A method, apparatus and device for determining a pulse coefficient

Abstract

The application provides a pulse coefficient determination method, device and equipment. The method comprises the following steps: obtaining W original motion data in the driving process of a vehicle, selecting a plurality of original motion data as target motion data from the W original motion data; calculating a first parameter value corresponding to the target motion data based on the number of pulses included in the target motion data and a satellite positioning vehicle speed, 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; and storing the target pulse coefficient for the vehicle. Through the technical scheme of the application, an accurate pulse coefficient can be obtained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a determination method, device and equipment of pulse coefficient. BACKGROUND

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

[0003] On a vehicle, pulse signals are applied in multiple systems, such as a vehicle speed sensor, an engine speed sensor, an accelerator pedal sensor, etc. The signals sent by these sensors need to be converted before being recognized by an electronic control module. When performing the conversion, the pulse signals need to be counted, and the accuracy of counting depends on the accuracy of the pulse coefficient. If the pulse coefficient is inaccurate, the electronic control module may not work normally, thereby causing the vehicle to run unstably or the vehicle to be unable to start.

[0004] However, there is no effective implementation way to determine the pulse coefficient, and an accurate pulse coefficient cannot be obtained, i.e., an incorrect pulse coefficient may be obtained, thereby causing the vehicle to run unstably or the vehicle to be unable to start. SUMMARY

[0005] The present application provides a determination method of a pulse coefficient, which comprises:

[0006] Obtaining W original motion data in a vehicle driving process, and selecting a plurality of original motion data from the W original motion data as target motion data; wherein the target motion data comprises a pulse number and a satellite positioning vehicle speed, and the pulse number is the number of pulses of a driving speed sensor when the vehicle travels per unit time;

[0007] For each 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;

[0008] 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; wherein the target pulse coefficient represents the number of pulses of the driving speed sensor when the vehicle travels per unit distance;

[0009] Storing the target pulse coefficient for the vehicle.

[0010] The present application provides a determination device of a pulse coefficient, which comprises:

[0011] The acquisition module is configured to acquire W original motion data in a vehicle driving process, and select a plurality of original motion data from the W original motion data as target motion data; wherein the target motion data comprises a pulse number and a satellite positioning vehicle speed, and the pulse number is a pulse number of a driving speed sensor in a unit time when the vehicle drives;

[0012] The determination module is configured to calculate, for each target motion data, 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 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 configured to determine 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; wherein the target pulse coefficient represents a pulse number of the driving speed sensor in a unit mileage when the vehicle drives;

[0014] The storage module is configured to store the target pulse coefficient for the vehicle.

[0015] The present application provides a computer program product, the computer program product comprising a computer program, the computer program being executed by a processor to implement the above-mentioned determination method of the pulse coefficient.

[0016] The present application provides an electronic device, comprising a processor and a machine readable storage medium, the machine readable storage medium storing machine executable instructions capable of being executed by the processor; wherein the processor is configured to execute the machine executable instructions to implement the above-mentioned determination method of the pulse coefficient.

[0017] The present application provides a machine readable storage medium, the machine readable storage medium storing machine executable instructions capable of being executed by a processor; wherein the processor is configured to execute the machine executable instructions to implement the above-mentioned determination method of the pulse coefficient.

[0018] As can be seen from the above technical solutions, in the embodiments of the present application, the first parameter value corresponding to the target motion data can be calculated based on the pulse number 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 minimum error can be calculated in real time, the cumulative error can be effectively eliminated, the precision of the pulse coefficient is higher, the error is smaller, and the pulse coefficient is more accurate, thereby avoiding the situations that the vehicle runs unstably or the vehicle cannot start, etc. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a flowchart of a method for determining a pulse coefficient in an embodiment of the present application;

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

[0021] Figure 3 is a flowchart of a method for determining a pulse coefficient in an embodiment of the present application;

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

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

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

[0025] A method for determining a pulse coefficient is proposed in the embodiments of the present application, which can be applied to a vehicle terminal, as shown in Figure 1 , which is a flowchart of the method, which can include:

[0026] Step 101, obtaining W original motion data in the driving process of the vehicle, and selecting a plurality of original motion data (such as part of the original motion data or all the original motion data) from the W original motion data as target motion data. Wherein, W is a positive integer greater than 1, 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 per unit time when the vehicle drives.

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

[0028] Step 103, 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; wherein the target pulse coefficient can represent the number of pulses of the driving speed sensor per unit distance when the vehicle drives.

[0029] Step 104, storing the target pulse coefficient for the vehicle.

[0030] For example, selecting multiple raw motion data as target motion data from W raw motion data may include, but is not limited to: for each raw motion data, if the raw motion data meets a preset filtering condition, then the raw motion data can be used as 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 raw 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 raw motion data is greater than a first quantity threshold; the number of satellites corresponding to the satellite positioning vehicle speed included in the raw motion data is greater than a second quantity threshold, and the horizontal accuracy factor corresponding to the satellite positioning vehicle speed is less than a third quantity threshold.

[0031] For example, 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 between the number of pulses and the satellite positioning vehicle speed as the first parameter value corresponding to the target motion data.

[0032] For example, 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 of the satellite positioning vehicle speed included in the target motion data as the second parameter value corresponding to the target motion data.

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

[0034] For example, the target pulse coefficient corresponding to the vehicle can be determined based on the first parameter value and the second parameter value corresponding to each target motion data, which 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 P represents the satellite-positioned vehicle speed included in the motion data of the i-th target. i V represents the number of pulses included in the motion data of the i-th target. i P i V represents the first parameter value corresponding to the i-th target motion data. i 2This represents the second parameter value corresponding to the i-th target motion data, where i ranges from 1 to n, and n represents the total number of target motion data.

[0036] For example, after storing the target pulse coefficient for the vehicle, during the vehicle's operation, 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 vehicle speed to be compared and the satellite positioning speed is not less than a preset deviation threshold, then W original motion data during the vehicle's operation are re-acquired, 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, then the stored target pulse coefficient remains unchanged.

[0037] As can be seen from the above technical solutions, in this embodiment, the first parameter value corresponding to the target motion data can be calculated based on the number of pulses and the vehicle speed based on satellite positioning, and the second parameter value corresponding to the target motion data can be calculated based on the vehicle speed based on satellite positioning. Based on the first parameter value and the second parameter value corresponding to each target motion data, the target pulse coefficient corresponding to the vehicle can be determined, thereby obtaining an accurate pulse coefficient. It can calculate the pulse coefficient with the smallest error in real time, effectively eliminate accumulated errors, and the pulse coefficient has higher accuracy, smaller error, and is more precise, avoiding situations such as unstable vehicle operation or vehicle failure to start.

[0038] The method for determining the pulse coefficient in this application embodiment will be described below in conjunction with specific application scenarios.

[0039] The pulse coefficient refers to the number of revolutions or pulses driven by the speed sensor per kilometer traveled by the vehicle; that is, the number of pulses output by the speed sensor per kilometer traveled by the vehicle. The pulse coefficient is crucial information for measuring vehicle speed and can be used to calculate it. For example, the pulse coefficient can be used to record the vehicle's mileage, calculating the cumulative number of pulses received over a period of time to determine the distance traveled.

[0040] For example, assuming the pulse coefficient represents 637 revolutions per kilometer traveled (i.e., the number of pulses from the speed sensor per kilometer traveled is 637), the number of pulses from the speed sensor can be counted in real time. If the cumulative number of pulses received within time period X is 637 (i.e., the speed sensor outputs 637 pulse signals), it means the vehicle traveled 1 km within time period X. Therefore, the vehicle speed within time period X can be calculated based on the length of time period X and the distance traveled (i.e., 1 km).

[0041] The pulse coefficient is a crucial parameter for vehicle-mounted terminals. By counting the pulse signals output by the drive speed sensor and combining this pulse coefficient, the vehicle speed can be determined. Inaccurate pulse coefficients will prevent the accurate determination of vehicle speed. In certain scenarios, inaccurate pulse coefficients may also cause the electronic control module to malfunction, leading to vehicle instability or failure to start.

[0042] The vehicle-mounted terminal can be a driving recorder (also known as a vehicle standard device), a navigation vehicle system, etc. There are no restrictions on the type of vehicle-mounted terminal; it can be any terminal that needs to obtain pulse coefficients. For example, a driving recorder is a digital electronic recording device that records and stores vehicle speed, time, mileage, and other relevant vehicle driving status information, and can output data through an interface.

[0043] In order to obtain an accurate pulse coefficient, in this embodiment of the application, a first parameter value can be calculated based on the number of pulses and the satellite positioning vehicle speed, a second parameter value can be calculated based on the satellite positioning 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 accumulated error, and resulting in higher accuracy, smaller error, and more precise pulse coefficient.

[0044] For example, the number of pulses (also called the pulse count) can be denoted as P. The pulse count is the number of pulses that drive the speed sensor per unit time of vehicle travel. The unit time can be 1 second, 1 minute, 2 minutes, 5 minutes, or even 1 hour; there is no restriction on the unit time. Taking 1 second as an example, the pulse count represents the number of pulses when the vehicle travels for one second.

[0045] The vehicle speed determined by satellite positioning can be denoted as V, and the unit of measurement can be km / h. Satellite positioning vehicle speed is the vehicle speed provided by satellite. For example, the vehicle speed provided by the BeiDou satellite system.

[0046] The pulse coefficient can be denoted as K. The pulse coefficient represents the number of pulses that drive the speed sensor per unit distance traveled by the vehicle. The unit distance can be 1 meter, 2 meters, 5 meters, etc., or it can be 1 kilometer (1km), 2 kilometers, 5 kilometers, etc., with no restriction on the unit distance. Taking 1km as an example, the pulse coefficient represents the number of pulses that drive the speed sensor when the vehicle travels 1km. For example, the pulse coefficient could indicate that the vehicle needs to rotate 637 times per kilometer (i.e., the vehicle needs to drive the speed sensor 637 times per kilometer).

[0047] A drive speed sensor is a sensor that can output pulse signals. For example, the drive speed sensor can output one pulse signal for every revolution the vehicle makes. Of course, the drive speed sensor can also output two, four, or eight pulse signals for every revolution the vehicle makes. There is no limitation on this. Let's take the example that the drive speed sensor can output one pulse signal for every revolution the vehicle makes.

[0048] Based on the pulse count P, satellite-positioned vehicle speed V, and pulse coefficient K, the relationship between these three factors can be expressed as: V = (P * M) / K. By modifying this formula, the relationship can also be expressed as: P = (K / M) * V. In these formulas, M represents a fixed constant, determined based on unit time. Assuming the pulse count represents the number of pulses per second of vehicle travel (i.e., unit time is one second), and the unit of satellite-positioned vehicle speed is km / h, then the fixed constant M is 3600 (i.e., 1 hour divided by 1 second). Assuming the pulse count represents the number of pulses per minute of vehicle travel (i.e., unit time is one minute), then the fixed constant M is 60 (i.e., 1 hour divided by 1 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, then by transforming the above formula, the relationship between the pulse quantity P, the satellite positioning vehicle speed V, and the pulse coefficient K can also be expressed as: P = C * V. That is, the pulse quantity P and the satellite positioning vehicle speed V exhibit a first-order linear relationship, and this relationship passes through the origin in the Cartesian coordinate system. (See also...) Figure 2 The diagram shown illustrates the relationship between the number of pulses P and the vehicle speed V in satellite positioning.

[0051] exist Figure 2 In the diagram, the horizontal axis represents the satellite positioning vehicle speed V, and the vertical axis represents the pulse count P. At any given moment, the satellite positioning vehicle speed V and pulse count P correspond to a single coordinate point. After constructing multiple coordinate points in the Cartesian coordinate system, C represents the slope of the straight line passing through the origin that has the shortest distance to all coordinate points. Since C = K / 3600, the pulse coefficient K represents the slope of the straight line passing through the origin that has the shortest distance to all coordinate points.

[0052] In summary, the pulse coefficient K can be determined based on the pulse quantity P and the satellite-positioned vehicle speed V. Based on the above principle, this application proposes a method for determining the pulse coefficient. This method can be applied to vehicle-mounted terminals, which can be driving recorders (also known as vehicle standard recorders), navigation vehicle-mounted systems, etc. There are no restrictions on the type of vehicle-mounted terminal; it can be any terminal that needs to know the pulse coefficient.

[0053] See Figure 3 The diagram shown is a flowchart illustrating a method for determining the pulse coefficient. This method may include:

[0054] Step 301: Obtain W raw motion data during the vehicle's driving process. W can be a positive integer greater than 1. The raw motion data may include the number of pulses P and the satellite-positioned vehicle speed V.

[0055] For example, the value of W can be configured empirically. To improve the accuracy of the pulse coefficient, W can be a large value, indicating that the pulse coefficient needs to be determined based on a large amount of raw motion data. A larger value of W results in higher accuracy of the pulse coefficient, but also increases the computational load. Therefore, a larger value for W is not always better; the computational load must also be considered. In summary, a compromise value can be configured that ensures the accuracy of the pulse coefficient while reducing the computational load. For example, W could be 500, 600, 800, or 1000.

[0056] For example, during the vehicle's movement, raw motion data a1, raw motion data a2, raw motion data a3, and so on, can be acquired in total, up to W raw motion data.

[0057] The raw motion data a1 can include the number of pulses P1 at time t1 and the satellite-positioned vehicle speed V1. The number of pulses P1 represents the number of pulses from the drive speed sensor during one second of vehicle travel; that is, the number of pulse signals output by the drive speed sensor during that one second from one second before time t1 to time t1. The satellite-positioned vehicle speed V1 represents the vehicle speed at time t1 provided by the satellite.

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

[0059] Step 302: Select multiple raw motion data from W raw 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] For example, all of the W original motion data can be selected as the target motion data, meaning all W original motion data are used as the target motion data. Alternatively, a portion of the W original motion data can be selected as the target motion data. For instance, a portion of the W original motion data can be randomly selected as the target motion data, or an algorithm can be used to select a portion of the W original motion data as the target motion data.

[0061] See Figure 4 The diagram illustrates the optimization of motion data acquisition. After obtaining W raw motion data points, there may be raw motion data with large errors and raw motion data with small errors. Therefore, it is necessary to select the raw motion data with small errors from the W raw motion data points as the target motion data. To select the raw motion data with small errors as the target motion data, an algorithm can be used to select a subset of the raw motion data points from the W raw motion data points as the target motion data.

[0062] For example, to select the raw motion data with the smallest error as the target motion data, for each raw motion data, if the raw motion data meets the preset filtering conditions, then the raw motion data is selected as the target motion data; if the raw motion data does not meet the preset filtering conditions, then the raw motion data is not selected as the target motion data. After performing the above processing on each raw motion data, the raw motion data with the smallest error can be selected from W raw motion data as the target motion data.

[0063] For example, the preset filtering conditions may include, but are 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 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 empirically, for example, it could be 25 km / h, 30 km / h, etc. The second speed threshold can also be configured empirically, for example, it could be 90 km / h, 100 km / h, etc. For instance, condition 1 could be selecting raw motion data with vehicle speeds ranging from 25 km / h to 100 km / h, and ensuring that the positioning accuracy during motion is greater than when stationary.

[0066] For example, for each piece of raw motion data, if the satellite-positioned vehicle speed included in the raw motion data is greater than a first speed threshold and less than a second speed threshold, then the raw motion data satisfies condition 1. If the satellite-positioned vehicle speed included in the raw motion data is not greater than the first speed threshold, then the raw motion data does not satisfy condition 1. If the satellite-positioned vehicle speed included in the raw motion data is not less than the second speed threshold, then the raw motion data does not satisfy condition 1.

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

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

[0069] For example, for each piece of raw motion data, if the number of pulses included in the raw motion data is greater than a first quantity threshold, then the raw motion data satisfies condition 2. If the number of pulses included in the raw motion data is not greater than the first quantity threshold, then the raw motion data does not satisfy condition 2.

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

[0071] The second quantity threshold can be configured empirically, for example, it could be 7, 8, or 9. The third quantity threshold can also be configured empirically, for example, it could be 60, 65, or 70. There are no restrictions on either the second or third quantity threshold. For example, condition 3 could be selecting raw motion data with more than 7 satellites and a horizontal accuracy factor less than 60. The satellite positioning speed in raw motion data with more than 7 satellites and a horizontal accuracy factor less than 60 is relatively accurate.

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

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

[0074] For example, when providing satellite-positioned vehicle speed, the system can also provide the corresponding horizontal precision factor (Hypertensive Disease of Pregnancy). 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 angles between the vehicle and multiple satellites in the sky at the time of positioning; and the elevation angle of the selected satellite above the vehicle at that time. The smaller the horizontal precision factor corresponding to the satellite-positioned vehicle speed, the higher the accuracy of the satellite-positioned vehicle speed.

[0075] For example, if the preset filtering conditions include conditions 1, 2, and 3 simultaneously, for each piece of raw motion data, if the raw motion data satisfies conditions 1, 2, and 3 simultaneously, then the raw motion data satisfies the preset filtering conditions, that is, the raw motion data is used as the target motion data. If the raw motion data does not satisfy at least one of conditions 1, 2, and 3, then the raw motion data does not satisfy the preset filtering conditions, that is, the raw motion data is not used as the target motion data.

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

[0078] In summary, in this embodiment, in order to further reduce errors, the original motion data can be filtered according to the above conditions 1, 2 and 3, based on the data characteristics of satellite positioning and pulse sampling, so as to select the original motion data with small errors as the target motion data and improve the accuracy of the calculation results.

[0079] Step 303: For each target motion data, calculate 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 included in the target motion data.

[0080] For example, the product of the number of pulses and the satellite-positioned vehicle speed can be determined as the first parameter value corresponding to the target motion data. For instance, if the number of pulses included in the target motion data is denoted as P, and the satellite-positioned vehicle speed included in the target motion data is denoted as V, then the product of the number of pulses P and the satellite-positioned 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. Here, both the first and second parameter values ​​are intermediate values ​​used to calculate the pulse coefficient; they can be understood as intermediate quantities used to calculate the pulse coefficient.

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

[0083] Step 305: Based on the first parameter value and the second parameter value corresponding to each target motion data point, determine the target pulse coefficient for the vehicle. The target pulse coefficient can represent the number of pulses generated by the speed sensor per unit distance traveled by the vehicle. For example, the target pulse coefficient refers to the number of revolutions or pulses generated by the speed sensor per kilometer traveled by the vehicle; that is, the number of pulse signals output by the speed sensor per kilometer traveled by the vehicle. Assuming the target pulse coefficient represents 637 revolutions per kilometer traveled, then the number of pulses generated by the speed sensor per kilometer traveled by the vehicle is 637.

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

[0085] For example, assuming the pulse count represents the number of pulses per second (i.e., the unit of time is one second), and the unit of satellite-positioned vehicle speed is km / h, then the fixed constant M can be 3600 (i.e., 1 hour divided by 1 second). If the pulse count represents the number of pulses per minute (i.e., the unit of time is one minute), then the fixed constant M can be 60 (i.e., 1 hour divided by 1 minute), and so on.

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

[0087]

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

[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-positioned vehicle speed V can be obtained from that target motion data. i and pulse number P i Then, by substituting the satellite positioning vehicle speed and pulse count from 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 target motion data there is, the smaller the error of the target pulse coefficient K. By collecting a large amount of raw motion data, a large amount of target motion data can be filtered out, thereby calculating 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. In this way, the vehicle terminal can use the target pulse coefficient to calculate the vehicle speed. For instance, the target pulse coefficient refers to the number of pulses that drive the speed sensor per kilometer the vehicle travels. The target pulse coefficient is used to record the vehicle's mileage, and the mileage is calculated by calculating the cumulative number of pulses received over a period of time.

[0092] For example, assuming the target pulse coefficient represents 637 revolutions per kilometer traveled (i.e., 637 pulses from the speed sensor per kilometer traveled), the number of pulses from the speed sensor can be counted in real time. If the cumulative number of pulses received within time period X is 637 (i.e., the speed sensor outputs 637 pulse signals), it indicates that the vehicle traveled 1 km within time period X. Therefore, the vehicle speed within time period X can be calculated based on the length of time period X and the distance traveled (i.e., 1 km).

[0093] In one possible implementation, after storing the target pulse coefficient for the vehicle, the target pulse coefficient remains unchanged, that is, it is not updated, and the vehicle speed is always calculated using the target pulse coefficient. Alternatively, after storing the target pulse coefficient for the vehicle, the target pulse coefficient can also be dynamically updated, that is, the target pulse coefficient (i.e., the updated target pulse coefficient) is redefined, the redefined target pulse coefficient is stored for the vehicle, and the vehicle speed is calculated using the redefined target pulse coefficient.

[0094] For example, after storing the target pulse coefficient for the vehicle, the target pulse coefficient can be updated periodically, such as every hour (or 30 minutes, or 2 hours, etc., with no limit on the update interval). This allows the target pulse coefficient to be dynamically updated, ensuring that the latest target pulse coefficient is always stored and guaranteeing its accuracy. Each time the target pulse coefficient is updated, steps 301-305 are used to redetermine the target pulse coefficient and store the newly determined target pulse coefficient.

[0095] In the above method, the target pulse coefficient needs to be updated periodically. Since the target pulse coefficient needs to be calculated periodically, the latest target pulse coefficient is used to calculate the vehicle speed after each calculation, which causes fluctuations in vehicle speed and thus affects the accuracy of the actual vehicle speed. Therefore, to reduce fluctuations in vehicle speed, the target pulse coefficient can be updated in the following way:

[0096] After storing the target pulse coefficient for the vehicle, during the vehicle's operation, the vehicle's speed to be compared at a target time can be determined based on the target pulse coefficient, and the vehicle's satellite-positioned speed at that target time can be obtained. For example, when storing the target pulse coefficient 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., without restriction. At each target time, the vehicle's speed to be compared at that target time can be determined based on the target pulse coefficient, and the vehicle's satellite-positioned speed at that target time can be obtained.

[0097] If the deviation between the vehicle speed to be compared and the satellite-positioned vehicle speed is less than a preset deviation threshold, the stored target pulse coefficient can be kept unchanged, and the vehicle can wait for the next target time. Then, based on the target pulse coefficient, the vehicle speed to be compared at that target time can be determined, and the satellite-positioned vehicle speed at that target time can be obtained, and so on. 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 less than a preset deviation threshold, then at time T1+2X minutes, the vehicle speed to be compared and the satellite-positioned vehicle speed can be obtained again, and so on.

[0098] If the deviation between the vehicle speed to be compared and the vehicle speed located by the satellite is not less than a preset deviation threshold, then W original motion data during the vehicle's driving process are reacquired, 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 store the re-determined target pulse coefficient.

[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 a preset deviation threshold, then steps 301-305 are used to redetermine the target pulse coefficient, that is, the above steps are repeated to redetermine the target pulse coefficient.

[0100] For example, the deviation between the vehicle speed to be compared and the satellite-positioned vehicle speed can 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 can 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 can be the ratio between the absolute value of the difference and the satellite-positioned vehicle speed, or it can be the ratio between the absolute value of the difference and the vehicle speed to be compared. The absolute value of the difference can 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 can be a proportional threshold, such as 11%, 12%, 15%, etc.

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

[0102] In one possible implementation, all data involved in this embodiment (such as raw motion data during vehicle operation) is obtained and used only with the knowledge and authorization of the relevant users.

[0103] As can be seen from the above technical solution, in this embodiment, the first parameter value corresponding to the target motion data can be calculated based on the number of pulses and the vehicle speed based on satellite positioning, and the second parameter value corresponding to the target motion data can be calculated based on the vehicle speed based on satellite positioning. Based on the first parameter value and the second parameter value corresponding to each target motion data, the target pulse coefficient corresponding to the vehicle can be determined, thereby obtaining an accurate pulse coefficient, realizing automatic calibration of the vehicle pulse coefficient, and being able to calculate the pulse coefficient with the smallest error in real time, effectively eliminating accumulated errors, resulting in higher accuracy of the pulse coefficient, smaller error of the pulse coefficient, and more precise pulse coefficient.

[0104] Based on the same concept as the method described above, this application proposes a device for determining the pulse coefficient, see [link to relevant documentation]. Figure 5 The diagram shown is a structural schematic of the device, which may include:

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

[0106] For example, when the acquisition module 51 selects multiple raw motion data as target motion data from W raw motion data, it specifically performs the following: for each raw motion data, if the raw motion data meets a preset filtering condition, then the raw 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 raw 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 quantity threshold; the number of satellites corresponding to the satellite positioning vehicle speed included in the raw motion data is greater than a second quantity threshold, and the horizontal accuracy factor corresponding to the satellite positioning vehicle speed is less than a third quantity threshold.

[0107] For example, when the determining module 52 calculates the first parameter value corresponding to the target motion data based on the number of pulses and the satellite positioning vehicle speed included in the target motion data, 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] For example, when the determining 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 of the satellite positioning vehicle speed as the second parameter value corresponding to the target motion data.

[0109] For example, when determining the target pulse coefficient corresponding to the vehicle based on the first parameter value and the second parameter value corresponding to each target motion data, the determining module 52 specifically performs the following steps: calculating a first summation of all first parameter values ​​for each target motion data; calculating a second summation of all second parameter values ​​based on the second parameter value corresponding to each target motion data; and determining the target pulse coefficient corresponding to the vehicle based on the first summation, the second summation, and a fixed constant. The fixed constant is determined based on the unit time.

[0110] For example, when determining the target pulse coefficient corresponding to the vehicle based on the first parameter value and the second parameter value corresponding to each target motion data, the determining module 52 is specifically used to determine the target pulse coefficient corresponding to the vehicle using the following formula:

[0111]

[0112] Where K represents the target pulse coefficient, M represents a fixed constant, and V i P represents the satellite-positioned vehicle speed included in the motion data of the i-th target. iV represents the number of pulses included in the motion data of the i-th target. i P i V represents the first parameter value corresponding to the i-th target motion data. i 2 This represents the second parameter value corresponding to the i-th target motion data, where i ranges from 1 to n, and n represents the total number of target motion data.

[0113] For example, the determining module 52 is further configured to, after storing the target pulse coefficient for the vehicle, determine the vehicle speed to be compared at a target time based on the target pulse coefficient during the vehicle's driving process, 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 vehicle's driving process, re-determine the target pulse coefficient corresponding to the vehicle based on the W original motion data, and store the re-determined target pulse coefficient by the storage module 53; 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, this application proposes an electronic device (such as the above-mentioned vehicle terminal), see [link to relevant documentation]. Figure 6 As shown, it includes: a processor 61 and a machine-readable storage medium 62, the machine-readable storage medium 62 storing 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 pulse coefficient determination method disclosed in the above example of this application.

[0115] Based on the same concept as the above method, this application also provides a machine-readable storage medium storing a plurality of computer instructions, which, when executed by a processor, can implement the pulse coefficient determination method disclosed in the above examples of this application.

[0116] The aforementioned machine-readable storage medium can be any electronic, magnetic, optical, or other physical storage device that can contain or store information, such as executable instructions, data, etc. For example, machine-readable storage media can be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0117] Based on the same application concept as the above method, this application embodiment also provides a computer program product, which may include a computer program. When the computer program is executed by a processor, it implements the pulse coefficient determination method disclosed in the above examples of this application.

[0118] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0119] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for determining the pulse coefficient, characterized in that, The method includes: W raw motion data points are acquired during the vehicle's driving process, and multiple raw motion data points are selected from the W raw motion data points as target motion data; wherein, the target motion data includes the number of pulses and the satellite-positioned vehicle speed, and the number of pulses is the number of pulses emitted by the driving speed sensor per unit time of vehicle driving; 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; 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; wherein, the first parameter value is the product of the number of pulses and the satellite positioning vehicle speed; and the second parameter value is the square of the satellite positioning vehicle speed. Based on the first parameter value and the second parameter value corresponding to each target motion data, a target pulse coefficient corresponding to the vehicle is determined; wherein, the target pulse coefficient represents the number of pulses of the drive speed sensor when the vehicle travels a unit distance; wherein, a first summation value of the first parameter values ​​corresponding to all target motion data is calculated; a second summation value of the second parameter values ​​corresponding to all target motion data is calculated; based on the first summation value, the second summation value, and a fixed constant, the target pulse coefficient corresponding to the vehicle is determined, wherein the fixed constant is determined based on the unit time; The target pulse coefficient is stored for the vehicle.

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

3. The method according to claim 1 or 2, characterized in that, The determination of the target pulse coefficient corresponding to the vehicle based on the first parameter value 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: ； Where K represents the target pulse coefficient, and M represents a fixed constant. This indicates that the satellite-positioned vehicle speed is included in the motion data of the i-th target. This represents the number of pulses included in the motion data of the i-th target. This represents the value of the first parameter corresponding to the i-th target motion data. This represents the second parameter value corresponding to the i-th target motion data, where i ranges from 1 to n, and n represents the total number of target motion data.

4. The method according to claim 1, characterized in that, After storing the target pulse coefficient for the vehicle, the method further includes: During the vehicle's operation, the vehicle speed to be compared at the target time is determined based on the target pulse coefficient, and the satellite positioning speed of the vehicle at the target time is obtained. If the deviation between the vehicle speed to be compared and the vehicle speed located by the satellite is not less than a preset deviation threshold, then W original motion data during the vehicle's driving process are reacquired, 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 a preset deviation threshold, the stored target pulse coefficient remains unchanged.

5. A device for determining pulse coefficients, characterized in that, The device includes: The acquisition module is used to acquire W raw motion data during the vehicle's driving process, and select multiple raw motion data from the W raw motion data as target motion data; wherein, the target motion data includes the number of pulses and the satellite-positioned vehicle speed, and the number of pulses is the number of pulses driven by the speed sensor per unit time of vehicle driving; The determination module is used to calculate a first parameter value corresponding to each target motion data based on the number of pulses included in the target motion data and the satellite positioning vehicle speed, and to calculate a second parameter value corresponding to the target motion data based on the satellite positioning vehicle speed included in the target motion data; wherein, the first parameter value is the product of the number of pulses and the satellite positioning vehicle speed; and the second parameter value is the square of the satellite positioning vehicle speed. The determining module is further configured to determine the 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 drive speed sensor when the vehicle travels a unit distance; wherein, when the determining module determines the target pulse coefficient corresponding to the vehicle, it is specifically configured to: calculate a first summation value of the first parameter values ​​corresponding to all target motion data; calculate a second summation value of the second parameter values ​​corresponding to all target motion data; and determine 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 the unit time; A storage module is used to store the target pulse coefficient for the vehicle.

6. An electronic device, characterized in that, include: A processor and a machine-readable storage medium, the machine-readable storage medium storing machine-executable instructions that can be executed by the processor; The processor is configured to execute machine-executable instructions to implement the method of any one of claims 1-4.

7. 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 according to any one of claims 1-4.

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