

[0077] If the preset filtering condition only includes condition 1 (condition 2 or condition 3), for each original motion data, if the original motion data satisfies condition 1, the original motion data satisfies the preset filtering condition, and the original motion data is used as the target motion data. If the original motion data does not satisfy condition 1, the original motion data does not satisfy the preset filtering condition, and the original motion data is not used as the target motion data.

[0078] To sum up, in this embodiment, in order to further reduce errors, combined with the data characteristics of satellite positioning and pulse sampling, the original motion data can be filtered according to the above conditions 1, 2 and 3, so as to select the original motion data with small errors as the target motion data, thereby improving the accuracy of the calculation results.

[0079] Step 303: For each target motion data, a first parameter value corresponding to the target motion data is calculated based on the number of pulses included in the target motion data and the satellite positioning vehicle speed included in the target motion data.

[0080] Exemplarily, the product value between the number of pulses and the satellite positioning vehicle speed can be determined as the first parameter value corresponding to the target motion data. For example, the number of pulses included in the target motion data is recorded as P, and the satellite positioning vehicle speed included in the target motion data is recorded as V, then the product value between the number of pulses P and the satellite positioning vehicle speed V can be used as the first parameter value, that is, the first parameter value is P*V.

[0081] Step 304: for each target motion data, calculate the second parameter value corresponding to the target motion data based on the satellite positioning vehicle speed included in the target motion data. The first parameter value and the second parameter value are both intermediate values ​​for calculating the pulse coefficient, which can be understood as intermediate quantities for calculating the pulse coefficient.

[0082] For example, the square value of the satellite positioning vehicle speed included in the target motion data can be determined as the second parameter value corresponding to the target motion data. For example, if the satellite positioning vehicle speed is recorded as V, the square value of the satellite positioning vehicle speed V can be used as the second parameter value, that is, the second parameter value is V 2 .

[0083] Step 305: Determine the target pulse coefficient corresponding to the vehicle based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data. The target pulse coefficient may represent the number of pulses of the driving speed sensor when the vehicle travels a unit mileage. For example, the target pulse coefficient refers to the number of revolutions or pulses of the driving speed sensor when the vehicle travels per kilometer, that is, the number of pulse signals output by the driving speed sensor when the vehicle travels per kilometer. Assuming that the target pulse coefficient indicates that 637 revolutions are required for every 1 km of travel, the number of pulses of the driving speed sensor when the vehicle travels per kilometer is 637.

[0084] Exemplarily, based on the first parameter value corresponding to each target motion data, a first summation value of all first parameter values ​​can be calculated. Based on the second parameter value corresponding to each target motion data, a second summation value of all second parameter values ​​can be calculated. Based on this, the target pulse coefficient corresponding to the vehicle can be determined based on the first summation value, the second summation value and a fixed constant, and the fixed constant is determined based on a unit time.

[0085] For example, assuming that the number of pulses represents the number of pulses when the vehicle travels for one second (i.e., the unit time is one second), and the unit of the satellite positioning vehicle speed is km / h, then the fixed constant M can be 3600 (i.e., 1 hour divided by one second). Assuming that the number of pulses represents the number of pulses when the vehicle travels for one minute (i.e., the unit time is one minute), then the fixed constant M can be 60 (i.e., 1 hour divided by one minute), and so on.

[0086] Exemplarily, based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data, the target pulse coefficient corresponding to the vehicle can be determined by the following formula (1). Assuming that the fixed constant M is 3600, the target pulse coefficient corresponding to the vehicle can be determined by the following formula (2). Of course, formulas (1) and (2) are only examples, and there is no limitation on this calculation method.

[0087]

[0088] In formula (1) and formula (2), K may represent a target pulse coefficient, and M may represent a fixed constant. i It can represent the satellite positioning vehicle speed included in the i-th target motion data, P i It can represent the number of pulses included in the motion data of the i-th target, V i P i can represent the first parameter value corresponding to the i-th target motion data, Vi can represent the second parameter value corresponding to the i-th target motion data, the value range of i can be 1 to n, and n can represent the total number of target motion data. A first summed value of all first parameter values ​​may be represented. A second summed value of all second parameter values ​​may be represented.

[0089] For example, after obtaining multiple target motion data (i.e., n target motion data), based on each target motion data (taking the i-th target motion data as an example), the satellite positioning vehicle speed V can be obtained from the target motion data. i and the number of pulses P i Then, by substituting the satellite positioning vehicle speed and pulse number in all target motion data into formula (1) or formula (2), the target pulse coefficient can be obtained. That is, given multiple target motion data, such as (V1, P1), (V2, P2), ..., (V n , P n ), the target pulse coefficient corresponding to the vehicle can be calculated using formula (1) or formula (2). The more the target motion data, the smaller the error of the target pulse coefficient K. By collecting a large amount of original motion data, a large amount of target motion data can be filtered to calculate a very accurate target pulse coefficient.

[0090] Step 306: Store the target pulse coefficient for the vehicle.

[0091] For example, after obtaining the target pulse coefficient corresponding to the vehicle, the target pulse coefficient can be stored, so that the vehicle terminal can use the target pulse coefficient to calculate the vehicle speed. For example, the target pulse coefficient refers to the number of pulses of the driving speed sensor when the vehicle travels per kilometer. The target pulse coefficient is used to record the mileage of the vehicle, and the mileage is calculated by calculating the cumulative number of pulses received within a period of time.

[0092] For example, assuming that the target pulse coefficient indicates that 637 revolutions are required for every 1 km traveled (i.e., the number of pulses of the driving speed sensor is 637 for every kilometer traveled by the vehicle), then the number of pulses of the driving speed sensor can be counted in real time. If the cumulative number of pulses received in time period X is 637 (i.e., the driving speed sensor outputs 637 pulse signals), it means that the vehicle travels 1 km in time period X, and then the vehicle speed in time period X can be calculated based on the length of time period X and the vehicle travel distance (i.e., 1 km).

[0093] In a possible implementation, after the target pulse coefficient is stored for the vehicle, the target pulse coefficient remains unchanged, that is, the target pulse coefficient is not updated, and the vehicle speed is always calculated using the target pulse coefficient. Alternatively, after the target pulse coefficient is stored for the vehicle, the target pulse coefficient may also be dynamically updated, that is, the target pulse coefficient (that is, the updated target pulse coefficient) is re-determined, the re-determined target pulse coefficient is stored for the vehicle, and the vehicle speed is calculated using the re-determined target pulse coefficient.

[0094] For example, after storing the target pulse coefficient for the vehicle, the target pulse coefficient can be updated regularly, such as once every 1 hour (or 30 minutes, or 2 hours, etc., there is no limit on the update duration), so that the target pulse coefficient can be dynamically updated, and the latest target pulse coefficient can always be stored to ensure the accuracy of the target pulse coefficient. Each time the target pulse coefficient is updated, steps 301 to 305 are used to redetermine the target pulse coefficient and store the redetermined target pulse coefficient.

[0095] In the above method, the target pulse coefficient needs to be updated regularly. Since the target pulse coefficient needs to be calculated regularly, the latest target pulse coefficient will be used to calculate the vehicle speed each time the target pulse coefficient is calculated, which will cause the vehicle speed to fluctuate, thereby affecting the accuracy of the actual vehicle speed. Based on this, in order to reduce the fluctuation of the vehicle speed, the target pulse coefficient can also be updated in the following way:

[0096] After storing the target pulse coefficient for the vehicle, during the driving process of the vehicle, the vehicle speed to be compared at the target time can be determined based on the target pulse coefficient, and the satellite positioning speed of the vehicle at the target time can be obtained. For example, when the target pulse coefficient is stored at time T1, the target time can be time T1+X minutes, time T1+2X minutes, time T1+3X minutes, and so on. X minutes can be 3 minutes, 5 minutes, 10 minutes, etc., and there is no limitation to this. At each target time, the vehicle speed to be compared at the target time can be determined based on the target pulse coefficient, and the satellite positioning speed of the vehicle at the target time can be obtained.

[0097] If the deviation between the speed to be compared and the satellite positioning speed is less than the preset deviation threshold, the stored target pulse coefficient can be kept unchanged, and the next target moment can be waited for, and the speed to be compared of the vehicle at the target moment can be determined based on the target pulse coefficient, and the satellite positioning speed of the vehicle at the target moment can be obtained, and so on. For example, at time T1+X minutes, the speed to be compared and the satellite positioning speed can be obtained. If the deviation between the speed to be compared and the satellite positioning speed is less than the preset deviation threshold, wait until time T1+2X minutes, and re-obtain the speed to be compared and the satellite positioning speed, and so on.

[0098] If the deviation between the vehicle speed to be compared and the satellite-positioned vehicle speed is not less than a preset deviation threshold, the W original motion data during the vehicle's driving process are reacquired, and the target pulse coefficient corresponding to the vehicle is re-determined based on the W original motion data, and the re-determined target pulse coefficient is stored, that is, steps 301-305 are used to re-determine the target pulse coefficient, and the re-determined target pulse coefficient is stored.

[0099] For example, at time T1+X minutes, the vehicle speed to be compared and the satellite-positioned vehicle speed can be obtained. If the deviation between the vehicle speed to be compared and the satellite-positioned vehicle speed is not less than the preset deviation threshold, steps 301 to 305 are used to redetermine the target pulse coefficient, that is, repeat the above steps to redetermine the target pulse coefficient.

[0100] Exemplarily, the deviation between the vehicle speed to be compared and the satellite-positioned vehicle speed may be the absolute value of the difference between the vehicle speed to be compared and the satellite-positioned vehicle speed, and the preset deviation threshold may be a numerical threshold, such as 5, 6, 7, etc. Alternatively, the deviation between the vehicle speed to be compared and the satellite-positioned vehicle speed may be a ratio between the absolute value of the difference and the satellite-positioned vehicle speed, or a ratio between the absolute value of the difference and the vehicle speed to be compared, the absolute value of the difference may be the absolute value of the difference between the vehicle speed to be compared and the satellite-positioned vehicle speed, and the preset deviation threshold may be a ratio threshold, such as 11%, 12%, 15%, etc.

[0101] By calculating the deviation between the vehicle speed to be compared and the satellite positioning vehicle speed, and comparing the deviation with the preset deviation threshold, a certain margin can be left to reduce the error and further improve the accuracy of the target pulse coefficient.

[0102] In a possible implementation manner, all data involved in this embodiment (such as original motion data during vehicle driving) are acquired and used only with the knowledge and authorization of the relevant users.

[0103] It can be seen from the above technical scheme that in this embodiment, the first parameter value corresponding to the target motion data can be calculated based on the number of pulses and the satellite positioning vehicle speed, the second parameter value corresponding to the target motion data can be calculated based on the satellite positioning vehicle speed, and the target pulse coefficient corresponding to the vehicle can be determined based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data, so as to obtain an accurate pulse coefficient, realize automatic calibration of the vehicle pulse coefficient, and be able to calculate the pulse coefficient with the smallest error in real time, effectively eliminate the cumulative error, and the pulse coefficient has higher accuracy, smaller error, and more precise pulse coefficient.

[0104] Based on the same application concept as the above method, a pulse coefficient determination device is proposed in the embodiment of the present application, see Figure 5 FIG. 1 is a schematic diagram of the structure of the device, and the device may include:

[0105] The acquisition module 51 is used to acquire W original motion data during the vehicle's driving process, and select multiple original motion data from the W original motion data as target motion data; wherein the target motion data includes the number of pulses and the satellite positioning vehicle speed, and the number of pulses is the number of pulses of the driving speed sensor when the vehicle travels per unit time; the determination module 52 is used to calculate, for each target motion data, a first parameter value corresponding to the target motion data based on the number of pulses included in the target motion data and the satellite positioning vehicle speed, and calculate a second parameter value corresponding to the target motion data based on the satellite positioning vehicle speed included in the target motion data; the determination module 52 is also used to determine the target pulse coefficient corresponding to the vehicle based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data; wherein the target pulse coefficient represents the number of pulses of the driving speed sensor when the vehicle travels per unit mileage; the storage module 53 is used to store the target pulse coefficient for the vehicle.

[0106] Exemplarily, when the acquisition module 51 selects multiple original motion data from W original motion data as target motion data, it is specifically used to: for each original motion data, if the original motion data meets the preset filtering condition, the original motion data is used as the target motion data; wherein the preset filtering condition may include but is not limited to at least one of the following: the satellite positioning vehicle speed included in the original motion data is greater than the first speed threshold, and the satellite positioning vehicle speed is less than the second speed threshold, wherein the first speed threshold is less than the second speed threshold; the number of pulses included in the original motion data is greater than the first number threshold; the number of satellites corresponding to the satellite positioning vehicle speed included in the original motion data is greater than the second number threshold, and the horizontal precision factor corresponding to the satellite positioning vehicle speed is less than the third number threshold.

[0107] Exemplarily, when the determination module 52 calculates the first parameter value corresponding to the target motion data based on the number of pulses included in the target motion data and the satellite positioning vehicle speed, it is specifically used to: determine the product value between the number of pulses and the satellite positioning vehicle speed as the first parameter value corresponding to the target motion data.

[0108] Exemplarily, when the determination module 52 calculates the second parameter value corresponding to the target motion data based on the satellite positioning vehicle speed included in the target motion data, it is specifically used to: determine the square value of the satellite positioning vehicle speed as the second parameter value corresponding to the target motion data.

[0109] Exemplarily, when determining the target pulse coefficient corresponding to the vehicle based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data, the determination module 52 is specifically used to: calculate the first sum of all first parameter values ​​for each target motion data; calculate the second sum of all second parameter values ​​based on the second parameter value corresponding to each target motion data; and determine the target pulse coefficient corresponding to the vehicle based on the first sum, the second sum and a fixed constant. The fixed constant is determined based on the unit time.

[0110] Exemplarily, the determination module 52 determines the target pulse coefficient corresponding to the vehicle based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data by using the following formula to determine the target pulse coefficient corresponding to the vehicle:

[0111]

[0112] Wherein, K represents the target pulse coefficient, M represents a fixed constant, V i represents the satellite positioning vehicle speed included in the motion data of the i-th target, P irepresents the number of pulses included in the motion data of the i-th target, V i P i represents the first parameter value corresponding to the i-th target motion data, V i 2 represents the second parameter value corresponding to the i-th target motion data, the value range of i is 1 to n, and n represents the total number of target motion data.

[0113] Exemplarily, the determination module 52 is also used to determine the vehicle speed to be compared at the target time based on the target pulse coefficient during the driving of the vehicle after storing the target pulse coefficient for the vehicle, and obtain the satellite positioning speed of the vehicle at the target time; if the deviation between the vehicle speed to be compared and the satellite positioning speed is not less than a preset deviation threshold, then re-acquire W original motion data during the driving of the vehicle, and re-determine the target pulse coefficient corresponding to the vehicle based on the W original motion data, and the storage module 53 stores the re-determined target pulse coefficient; if the deviation is less than the preset deviation threshold, then keep the stored target pulse coefficient unchanged.

[0114] Based on the same application concept as the above method, an electronic device (such as the above vehicle-mounted terminal) is proposed in the embodiment of the present application, see Figure 6 As shown, it includes: a processor 61 and a machine-readable storage medium 62, the machine-readable storage medium 62 stores machine-executable instructions that can be executed by the processor 61; the processor 61 is used to execute the machine-executable instructions to implement the method for determining the pulse coefficient disclosed in the above example of this application.

[0115] Based on the same application concept as the above method, an embodiment of the present application also provides a machine-readable storage medium, on which a number of computer instructions are stored. When the computer instructions are executed by a processor, the method for determining the pulse coefficient disclosed in the above example of the present application can be implemented.

[0116] The above-mentioned machine-readable storage medium may be any electronic, magnetic, optical or other physical storage device, which may contain or store information, such as executable instructions, data, etc. For example, the machine-readable storage medium may be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard disk drive), solid state drive, any type of storage disk (such as CD, DVD, etc.), or similar storage medium, or a combination thereof.

[0117] Based on the same application concept as the above method, an embodiment of the present application further provides a computer program product, which may include a computer program. When the computer program is executed by a processor, it implements the method for determining the pulse coefficient disclosed in the above example of the present application.

[0118] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0119] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for determining a pulse coefficient, characterized in that: The method comprises: Acquire W original motion data during the vehicle's travel, and select a plurality of original motion data from the W original motion data as target motion data; wherein the target motion data includes the number of pulses and the satellite positioning vehicle speed, and the number of pulses is the number of pulses of the driving speed sensor when the vehicle travels per unit time; For each target motion data, a first parameter value corresponding to the target motion data is calculated based on the number of pulses included in the target motion data and the satellite positioning vehicle speed, and a second parameter value corresponding to the target motion data is calculated based on the satellite positioning vehicle speed included in the target motion data; Determine a target pulse coefficient corresponding to the vehicle based on a first parameter value corresponding to each target motion data and a second parameter value corresponding to each target motion data; wherein the target pulse coefficient represents the number of pulses of the driving speed sensor when the vehicle travels a unit mileage; The target pulse factor is stored for the vehicle.

2. The method according to claim 1, characterized in that The selecting a plurality of original motion data from the W original motion data as the target motion data comprises: For each original motion data, if the original motion data meets a preset filtering condition, the original motion data is used as the target motion data; wherein the preset filtering condition includes at least one of the following: The satellite positioning vehicle speed included in the original motion data is greater than a first speed threshold, and the satellite positioning vehicle speed is less than a second speed threshold, wherein the first speed threshold is less than the second speed threshold; The number of pulses included in the raw motion data is greater than a first number threshold; The number of satellites corresponding to the satellite-positioned vehicle speed included in the original motion data is greater than a second number threshold, and the horizontal precision factor corresponding to the satellite-positioned vehicle speed is less than a third number threshold.

3. The method according to claim 1, characterized in that: The method of calculating the first parameter value corresponding to the target motion data based on the number of pulses included in the target motion data and the satellite positioning vehicle speed includes: determining the product value between the number of pulses and the satellite positioning vehicle speed as the first parameter value corresponding to the target motion data.

4. The method according to claim 1, characterized in that The calculating the second parameter value corresponding to the target motion data based on the satellite positioning vehicle speed included in the target motion data includes: determining the square value of the satellite positioning vehicle speed as the second parameter value corresponding to the target motion data.

5. The method according to any one of claims 1 to 4, characterized in that: The determining the target pulse coefficient corresponding to the vehicle based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data includes: Calculate a first sum value of first parameter values ​​corresponding to all target motion data; Calculate a second sum of the second parameter values ​​corresponding to all target motion data; A target pulse coefficient corresponding to the vehicle is determined based on the first summation value, the second summation value, and a fixed constant, wherein the fixed constant is determined based on the unit time.

6. The method according to any one of claims 1 to 4, characterized in that: The determining the target pulse coefficient corresponding to the vehicle based on the first parameter value corresponding to each target motion data and the second parameter value corresponding to each target motion data includes: The target pulse coefficient corresponding to the vehicle is determined using the following formula: Wherein, K represents the target pulse coefficient, M represents a fixed constant, V i represents the satellite positioning vehicle speed included in the motion data of the i-th target, P i represents the number of pulses included in the motion data of the i-th target, V i P i represents the first parameter value corresponding to the i-th target motion data, represents the second parameter value corresponding to the i-th target motion data, the value range of i is 1 to n, and n represents the total number of target motion data.

7. The method according to claim 1, characterized in that After storing the target pulse coefficient for the vehicle, the method further includes: During the driving process of the vehicle, determining the vehicle speed to be compared at a target time based on the target pulse coefficient, and obtaining the satellite positioning vehicle speed of the vehicle at the target time; If the deviation between the vehicle speed to be compared and the satellite positioning vehicle speed is not less than a preset deviation threshold, reacquiring W original motion data during the vehicle's driving process, re-determining the target pulse coefficient corresponding to the vehicle based on the W original motion data, and storing the re-determined target pulse coefficient; If the deviation is less than the preset deviation threshold, the stored target pulse coefficient is kept unchanged.

8. A device for determining a pulse coefficient, characterized in that: The device comprises: An acquisition module is used to acquire W original motion data during the vehicle's travel, and select a plurality of original motion data from the W original motion data as target motion data; wherein the target motion data includes the number of pulses and the satellite positioning vehicle speed, and the number of pulses is the number of pulses of the driving speed sensor when the vehicle travels per unit time; A determination module, configured to calculate, for each target motion data, a first parameter value corresponding to the target motion data based on the number of pulses included in the target motion data and the satellite positioning vehicle speed, and calculate a second parameter value corresponding to the target motion data based on the satellite positioning vehicle speed included in the target motion data; The determination module is further used to determine a target pulse coefficient corresponding to the vehicle based on a first parameter value corresponding to each target motion data and a second parameter value corresponding to each target motion data; wherein the target pulse coefficient represents the number of pulses of the driving speed sensor when the vehicle travels a unit mileage; A storage module is used to store the target pulse coefficient for the vehicle.

9. An electronic device, characterized in that: include: a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor; The processor is used to execute machine executable instructions to implement the method described in any one of claims 1-7.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores machine-executable instructions that can be executed by a processor; wherein the processor is configured to execute the machine-executable instructions to implement the method described in any one of claims 1-7.

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