Vehicle starting speed calculation method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicles, and particularly discloses a vehicle starting speed calculation method and device, a vehicle and a storage medium. According to the vehicle starting speed calculation method, it is determined that the vehicle is in a static state and vehicle starting is recognized to serve as the reference of vehicle starting speed calculation, and the starting time point is conveniently and accurately determined; by determining the starting mode of the vehicle, the starting state of the vehicle can be determined, and corresponding starting speed calculation methods can be adopted subsequently according to different starting modes; and finally, in the conventional starting mode, the starting speed of the vehicle can be accurately calculated based on the rotating speed of the motor because the motor of the vehicle is judged not to slip. In the slip starting mode, as the motor of the vehicle is judged to slip, the longitudinal acceleration of the whole vehicle is increased outside the rotating speed of the motor for correction, and the starting speed of the vehicle can be accurately calculated, so that deviation is avoided, and the starting speeds in different starting states can be rapidly and accurately calculated.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method and device for calculating a vehicle starting speed, a vehicle and a storage medium. Background Art

[0002] Vehicle speed is one of the core motion states of the vehicle, which directly affects the vehicle's torque request, gear control, stability control and other functions. Vehicle speed estimation is of great significance in driving and vehicle performance evaluation. Accurate vehicle speed signals help improve the overall performance and driving experience of the vehicle.

[0003] Currently, most vehicle speed estimates are calculated based on wheel speed values ​​or motor speed values. During the stationary starting phase, if the vehicle speed is calculated based only on the wheel speed value, due to the limited recognition accuracy of the wheel speed sensor, the wheel speed below 0.1m / s cannot be recognized and the wheel speed increases in a step-by-step manner at low speeds, resulting in late recognition and poor continuity of the calculated vehicle speed. If the vehicle speed is estimated directly based only on the motor speed, calculation errors will occur under slippery starting conditions. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, an object of the present invention is to propose a vehicle starting speed calculation method, which can adopt corresponding starting speed calculation methods according to different starting modes, avoiding deviation, so that the starting speed under different starting conditions can be calculated quickly and accurately.

[0006] To this end, a second objective of the present invention is to provide a vehicle starting speed calculation device.

[0007] To this end, a third object of the present invention is to provide a vehicle.

[0008] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0009] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a method for calculating a vehicle starting speed, comprising: determining that the vehicle is in a stationary state and recognizing that the vehicle is starting; determining a starting mode of the vehicle, wherein the starting mode includes a normal starting mode and a slipping starting mode; in the normal starting mode, calculating the starting speed of the vehicle based on the motor speed, or, in the slipping starting mode, calculating the starting speed based on the motor speed and the longitudinal acceleration of the vehicle.

[0010] According to the vehicle starting speed calculation method of the embodiment of the present invention, firstly, by determining that the vehicle is in a stationary state and recognizing that the vehicle is starting, this is used as a basis for calculating the vehicle starting speed, so as to facilitate accurate determination of the starting time point; then, by determining the vehicle starting mode, it is helpful to clarify the vehicle starting state, so as to facilitate subsequent adoption of corresponding starting speed calculation methods according to different starting modes; finally, in the conventional starting mode, since it is determined that the vehicle motor has not slipped, the vehicle starting speed can be accurately calculated based on the motor speed; in the slipping starting mode, since it is determined that the vehicle motor has slipped, the vehicle starting speed can be accurately calculated by adding the longitudinal acceleration of the whole vehicle to the motor speed for correction, thereby avoiding deviations and being able to quickly and accurately calculate the starting speeds under different starting states.

[0011] In some embodiments, the starting speed is calculated based on the motor speed and the vehicle longitudinal acceleration, including: obtaining the motor speed corresponding to the motor slipping moment, the time interval between the current moment and the vehicle starting slipping moment, wherein the motor speed is obtained based on the motor speed; determining the difference between the vehicle longitudinal acceleration and the vehicle longitudinal acceleration offset, wherein the vehicle longitudinal acceleration offset is the component of the vehicle's gravity acceleration along the road slope direction when the vehicle is stationary; determining the vehicle slipping speed based on the motor speed, the time interval and the difference; and using the slipping speed as the starting speed. Thus, when it is determined that the vehicle motor has slipped, the vehicle longitudinal acceleration is added to the motor speed for correction, so that the starting speed of the vehicle when it starts slipping can be accurately calculated.

[0012] In some embodiments, determining the slip speed of the vehicle according to the motor speed, the time interval and the difference includes: determining the slip speed of the vehicle based on the following formula: ; In the formula, is the slip speed, is the motor speed corresponding to the moment when the motor slips, is the longitudinal acceleration of the vehicle, is the longitudinal acceleration offset of the vehicle, and T is the time interval between the current moment and the moment when the vehicle starts to slip. Therefore, when it is determined that the vehicle motor has slipped, the above formula is used to add the longitudinal acceleration of the vehicle to the motor speed for correction, so that the starting speed of the vehicle when it starts to slip can be accurately calculated.

[0013] In some embodiments, calculating the starting speed of the vehicle based on the motor speed includes: determining the motor speed of the vehicle according to the motor speed, the motor speed ratio of the vehicle and the wheel rolling radius of the vehicle; and using the motor speed as the starting speed. Thus, by determining the motor speed of the vehicle, the motor speed is the starting speed in the normal starting mode, so that the starting speed of the vehicle in the normal starting mode can be accurately and quickly calculated.

[0014] In some embodiments, the starting speed is calculated based on the motor speed and the longitudinal acceleration of the vehicle, and further includes: correcting the starting speed based on the wheel speed signal collected by the wheel speed sensor. Thus, the starting speed of the vehicle when starting with a slip is calculated by adding the longitudinal acceleration of the vehicle to the motor speed, and the estimated speed is repaired with the wheel speed information, so as to ensure that the estimated speed is recognized quickly, has good continuity, and has better estimation accuracy, thereby further improving the calculation accuracy of the starting speed in the slip start mode.

[0015] In some embodiments, the correction of the starting speed based on the wheel speed signal obtained by the wheel speed sensor includes: when the wheel speed signal is identified, and the wheel speed signal at the current moment is updated compared to the wheel speed signal at the previous moment, and the vehicle speed corresponding to the wheel speed signal at the current moment is less than the starting speed, the starting speed is replaced by the vehicle speed corresponding to the wheel speed signal at the current moment to correct the starting speed. Therefore, in the slip start mode, if the wheel speed signal at the current moment is updated compared to the wheel speed signal at the previous moment, and the vehicle speed corresponding to the wheel speed signal at the current moment is less than the starting speed, it can be considered that the vehicle speed corresponding to the wheel speed signal at this time is more accurate, and the starting speed is replaced by the vehicle speed corresponding to the wheel speed signal at the current moment to correct the starting speed, thereby further improving the calculation accuracy of the starting speed in the slip start mode.

[0016] In some embodiments, the correction of the starting vehicle speed based on the wheel speed signal obtained by the wheel speed sensor includes: when the wheel speed signal is not identified, or when the wheel speed signal is identified and the wheel speed signal does not change, the starting vehicle speed is not corrected. Therefore, in the slip start mode, if the wheel speed signal is not identified, or if the wheel speed signal is identified and the wheel speed signal does not change, it can be considered that the vehicle speed corresponding to the wheel speed signal at this time is low in accuracy, and the starting vehicle speed is not corrected, thereby further improving the calculation accuracy of the starting vehicle speed in the slip start mode.

[0017] In some embodiments, the determination that the vehicle is stationary includes: determining that the vehicle is stationary when any one of the following conditions is met; wherein the conditions include: the vehicle is in a first preset gear; the vehicle is in a second preset gear, and the motor speed is less than a preset speed threshold, and the starting speed at the last moment before the current moment is zero; the vehicle is in a second preset gear, and the motor speed is greater than the preset speed threshold, and the vehicle is identified as not started at the last moment before the current moment, and the starting speed at the last moment before the current moment is zero. Thus, by setting three specific conditions, when any one of the three specific conditions is met, it can be determined that the vehicle is stationary, which serves as a benchmark for calculating the vehicle's starting speed, thereby not only clarifying the determination conditions for the vehicle being stationary, but also enriching the determination types, determining from multiple angles, improving the accuracy of the determination, and facilitating accurate determination of the starting time point.

[0018] In some embodiments, identifying the vehicle starting includes: determining that the vehicle is starting when the following conditions are met at the same time; wherein the conditions include: the vehicle is in the second preset gear or the third preset gear; the motor speed is greater than the preset speed threshold and the duration reaches the first preset time, and the rate of change of the motor speed is greater than the preset rate of change threshold and the duration reaches the second preset time, wherein the motor speed is obtained based on the motor speed, and the rate of change of the motor speed is the amount of change of the motor speed per unit time; identifying that the starting speed at the previous moment before the current moment is zero. Thus, by setting three specific conditions, when the three specific conditions are met at the same time, the vehicle starting is identified as the basis for calculating the vehicle starting speed, thereby not only clarifying the determination conditions for the vehicle starting, but also increasing the determination conditions, improving the accuracy of the determination, and facilitating accurate identification of the vehicle starting.

[0019] In some embodiments, determining the starting mode of the vehicle includes: when it is identified that the motor is slipping, determining the starting mode of the vehicle to be the slipping starting mode, otherwise, determining the starting mode of the vehicle to be the normal starting mode. Thus, by identifying whether the motor is slipping, it is helpful to clarify the starting state of the vehicle, so as to facilitate the subsequent adoption of corresponding starting speed calculation methods according to different starting modes.

[0020] In some embodiments, recognizing that the motor is slipping includes: when the rate of change of the motor speed is greater than a preset difference, and the difference between the rate of change of the motor speed and the preset difference is greater than a first preset threshold, determining that the motor is slipping, wherein the rate of change of the motor speed is the amount of change of the motor speed per unit time, the motor speed is obtained based on the motor speed, the preset difference is the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, and the longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle in the direction of the road slope when the vehicle is stationary. Thus, by determining the condition of motor slipping, it is helpful to identify whether the motor is slipping and clarify the starting state of the vehicle, so as to facilitate the subsequent adoption of the corresponding starting speed calculation method according to different starting modes.

[0021] In some embodiments, when it is determined that the motor has stopped slipping, the conventional starting mode is used again to calculate the starting speed. Thus, the starting speed calculation method can be automatically switched according to the starting situation to avoid errors in the calculation of the starting speed due to untimely operation.

[0022] In some embodiments, determining that the motor has ended slipping includes: when the difference between the rate of change of the motor speed and the preset difference is less than the second preset threshold and the duration reaches the third preset time, determining that the motor has ended slipping, wherein the rate of change of the motor speed is the amount of change of the motor speed per unit time, the motor speed is obtained based on the motor speed, the preset difference is the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, and the longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle in the direction of the road slope when the vehicle is stationary. Thus, when the difference between the rate of change of the motor speed and the preset difference is less than the second preset threshold and the duration reaches the third preset time, it is determined that the motor has ended slipping, and the conventional starting mode is used again to calculate the starting speed, so that the starting speed calculation method can be automatically switched according to the starting situation to avoid errors in the calculation of the starting speed due to untimely operation.

[0023] In some embodiments, the vehicle starting speed calculation method further includes: when it is determined that the starting is completed, the calculation of the starting speed is stopped. Thus, when it is determined that the starting is completed, the calculation of the starting speed is completed, and the calculation of the starting speed is stopped, that is, the calculation of the normal starting mode and the slipping starting mode is exited, thereby avoiding the use of the starting speed calculation method to calculate the normal driving speed, causing errors.

[0024] In some embodiments, the determination of starting completion includes: when the following conditions are met at the same time, the determination of starting completion is made; wherein the conditions include: the difference between the motor speed and the vehicle speed corresponding to the wheel speed signal is less than the third preset threshold and the duration reaches the fourth preset time, wherein the motor speed is obtained based on the motor speed, and the wheel speed signal is obtained based on the wheel speed sensor; the starting time of the vehicle reaches the fifth preset time, and within the sixth preset time thereafter, it is recognized that the wheel speed signal of the vehicle continues to change. Thus, by setting two specific conditions, when the two specific conditions are met at the same time, the determination of starting completion is made, thereby not only clarifying the determination conditions for starting completion, but also increasing the determination conditions, improving the accuracy of the determination, facilitating accurate determination of starting completion, and thus helping to avoid errors.

[0025] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a vehicle starting speed calculation device, including: an identification module, used to determine that the vehicle is in a stationary state and recognize that the vehicle is starting; a processing module, used to determine the starting mode of the vehicle, wherein the starting mode includes a normal starting mode and a slipping starting mode; a calculation module, used to calculate the starting speed of the vehicle based on the motor speed in the normal starting mode, or, in the slipping starting mode, calculate the starting speed based on the motor speed and the longitudinal acceleration of the vehicle.

[0026] The vehicle starting speed calculation device according to the embodiment of the present invention is used to implement the vehicle starting speed calculation method of the above embodiment of the present invention. First, by determining that the vehicle is in a stationary state and recognizing that the vehicle is starting, as a basis for calculating the vehicle starting speed, it is convenient to accurately determine the starting time point; then by determining the starting mode of the vehicle, it is helpful to clarify the starting state of the vehicle, so as to facilitate the subsequent adoption of corresponding starting speed calculation methods according to different starting modes; finally, in the normal starting mode, since it is determined that the vehicle motor has not slipped, the starting speed of the vehicle can be accurately calculated based on the motor speed; in the slipping starting mode, since it is determined that the vehicle motor has slipped, the longitudinal acceleration of the whole vehicle is added to the motor speed for correction, so that the starting speed of the vehicle can be accurately calculated, thereby avoiding deviations and being able to quickly and accurately calculate the starting speeds under different starting states.

[0027] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle, comprising: a vehicle starting speed calculation device as described in the above-mentioned embodiment of the present invention; or a processor, a memory, and a vehicle starting speed calculation program stored in the memory and executable on the processor, wherein the vehicle starting speed calculation program, when executed by the processor, implements the vehicle starting speed calculation method as described in the above-mentioned embodiment of the present invention.

[0028] According to the vehicle of the embodiment of the present invention, the vehicle method for implementing the above-mentioned embodiment of the present invention first determines that the vehicle is in a stationary state and recognizes that the vehicle has started, which is used as a basis for calculating the vehicle's starting speed, so as to facilitate accurate determination of the starting time point; then determines the vehicle's starting mode, which helps to clarify the vehicle's starting state, so as to facilitate the subsequent adoption of corresponding starting speed calculation methods according to different starting modes; finally, in the conventional starting mode, since it is determined that the vehicle's motor has not slipped, the vehicle's starting speed can be accurately calculated based on the motor speed; in the slipping starting mode, since it is determined that the vehicle's motor has slipped, the vehicle's starting speed can be accurately calculated by adding the motor speed in addition to the longitudinal acceleration of the vehicle for correction, thereby avoiding deviations and being able to quickly and accurately calculate the starting speeds under different starting states.

[0029] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a vehicle starting speed calculation program is stored. When the vehicle starting speed calculation program is executed by a processor, a vehicle starting speed calculation method as described in the above-mentioned embodiment of the present invention is implemented.

[0030] According to the computer-readable storage medium of the embodiment of the present invention, when the vehicle starting speed calculation program stored thereon is executed by the processor, the vehicle method of the above embodiment of the present invention is implemented, firstly, by determining that the vehicle is in a stationary state and recognizing that the vehicle is starting, as a basis for calculating the vehicle starting speed, it is convenient to accurately determine the starting time point; then by determining the starting mode of the vehicle, it is helpful to clarify the starting state of the vehicle, so as to facilitate the subsequent adoption of corresponding starting speed calculation methods according to different starting modes; finally, in the conventional starting mode, since it is determined that the vehicle motor has not slipped, the starting speed of the vehicle can be accurately calculated based on the motor speed; in the slipping starting mode, since it is determined that the vehicle motor has slipped, the longitudinal acceleration of the whole vehicle is added to the motor speed for correction, so that the starting speed of the vehicle can be accurately calculated, thereby avoiding deviations and being able to quickly and accurately calculate the starting speeds under different starting states. Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a flow chart of a method for calculating a vehicle starting speed according to an embodiment of the present invention; Figure 2 is a flow chart of a method for calculating a vehicle starting speed according to another embodiment of the present invention; Figure 3 is a flow chart of a method for calculating a vehicle starting speed according to a specific embodiment of the present invention; Figure 4 is a specific flow chart of a method for calculating a vehicle starting speed according to a specific embodiment of the present invention; Figure 5 is a schematic structural diagram of a vehicle starting speed calculation device according to an embodiment of the present invention; Figure 6 2 is a schematic structural diagram of a vehicle starting speed calculation device according to another embodiment of the present invention.

[0032] Reference numerals: 100 - vehicle starting speed calculation device; 110 - identification module; 120 - processing module; 130 - calculation module; 140 - correction module. DETAILED DESCRIPTION

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

[0034] Reference below Figure 1-Figure 6 A vehicle starting speed calculation method, device, vehicle and computer-readable storage medium according to an embodiment of the present invention are described.

[0035] Figure 1 FIG. 1 is a flow chart of a method for calculating a vehicle starting speed according to an embodiment of the present invention. Figure 1 As shown, the vehicle starting speed calculation method comprises the following steps: Step S1: Determine that the vehicle is stationary and recognize that the vehicle is starting.

[0036] In a specific embodiment, the vehicle can be determined to be stationary by reading gear information, based on the vehicle speed information at the current moment and the previous moment, etc. For example, if it is read that the vehicle is currently in gear P, it can be considered that the vehicle is stationary. Specifically, the vehicle can be determined to be stationary by using relevant sensors provided on the vehicle body, such as a gear sensor, a motor speed sensor, etc.

[0037] In a specific embodiment, the vehicle start can be identified by reading the gear information and the vehicle speed information at the current moment and the previous moment. For example, if it is read that the vehicle is currently in gear D and the vehicle speed at the previous moment is 0 and the vehicle speed keeps changing, it can be considered that the vehicle start is identified. Specifically, the vehicle start can be identified by related sensors provided on the vehicle body, such as a gear sensor and a motor speed sensor.

[0038] Specifically, the vehicle starting speed calculation method provided by an embodiment of the present invention first determines that the vehicle is in a stationary state and recognizes that the vehicle has started, which serves as a basis for calculating the vehicle starting speed, thereby facilitating accurate determination of the starting time point, thereby helping to improve the accuracy of subsequent vehicle starting speed calculations.

[0039] Step S2: Determine a starting mode of the vehicle, wherein the starting mode includes a normal starting mode and a slipping starting mode.

[0040] In a specific embodiment, the starting mode of the vehicle can be determined by identifying whether the motor is slipping, for example, if the motor is identified to be slipping, the starting mode of the vehicle is determined to be the slipping starting mode, and if the motor is not identified to be slipping, the starting mode of the vehicle is determined to be the normal starting mode. Specifically, the starting mode of the vehicle can be determined by relevant sensors provided on the vehicle body, such as a motor speed sensor.

[0041] Specifically, the vehicle starting speed calculation method provided by an embodiment of the present invention, by determining the starting mode of the vehicle, helps to clarify the starting state of the vehicle, and facilitates the subsequent adoption of the corresponding starting speed calculation method according to different starting modes, thereby helping to improve the accuracy of subsequent vehicle starting speed calculation.

[0042] Step S3: In the normal starting mode, the starting speed of the vehicle is calculated based on the motor speed, or, in the slipping starting mode, the starting speed is calculated based on the motor speed and the longitudinal acceleration of the vehicle.

[0043] In a specific embodiment, the motor speed of the vehicle can be calculated based on the motor speed, and the motor speed is the starting speed in the normal starting mode. In the slipping starting mode, the motor speed is corrected by adding the longitudinal acceleration of the whole vehicle to determine the starting speed in the slipping starting mode. Specifically, the starting speed of the vehicle can be calculated by related sensors provided on the vehicle body, such as a motor speed sensor, an acceleration sensor, etc.

[0044] Specifically, according to the vehicle starting speed calculation method provided by an embodiment of the present invention, in the normal starting mode, since it is determined that the vehicle motor is not slipping, the vehicle starting speed can be accurately calculated based on the motor speed; in the slipping starting mode, since it is determined that the vehicle motor is slipping, the longitudinal acceleration of the whole vehicle is added to the motor speed for correction, so that the vehicle starting speed can be accurately calculated.

[0045] Thus, according to the vehicle starting speed calculation method of the embodiment of the present invention, firstly, by determining that the vehicle is in a stationary state and recognizing that the vehicle is starting, this is used as a basis for calculating the vehicle starting speed, so as to facilitate accurate determination of the starting time point; then, by determining the vehicle starting mode, it is helpful to clarify the vehicle starting state, so as to facilitate subsequent adoption of corresponding starting speed calculation methods according to different starting modes; finally, in the conventional starting mode, since it is determined that the vehicle motor has not slipped, the vehicle starting speed can be accurately calculated based on the motor speed; in the slipping starting mode, since it is determined that the vehicle motor has slipped, the vehicle starting speed can be accurately calculated by adding the longitudinal acceleration of the whole vehicle to the motor speed for correction, thereby avoiding deviations and being able to quickly and accurately calculate the starting speeds under different starting states.

[0046] In one embodiment of the present invention, step S3 calculates the starting speed based on the motor speed and the vehicle's longitudinal acceleration, including: obtaining the motor speed corresponding to the motor slip moment, and the time interval between the current moment and the vehicle starting slip moment, wherein the motor speed is obtained based on the motor speed; determining the difference between the vehicle longitudinal acceleration and the vehicle longitudinal acceleration offset, wherein the vehicle longitudinal acceleration offset is the component of the vehicle's gravitational acceleration along the road surface slope direction when the vehicle is stationary; determining the vehicle's slip speed based on the motor speed, the time interval and the difference; and using the slip speed as the starting speed.

[0047] In a specific embodiment, in the skidding start mode, the motor speed of the vehicle can be calculated based on the motor speed, and the motor speed can be corrected by adding the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle to determine the starting speed in the skidding start mode, wherein the longitudinal acceleration offset of the whole vehicle is the component of the gravity acceleration of the vehicle in the direction of the road slope when the vehicle is stationary. Specifically, the skidding speed can be calculated by related sensors provided on the vehicle body, such as a motor speed sensor, an acceleration sensor, etc.

[0048] In a specific embodiment, the starting slip time is the time when the vehicle slips after starting.

[0049] Specifically, according to the vehicle starting speed calculation method provided by an embodiment of the present invention, the motor speed corresponding to the motor slip moment and the time interval between the current moment and the vehicle starting slip moment are first obtained; then the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle is determined, and this difference is the basis for correcting the slip; finally, the slip speed of the vehicle is determined according to the motor speed, the time interval and the difference, and the slip speed is the starting speed in the slip starting mode, so that when it is determined that the vehicle motor has slipped, the longitudinal acceleration of the whole vehicle is added to the motor speed for correction, so that the starting speed of the vehicle when slipping starts can be accurately calculated.

[0050] In one embodiment of the present invention, determining the slip speed of the vehicle according to the motor speed, the time interval and the difference includes: determining the slip speed of the vehicle based on the following formula: ; In the formula, For skidding speed, is the motor speed corresponding to the moment of motor slip, is the longitudinal acceleration of the vehicle, is the longitudinal acceleration offset of the vehicle, and T is the time interval between the current moment and the moment when the vehicle starts to slip.

[0051] In a specific embodiment, is the motor speed corresponding to the moment of motor slip, that is, the motor speed in the normal starting mode, is the longitudinal acceleration of the vehicle, is the longitudinal acceleration offset of the vehicle, It is the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, which is also the benchmark for correcting the slip. T is the time interval between the current moment and the moment when the vehicle starts to slip. Specifically, the skidding speed can be calculated by related sensors such as motor speed sensors, acceleration sensors, etc. provided on the vehicle body.

[0052] Specifically, according to the vehicle starting speed calculation method provided by the embodiment of the present invention, the motor speed corresponding to the motor slipping moment is first obtained. , the time interval T between the current moment and the moment when the vehicle starts to slip; then determine the longitudinal acceleration of the vehicle Offset from the vehicle's longitudinal acceleration The difference , this difference This is the basis for correcting the slip; finally, according to the motor speed , time interval T and difference ,use , the vehicle's skidding speed can be determined , skidding speed That is the starting speed in the skidding start mode. Therefore, when it is determined that the vehicle motor is slipping, the longitudinal acceleration of the vehicle is added to the motor speed for correction, so that the starting speed of the vehicle in the skidding start mode can be accurately calculated.

[0053] In one embodiment of the present invention, the starting speed of the vehicle is calculated based on the motor speed, including: determining the motor speed of the vehicle according to the motor speed, the motor speed ratio of the vehicle and the wheel rolling radius of the vehicle; and using the motor speed as the starting speed.

[0054] In a specific embodiment, the vehicle speed ratio i and the wheel rolling radius of the vehicle can be used as the basis for the motor speed N, the motor speed ratio i of the vehicle, and the wheel rolling radius of the vehicle. ,use Calculate the vehicle's motor speed , motor speed That is, the starting speed in the normal starting mode, wherein the motor speed ratio is the ratio of the angular velocities of the two rotating components in the mechanism, also known as the motor transmission ratio. Specifically, the motor speed can be calculated by relevant sensors provided on the vehicle body, such as a motor speed sensor.

[0055] Specifically, according to the vehicle starting speed calculation method provided in an embodiment of the present invention, the motor speed of the vehicle is determined according to the motor speed, the motor speed ratio of the vehicle and the wheel rolling radius of the vehicle. The motor speed is the starting speed in the normal starting mode, so that the starting speed of the vehicle during normal starting can be calculated accurately and quickly.

[0056] Figure 2 FIG. 1 is a flow chart of a point cloud registration method according to another embodiment of the present invention. Figure 2 As shown, in one embodiment of the present invention, step S3 calculates the starting speed based on the motor speed and the vehicle longitudinal acceleration, and also includes step S4: correcting the starting speed based on the wheel speed signal collected by the wheel speed sensor.

[0057] In a specific embodiment, in the skidding start mode, after calculating the motor speed of the vehicle based on the motor speed and correcting the motor speed by adding the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, the starting speed in the skidding start mode can also be corrected by the wheel speed. Specifically, the wheel speed signal can be collected by a relevant sensor such as a wheel speed sensor provided on the vehicle body.

[0058] Specifically, according to the vehicle starting speed calculation method provided by an embodiment of the present invention, due to the accuracy limitation of the wheel speed sensor in the low speed section, especially in the stationary starting stage, the wheel speed is not recognized at low speed and the wheel speed value is zero. When the wheel speed value starts to update, the wheel speed value will not change within multiple cycles. At this time, when calculating the vehicle speed based on the wheel speed, the vehicle speed value will not change, and the estimation accuracy is poor. A method of correcting by adding the longitudinal acceleration of the whole vehicle in addition to the motor speed is adopted to calculate the starting speed of the vehicle when starting with a slip, and at the same time, the estimated speed is repaired with the wheel speed information to ensure that the estimated speed is recognized quickly, has good continuity, and has better estimation accuracy, thereby further improving the calculation accuracy of the starting speed in the slip starting mode.

[0059] In one embodiment of the present invention, step S4 corrects the starting vehicle speed based on the wheel speed signal obtained by the wheel speed sensor, including: when the wheel speed signal is identified, and the wheel speed signal at the current moment is updated compared to the wheel speed signal at the previous moment, and the vehicle speed corresponding to the wheel speed signal at the current moment is less than the starting vehicle speed, the starting vehicle speed is replaced by the vehicle speed corresponding to the wheel speed signal at the current moment to correct the starting vehicle speed.

[0060] Specifically, according to the vehicle starting speed calculation method provided by an embodiment of the present invention, in the slipping start mode, the wheel speed can also be used to calculate the corresponding vehicle speed. If the wheel speed signal at the current moment is updated compared to the wheel speed signal at the previous moment, and the vehicle speed corresponding to the wheel speed signal at the current moment is less than the starting speed, then it can be considered that the vehicle speed corresponding to the wheel speed signal at this time is more accurate, and the starting speed is replaced by the vehicle speed corresponding to the wheel speed signal at the current moment to correct the starting speed, thereby further improving the calculation accuracy of the starting speed in the slipping start mode.

[0061] In one embodiment of the present invention, step S4 corrects the starting vehicle speed based on the wheel speed signal obtained by the wheel speed sensor, including: when the wheel speed signal is not recognized, or when the wheel speed signal is recognized and the wheel speed signal does not change, the starting vehicle speed is not corrected.

[0062] Specifically, according to the vehicle starting speed calculation method provided by an embodiment of the present invention, in the slipping start mode, the wheel speed can also be used to calculate the corresponding vehicle speed. If the wheel speed signal is not recognized, or if the wheel speed signal is recognized and the wheel speed signal does not change, it can be considered that the vehicle speed corresponding to the wheel speed signal at this time is less accurate, and the starting speed is not corrected, thereby further improving the calculation accuracy of the starting speed in the slipping start mode.

[0063] In one embodiment of the present invention, determining that the vehicle is in a stationary state includes: determining that the vehicle is in a stationary state when any one of the following conditions is met; wherein the conditions include: the vehicle is in a first preset gear; the vehicle is in a second preset gear, and the motor speed is less than a preset speed threshold, and the starting speed at the moment before the current moment is zero; the vehicle is in the second preset gear, and the motor speed is greater than the preset speed threshold, and the vehicle was identified as not started at the moment before the current moment, and the starting speed at the moment before the current moment was zero.

[0064] It should be made clear that the common gears and their functions in current automatic transmission models are as follows: ‌P gear (parking gear): used to lock the gearbox when the vehicle is stopped to prevent the vehicle from sliding. Ensure that the vehicle does not slide accidentally when it is stationary to ensure safety. ‌R gear (reverse gear): used to engage when reversing, so that the vehicle can drive backward or adjust its position. ‌N gear (neutral gear): used when stopping for a short time or waiting for a traffic light, cutting off power transmission, but not for coasting. ‌D gear (forward gear): used for daily road driving, the gearbox will automatically switch gears according to vehicle speed and throttle conditions to provide stable forward power. ‌S gear (sports mode): delays the gearbox shifting timing, allowing the engine to maintain a high speed for a longer time, increasing vehicle power, but increasing fuel consumption. ‌L gear (low speed gear): limits the gearbox to the lowest gear, suitable for situations where large torque is required, such as downhill or uphill, to obtain better traction and control. ‌M gear (manual mode)‌: In manual-automatic transmission models, a manual shifting function is provided. The driver can manually select the gear as needed and shift up and down through the "+" and "-" or paddles.

[0065] In a specific embodiment, the vehicle can be determined to be stationary by reading the gear information, based on the vehicle speed information at the current moment and the previous moment, etc. The first preset gear is, for example, P gear, the second preset gear is, for example, D gear, and the preset speed threshold is, for example, 0.1m / s, that is, if the vehicle is in P gear, or the vehicle is in D gear and the motor speed is less than 0.1m / s and the starting speed at the previous moment before the current moment is zero, or the vehicle is in D gear and the motor speed is greater than 0.1m / s and the vehicle is identified to have not started at the previous moment before the current moment and the starting speed at the previous moment before the current moment is zero, then the vehicle can be considered to be stationary. Specifically, the vehicle can be determined to be stationary by relevant sensors such as gear sensors, motor speed sensors, etc. provided on the vehicle body, and the preset speed threshold can be set by the operator and stored in the relevant controller of the vehicle, such as the vehicle controller.

[0066] Specifically, the vehicle starting speed calculation method provided by an embodiment of the present invention sets three specific conditions. When any one of the three specific conditions is met, it can be determined that the vehicle is in a stationary state, which serves as a basis for calculating the vehicle starting speed. This not only clarifies the judgment conditions that the vehicle is in a stationary state, but also enriches the judgment types, judges from multiple angles, improves the accuracy of the judgment, and facilitates the accurate determination of the starting time point, thereby helping to improve the accuracy of subsequent vehicle starting speed calculations.

[0067] In one embodiment of the present invention, identifying that a vehicle has started includes: determining that the vehicle has started when the following conditions are met simultaneously; wherein the conditions include: the vehicle is in a second preset gear or a third preset gear; the motor speed is greater than a preset speed threshold and the duration reaches a first preset time, and the rate of change of the motor speed is greater than a preset change rate threshold and the duration reaches a second preset time, wherein the motor speed is obtained based on the motor rotational speed, and the rate of change of the motor speed is the amount of change of the motor speed per unit time; identifying that the starting speed at the previous moment before the current moment is zero.

[0068] In a specific embodiment, the vehicle start can be identified by reading the gear information and based on the vehicle speed information at the current moment and the previous moment, the second preset gear is, for example, the D gear, the third preset gear is, for example, the R gear, the preset vehicle speed threshold is, for example, 0.1 m / s, and the preset change rate threshold is, for example, 0.1 m / s 2 , the first preset time and the second preset time are both 0.5s, for example, if the vehicle is in D gear or R gear, and the motor speed is greater than 0.1m / s and the duration reaches 0.5s, and the rate of change of the motor speed is greater than 0.1m / s 2 If the duration reaches 0.5s, and the starting speed at the previous moment before the current moment is identified as zero, it can be considered that the vehicle has started, wherein the motor speed is obtained based on the motor speed, and the rate of change of the motor speed is the amount of change of the motor speed per unit time. Specifically, the start of the vehicle can be identified by related sensors set on the vehicle body, such as a gear sensor, a motor speed sensor, etc. The preset speed threshold, the preset change rate threshold, the first preset time, and the second preset time can all be set by the operator and stored in the relevant controller of the vehicle, such as the vehicle controller.

[0069] Specifically, the vehicle starting speed calculation method provided by an embodiment of the present invention sets three specific conditions. When the three specific conditions are met at the same time, the vehicle starting is recognized as a benchmark for calculating the vehicle starting speed. This not only clarifies the judgment conditions for vehicle starting, but also increases the judgment conditions, improves the accuracy of the judgment, and facilitates accurate recognition of vehicle starting, thereby helping to improve the accuracy of subsequent vehicle starting speed calculations.

[0070] In one embodiment of the present invention, step S2 determines the starting mode of the vehicle, including: when it is identified that the motor is slipping, determining the starting mode of the vehicle to be the slipping starting mode, otherwise, determining the starting mode of the vehicle to be the normal starting mode.

[0071] In a specific embodiment, whether the motor is slipping can be determined by the rate of change of the motor speed. For example, if the rate of change of the motor speed is too large, it can be determined that the motor is slipping. Specifically, whether the motor is slipping can be determined by a related sensor provided on the vehicle body, such as a motor speed sensor.

[0072] Specifically, according to the vehicle starting speed calculation method provided by an embodiment of the present invention, when it is identified that the motor is slipping, the vehicle's starting mode is determined to be the slipping starting mode; otherwise, the vehicle's starting mode is determined to be the normal starting mode. This helps to clarify the starting state of the vehicle and facilitates the subsequent adoption of corresponding starting speed calculation methods according to different starting modes, thereby helping to improve the accuracy of subsequent vehicle starting speed calculations.

[0073] In one embodiment of the present invention, identifying that the motor is slipping includes: when the rate of change of the motor speed is greater than a preset difference, and the difference between the rate of change of the motor speed and the preset difference is greater than a first preset threshold, determining that the motor is slipping, wherein the rate of change of the motor speed is the amount of change of the motor speed per unit time, the motor speed is obtained based on the motor speed, the preset difference is the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, and the longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle along the direction of the road surface slope when the vehicle is stationary.

[0074] In a specific embodiment, the motor speed can be collected by relevant sensors provided on the vehicle body, such as a motor speed sensor, so as to calculate the motor speed, and the rate of change of the motor speed can be calculated based on the change of the motor speed per unit time.

[0075] In a specific embodiment, the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle can be collected by relevant sensors arranged on the vehicle body, such as acceleration and speed sensors. The longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle along the road slope direction when the vehicle is stationary, and the preset difference is determined based on the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle.

[0076] In a specific embodiment, the first preset threshold is, for example, 0.1 m / s 2 Specifically, the first preset threshold value may be set by an operator and stored in a relevant controller of the vehicle, such as a vehicle controller.

[0077] Specifically, according to the vehicle starting speed calculation method provided by an embodiment of the present invention, when the rate of change of the motor speed is greater than a preset difference, and the difference between the rate of change of the motor speed and the preset difference is greater than a first preset threshold, it is determined that the motor is slipping, which helps to clarify the starting state of the vehicle and facilitates the subsequent adoption of the corresponding starting speed calculation method according to different starting modes, thereby helping to improve the accuracy of subsequent vehicle starting speed calculation.

[0078] In one embodiment of the present invention, when it is determined that the motor stops slipping, the normal starting mode is used again to calculate the starting vehicle speed.

[0079] Specifically, according to the vehicle starting speed calculation method provided by an embodiment of the present invention, when it is determined that the motor has stopped slipping, the conventional starting mode is re-adopted to calculate the starting speed, so that the starting speed calculation method can be automatically switched according to the starting situation to avoid errors in the calculation of the starting speed caused by untimely operation.

[0080] In one embodiment of the present invention, determining that the motor has ended slipping includes: when the difference between the rate of change of the motor speed and a preset difference is less than a second preset threshold and the duration reaches a third preset time, determining that the motor has ended slipping, wherein the rate of change of the motor speed is the amount of change of the motor speed per unit time, the motor speed is obtained based on the motor speed, the preset difference is the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, and the longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle along the direction of the road surface slope when the vehicle is stationary.

[0081] In a specific embodiment, the motor speed can be collected by relevant sensors provided on the vehicle body, such as a motor speed sensor, so as to calculate the motor speed, and the rate of change of the motor speed can be calculated based on the change of the motor speed per unit time.

[0082] In a specific embodiment, the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle can be collected by relevant sensors arranged on the vehicle body, such as acceleration and speed sensors. The longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle along the road slope direction when the vehicle is stationary, and the preset difference is determined based on the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle.

[0083] In a specific embodiment, the second preset threshold is, for example, 0.1 m / s 2 , the third preset time is, for example, 0.5s. Specifically, the second preset threshold and the third preset time can be set by an operator and stored in a relevant controller of the vehicle, such as a vehicle controller.

[0084] Specifically, according to the vehicle starting speed calculation method provided by an embodiment of the present invention, when the difference between the change rate of the motor speed and the preset difference is less than the second preset threshold value and the duration reaches the third preset time, it is determined that the motor has stopped slipping, and the starting speed is recalculated using the conventional starting mode, so that the starting speed calculation method can be automatically switched according to the starting situation to avoid errors in the calculation of the starting speed caused by untimely operation.

[0085] In one embodiment of the present invention, the vehicle starting speed calculation method further includes: when it is determined that the starting is completed, stopping the calculation of the starting speed.

[0086] In a specific embodiment, whether the vehicle has completed starting can be determined by combining the change of the motor speed, the starting time, etc. Specifically, whether the vehicle has completed starting can be determined by related sensors provided on the vehicle body, such as a motor speed sensor, etc.

[0087] Specifically, according to the vehicle starting speed calculation method provided by an embodiment of the present invention, when it is determined that the starting is completed, the starting speed calculation is completed and the starting speed calculation is stopped, that is, the calculation of the conventional starting mode and the slipping starting mode is exited, thereby avoiding using the starting speed calculation method to calculate the normal driving speed, causing errors.

[0088] In one embodiment of the present invention, determining that the start is completed includes: determining that the start is completed when the following conditions are met at the same time; wherein the conditions include: the difference between the motor speed and the vehicle speed corresponding to the wheel speed signal is less than a third preset threshold and the duration reaches a fourth preset time, wherein the motor speed is obtained based on the motor speed, and the wheel speed signal is obtained based on the wheel speed sensor; the vehicle's start time reaches a fifth preset time, and within the subsequent sixth preset time, it is recognized that the wheel speed signal of the vehicle continues to change.

[0089] In a specific embodiment, the motor speed can be collected by relevant sensors provided on the vehicle body, such as a motor speed sensor, so as to calculate the motor speed, and the rate of change of the motor speed can be calculated based on the change of the motor speed per unit time.

[0090] In a specific embodiment, the wheel speed signal may be collected by a relevant sensor such as a wheel speed sensor disposed on the vehicle body, so that the corresponding vehicle speed is calculated according to the wheel speed signal.

[0091] In a specific embodiment, the third preset threshold is, for example, 0.1 m / s 2 , the fourth preset time, the fifth preset time and the sixth preset time are all, for example, 0.5s. Specifically, the third preset threshold, the fourth preset time, the fifth preset time and the sixth preset time can be set by the operator and stored in a relevant controller of the vehicle, such as a vehicle controller.

[0092] Specifically, the vehicle starting speed calculation method provided by an embodiment of the present invention sets two specific conditions. When the two specific conditions are met at the same time, it is determined that the start is completed. This not only clarifies the judgment conditions for the completion of the start, but also increases the judgment conditions, improves the accuracy of the judgment, and facilitates the accurate determination of the completion of the start, thereby helping to avoid errors.

[0093] Figure 3 is a flow chart of a method for calculating a vehicle starting speed according to a specific embodiment of the present invention. Figure 4 FIG. 1 is a specific flow chart of a method for calculating a vehicle starting speed according to a specific embodiment of the present invention. Figure 3 and Figure 4 As shown, in a specific embodiment of the present invention, the gear information, motor speed signal and vehicle acceleration sensor are collected through the vehicle CAN (Controller Area Network) network. The wheel speed value of the wheel speed sensor, the rolling radius of the tire of the whole vehicle and the motor transmission speed ratio are obtained, the motor speed is calculated according to the motor speed, the tire rolling radius and the motor transmission speed ratio, and the motor speed change rate is calculated according to the motor speed.

[0094] The vehicle starting speed calculation method includes: S10: Vehicle stationary state judgment: when it is recognized that the vehicle is stationary, the vehicle speed is set to zero and the process proceeds to S20.

[0095] In the method for determining the stationary state of the vehicle in step S10, the motor speed is calculated according to the vehicle gear signal, the motor speed, the tire rolling radius and the transmission speed ratio.

[0096] Condition 1): The vehicle is in P gear; Condition 2): The vehicle is in gear D and the motor speed is less than the threshold and the speed at the last moment is zero; Condition 3): The vehicle gear is in D gear and the motor speed is greater than the threshold and the vehicle was not started at the last moment and the speed was zero at the last moment.

[0097] If any one of conditions 1), 2) and 3) is met, the vehicle is judged to be stationary and the output vehicle speed is zero.

[0098] S20: Vehicle start judgment, identifying whether the vehicle has started to start, if yes, entering S30 to start calculating the vehicle speed, if not, the judgment of S20 will be looped.

[0099] Among them, the vehicle starting judgment condition in step S20 is to calculate the motor speed change rate according to the motor speed. Condition 1): The vehicle is in D gear or R gear; Condition 2): The motor speed and the motor speed change rate are greater than the threshold and maintained for a certain period of time; Condition 3): The vehicle speed at the previous moment was zero.

[0100] If conditions 1), 2) and 3) are met at the same time, it is determined that the vehicle starts to move and the vehicle speed is calculated.

[0101] S30: Starting mode determination, motor slippage identification, determining whether the motor is slipping at the current moment, and dividing the vehicle speed calculation mode into a normal starting speed calculation mode and a slippage starting speed calculation mode.

[0102] The method for determining the starting condition during skidding in step S30 is to obtain the longitudinal acceleration sensor of the vehicle. When the vehicle is stationary, record the longitudinal acceleration As the offset (including the slope); after the vehicle starts to move, when the motor speed change rate is greater than ( ) value and the difference is greater than the threshold, it is judged that the motor is slipping; once slipping is identified, only when the motor speed change rate is equal to ( ) The difference is less than the threshold and lasts for a certain period of time before the motor speed is judged to have returned to stability.

[0103] S40: Normal start mode calculates vehicle speed based on motor speed.

[0104] The conventional starting speed calculation mode in step S40 is calculated according to the following formula: ; In the formula, is the normal starting motor speed, in km / h; N is the motor speed, in r / min; i is the motor speed ratio; is the rolling radius of the wheel, in m.

[0105] S50: Slip start mode, based on the motor speed and vehicle acceleration sensor The vehicle speed is calculated by using the value, the wheel speed information is obtained by referring to the wheel speed sensor signal, and the calculated vehicle speed in the skid start mode is corrected by the wheel speed information to obtain the corrected vehicle speed.

[0106] The calculation mode of the skidding start vehicle speed in step S50 is calculated according to the following formula: ; In the formula, The motor speed of the skid start is in km / h; The motor speed when the motor detects slipping, in km / h; The acceleration value obtained by the longitudinal acceleration sensor, in m / s 2 ; is the longitudinal acceleration offset (including slope), in m / s 2 ; T is the time interval between the current moment and the moment of starting slipping, in seconds.

[0107] Among them, in step S50, the wheel speed signal is identified and repaired, and the vehicle is in the skidding start speed calculation mode. When the vehicle speed is low (generally below 0.5km / h), due to the limitation of wheel speed recognition accuracy, the wheel speed is not recognized, and the wheel speed value is zero. When the vehicle speed increases and the wheel speed value is recognized, the wheel speed value at the time of wheel speed update is compared with the motor speed value. Because it is the driving start stage, when the wheel speed value is less than the motor speed value, the motor speed value is replaced by the wheel speed value at that moment. If the wheel speed update value does not change in the next cycle, the wheel speed information of this cycle is unreliable, and the current vehicle speed is not repaired until the wheel speed update is recognized and the value changes, and then the motor speed is repaired.

[0108] S60: Determine whether the vehicle has completed starting. If not, calculate the vehicle speed using the original mode. If so, exit the motor vehicle speed calculation mode.

[0109] Among them, step S60 vehicle start completion judgment condition: Condition 1): When the difference between the motor speed and the wheel speed collected by the wheel speed sensor is less than the threshold and lasts for a certain period of time; Condition 2): The wheel speed is updated and is not a constant value within a period greater than a certain threshold.

[0110] If conditions 1) and 2) are met at the same time, it is determined that the vehicle has completed starting and the motor speed calculation mode is exited.

[0111] It can be seen that the vehicle starting speed calculation method provided by the specific embodiment of the present invention has the following effects: 1. The vehicle starting speed calculation method first determines the stationary state of the vehicle, sets the speed to zero when stationary, then identifies the start, determines whether the vehicle meets the starting conditions and starts calculating the speed, determines whether the motor is slipping after starting, divides the speed calculation mode into a conventional starting calculation mode and a slipping starting calculation mode, determines the speed calculation method in different modes, estimates the speed through wheel speed verification and repair in the slipping mode, and finally obtains the starting speed. After determining that the vehicle has started, the starting speed is completed, and the starting speed calculation mode is exited. The speed calculation step can avoid the situation where the vehicle speed is misidentified due to motor speed fluctuations when the vehicle is stationary.

[0112] 2. The calculated vehicle speed is recognized quickly and continuously. Currently, most vehicle speed estimates are calculated based on wheel speed values. In the low-speed section, especially in the stationary starting stage, due to the accuracy limitation of the wheel speed sensor, the wheel speed is not recognized at low speeds and the wheel speed value is zero. When the wheel speed value starts to update, the wheel speed value will not change within multiple cycles. At this time, when the vehicle speed is calculated based on the wheel speed, the vehicle speed value will not change, and the estimation accuracy is poor. This method uses the motor speed to calculate the vehicle speed, and uses the wheel speed information to repair the estimated vehicle speed, ensuring that the estimated vehicle speed is recognized quickly, has good continuity, and has better estimation accuracy.

[0113] 3. The motor speed can be judged more accurately when the vehicle is slipping. The current method of estimating vehicle speed based on motor speed determines whether the vehicle speed is reliable by calculating the difference between the acceleration and the acceleration of the vehicle sensor is less than the threshold. It does not take into account the deviation of the calculated acceleration caused by motor fluctuations, which will jump around the threshold, resulting in deviation in vehicle speed calculation. After identifying the motor slip, this solution sets a judgment condition for the recovery of the motor after slipping. Only when the recovery judgment condition is met can the motor speed be trusted, which can solve the problem of incorrect identification of motor fluctuation slip.

[0114] In summary, the vehicle starting speed calculation method according to the embodiment of the present invention first determines that the vehicle is stationary and recognizes that the vehicle is starting, which is used as a basis for calculating the vehicle starting speed, so as to accurately determine the starting time point; then determines the vehicle starting mode, which helps to clarify the vehicle starting state, so as to facilitate the subsequent adoption of corresponding starting speed calculation methods according to different starting modes; finally, in the conventional starting mode, since it is determined that the vehicle motor has not slipped, the vehicle starting speed can be accurately calculated based on the motor speed; in the slipping starting mode, since it is determined that the vehicle motor has slipped, the vehicle starting speed can be accurately calculated by adding the longitudinal acceleration of the whole vehicle to the motor speed for correction, thereby avoiding deviations and being able to quickly and accurately calculate the starting speeds under different starting states.

[0115] Figure 5 FIG. 1 is a schematic diagram of the structure of a vehicle starting speed calculation device according to an embodiment of the present invention. Figure 5 As shown, in one embodiment of the present invention, the vehicle starting speed calculation device 100 includes: an identification module 110, used to determine that the vehicle is in a stationary state and recognize that the vehicle is starting; a processing module 120, used to determine the starting mode of the vehicle, wherein the starting mode includes a normal starting mode and a slipping starting mode; a calculation module 130, used to calculate the starting speed of the vehicle based on the motor speed in the normal starting mode, or, in the slipping starting mode, calculate the starting speed based on the motor speed and the vehicle's entire longitudinal acceleration.

[0116] In one embodiment of the present invention, the calculation module 130 calculates the starting speed based on the motor speed and the vehicle's longitudinal acceleration, including: obtaining the motor speed corresponding to the motor slip moment, and the time interval between the current moment and the vehicle's starting slip moment, wherein the motor speed is obtained based on the motor speed; determining the difference between the vehicle's longitudinal acceleration and the vehicle's longitudinal acceleration offset, wherein the vehicle's longitudinal acceleration offset is the component of the vehicle's gravitational acceleration along the road surface slope direction when the vehicle is stationary; determining the vehicle's slip speed based on the motor speed, the time interval and the difference; and using the slip speed as the starting speed.

[0117] In one embodiment of the present invention, the calculation module 130 determines the slip speed of the vehicle according to the motor speed, the time interval and the difference, including: determining the slip speed of the vehicle based on the following formula: ; In the formula, For skidding speed, is the motor speed corresponding to the moment of motor slip, is the longitudinal acceleration of the vehicle, is the longitudinal acceleration offset of the vehicle, and T is the time interval between the current moment and the moment when the vehicle starts to slip.

[0118] In one embodiment of the present invention, the calculation module 130 calculates the starting speed of the vehicle based on the motor speed, including: determining the motor speed of the vehicle according to the motor speed, the motor speed ratio of the vehicle and the wheel rolling radius of the vehicle; and using the motor speed as the starting speed.

[0119] Figure 6 FIG. 1 is a schematic diagram of a vehicle starting speed calculation device according to another embodiment of the present invention. Figure 6 As shown, in one embodiment of the present invention, the vehicle starting speed calculation device 100 also includes: a correction module 140, which is used to correct the starting speed based on the wheel speed signal collected by the wheel speed sensor after calculating the starting speed based on the motor speed and the vehicle longitudinal acceleration.

[0120] In one embodiment of the present invention, the correction module 140 corrects the starting vehicle speed based on the wheel speed signal obtained by the wheel speed sensor, including: when the wheel speed signal is identified, and the wheel speed signal at the current moment is updated compared to the wheel speed signal at the previous moment and the vehicle speed corresponding to the wheel speed signal at the current moment is less than the starting vehicle speed, the starting vehicle speed is replaced by the vehicle speed corresponding to the wheel speed signal at the current moment to correct the starting vehicle speed.

[0121] In one embodiment of the present invention, the correction module 140 corrects the starting vehicle speed based on the wheel speed signal obtained by the wheel speed sensor, including: when the wheel speed signal is not recognized, or when the wheel speed signal is recognized and the wheel speed signal does not change, the starting vehicle speed is not corrected.

[0122] In one embodiment of the present invention, the identification module 110 determines that the vehicle is in a stationary state, including: when any one of the following conditions is met, it is determined that the vehicle is in a stationary state; wherein the conditions include: the vehicle is in a first preset gear; the vehicle is in a second preset gear, and the motor speed is less than the preset speed threshold, and the starting speed at the previous moment before the current moment is zero; the vehicle is in the second preset gear, and the motor speed is greater than the preset speed threshold, and the vehicle was identified as not started at the previous moment before the current moment, and the starting speed at the previous moment before the current moment was zero.

[0123] In one embodiment of the present invention, the identification module 110 identifies that the vehicle has started, including: when the following conditions are met at the same time, determining that the vehicle has started; wherein the conditions include: the vehicle is in the second preset gear or the third preset gear; the motor speed is greater than the preset speed threshold and the duration reaches the first preset time, and the rate of change of the motor speed is greater than the preset change rate threshold and the duration reaches the second preset time, wherein the motor speed is obtained based on the motor speed, and the rate of change of the motor speed is the change in the motor speed per unit time; it is identified that the starting speed at the previous moment before the current moment is zero.

[0124] In one embodiment of the present invention, the processing module 120 determines the starting mode of the vehicle, including: when it is recognized that the motor is slipping, determining the starting mode of the vehicle to be the slipping starting mode; otherwise, determining the starting mode of the vehicle to be the normal starting mode.

[0125] In one embodiment of the present invention, the processing module 120 recognizes that the motor is slipping, including: when the rate of change of the motor speed is greater than a preset difference, and the difference between the rate of change of the motor speed and the preset difference is greater than a first preset threshold, it is determined that the motor is slipping, wherein the rate of change of the motor speed is the amount of change of the motor speed per unit time, the motor speed is obtained based on the motor speed, the preset difference is the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, and the longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle along the road slope direction when the vehicle is stationary.

[0126] In one embodiment of the present invention, when the processing module 120 determines that the motor stops slipping, the calculation module 130 recalculates the starting vehicle speed using the conventional starting mode.

[0127] In one embodiment of the present invention, the processing module 120 determines that the motor ends slipping, including: when the difference between the rate of change of the motor speed and the preset difference is less than a second preset threshold and the duration reaches a third preset time, it is determined that the motor ends slipping, wherein the rate of change of the motor speed is the amount of change of the motor speed per unit time, the motor speed is obtained based on the motor speed, the preset difference is the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, and the longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle along the road slope direction when the vehicle is stationary.

[0128] In one embodiment of the present invention, when the processing module 120 determines that the start is completed, the calculation module 130 stops calculating the start vehicle speed.

[0129] In one embodiment of the present invention, the processing module 120 determines that the start is completed, including: when the following conditions are met at the same time, the start is determined to be completed; wherein the conditions include: the difference between the motor speed and the vehicle speed corresponding to the wheel speed signal is less than a third preset threshold and the duration reaches a fourth preset time, wherein the motor speed is obtained based on the motor speed, and the wheel speed signal is obtained based on the wheel speed sensor; the vehicle's start time reaches a fifth preset time, and within the subsequent sixth preset time, it is recognized that the wheel speed signal of the vehicle continues to change.

[0130] The vehicle starting speed calculation device 100 according to the embodiment of the present invention is used to implement the vehicle starting speed calculation method of the above embodiment, firstly, by determining that the vehicle is in a stationary state and recognizing that the vehicle is starting, as a basis for calculating the vehicle starting speed, it is convenient to accurately determine the starting time point; then by determining the starting mode of the vehicle, it is helpful to clarify the starting state of the vehicle, so as to facilitate the subsequent adoption of corresponding starting speed calculation methods according to different starting modes; finally, in the normal starting mode, since it is determined that the vehicle motor has not slipped, the starting speed of the vehicle can be accurately calculated based on the motor speed; in the slipping starting mode, since it is determined that the vehicle motor has slipped, the longitudinal acceleration of the whole vehicle is added to the motor speed for correction, so that the starting speed of the vehicle can be accurately calculated, thereby avoiding deviations and being able to quickly and accurately calculate the starting speeds under different starting states.

[0131] A further embodiment of the present invention also discloses a vehicle.

[0132] In some embodiments, the vehicle includes: a vehicle starting speed calculation device 100 as described in any of the above embodiments of the present invention.

[0133] In other embodiments, the vehicle includes: a processor, a memory, and a vehicle starting speed calculation program stored in the memory and executable on the processor. When the vehicle starting speed calculation program is executed by the processor, the vehicle starting speed calculation method described in any of the above embodiments of the present invention is implemented.

[0134] In a specific embodiment, the vehicle may be a fuel vehicle or a hybrid vehicle.

[0135] The vehicle according to the embodiment of the present invention is used to implement the vehicle starting speed calculation method of the above embodiment, firstly, by determining that the vehicle is in a stationary state and recognizing that the vehicle is starting, as a basis for calculating the vehicle starting speed, it is convenient to accurately determine the starting time point; then by determining the starting mode of the vehicle, it is helpful to clarify the starting state of the vehicle, so as to facilitate the subsequent adoption of corresponding starting speed calculation methods according to different starting modes; finally, in the normal starting mode, since it is determined that the vehicle motor has not slipped, the starting speed of the vehicle can be accurately calculated based on the motor speed; in the slipping starting mode, since it is determined that the vehicle motor has slipped, the longitudinal acceleration of the whole vehicle is added to the motor speed for correction, so that the starting speed of the vehicle can be accurately calculated, thereby avoiding deviations and being able to quickly and accurately calculate the starting speeds under different starting states.

[0136] A further embodiment of the present invention also discloses a computer-readable storage medium, on which a vehicle starting speed calculation program is stored. When the vehicle starting speed calculation program is executed by a processor, the vehicle starting speed calculation method described in any of the above embodiments of the present invention is implemented.

[0137] According to the computer-readable storage medium of the embodiment of the present invention, when the vehicle starting speed calculation program stored thereon is executed by the processor, the vehicle starting speed calculation method as described in the above embodiment of the present invention is implemented, firstly, by determining that the vehicle is in a stationary state and recognizing that the vehicle is starting, as a basis for calculating the vehicle starting speed, it is convenient to accurately determine the starting time point; then, by determining the starting mode of the vehicle, it is helpful to clarify the starting state of the vehicle, so as to facilitate the subsequent adoption of corresponding starting speed calculation methods according to different starting modes; finally, in the conventional starting mode, since it is determined that the vehicle motor has not slipped, the starting speed of the vehicle can be accurately calculated based on the motor speed; in the slipping starting mode, since it is determined that the vehicle motor has slipped, the longitudinal acceleration of the whole vehicle is added to the motor speed for correction, so that the starting speed of the vehicle can be accurately calculated, thereby avoiding deviations and being able to quickly and accurately calculate the starting speeds under different starting states.

[0138] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0139] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for calculating vehicle starting speed, characterized in that: include: determining that the vehicle is stationary and recognizing that the vehicle has started; Determining a starting mode of the vehicle, wherein the starting mode includes a normal starting mode and a slipping starting mode; In the normal starting mode, the starting speed of the vehicle is calculated based on the motor speed, or in the slipping starting mode, the starting speed is calculated based on the motor speed and the longitudinal acceleration of the vehicle.

2. The vehicle starting speed calculation method according to claim 1, characterized in that: Calculating the starting speed based on the motor speed and the longitudinal acceleration of the vehicle includes: Obtaining the motor speed corresponding to the motor slipping moment and the time interval between the current moment and the moment when the vehicle starts to slip, wherein the motor speed is obtained based on the motor speed; Determine the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, wherein the longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle in the direction of the road surface slope when the vehicle is stationary; Determining the slip speed of the vehicle according to the motor speed, the time interval and the difference; The slipping vehicle speed is used as the starting vehicle speed.

3. The vehicle starting speed calculation method according to claim 2, characterized in that: Determining the slip speed of the vehicle according to the motor speed, the time interval and the difference includes: The skidding speed of the vehicle is determined based on the following formula: ； In the formula, is the slip speed, is the motor speed corresponding to the moment when the motor slips, is the longitudinal acceleration of the vehicle, is the longitudinal acceleration offset of the whole vehicle, and T is the time interval between the current moment and the moment when the vehicle starts to slip.

4. The vehicle starting speed calculation method according to claim 1, characterized in that: Calculating the starting speed of the vehicle based on the motor speed includes: Determining the motor speed of the vehicle according to the motor speed, the motor speed ratio of the vehicle and the wheel rolling radius of the vehicle; The motor vehicle speed is used as the starting vehicle speed.

5. The vehicle starting speed calculation method according to claim 1, characterized in that: Calculating the starting speed based on the motor speed and the vehicle longitudinal acceleration of the vehicle also includes: The starting vehicle speed is corrected based on the wheel speed signal collected by the wheel speed sensor.

6. The vehicle starting speed calculation method according to claim 5, characterized in that: The correcting the starting vehicle speed based on the wheel speed signal obtained by the wheel speed sensor includes: When the wheel speed signal is identified, and the wheel speed signal at the current moment is updated compared to the wheel speed signal at the previous moment, and the vehicle speed corresponding to the wheel speed signal at the current moment is less than the starting speed, the starting speed is replaced by the vehicle speed corresponding to the wheel speed signal at the current moment to correct the starting speed.

7. The vehicle starting speed calculation method according to claim 5, characterized in that: The correcting the starting vehicle speed based on the wheel speed signal obtained by the wheel speed sensor includes: When the wheel speed signal is not identified, or when the wheel speed signal is identified and the wheel speed signal does not change, the starting vehicle speed is not corrected.

8. The vehicle starting speed calculation method according to claim 1, characterized in that: The determining that the vehicle is in a stationary state comprises: When any one of the following conditions is met, it is determined that the vehicle is in a stationary state; The conditions include: The vehicle is in a first preset gear; The vehicle is in the second preset gear, the motor speed is less than the preset speed threshold, and the starting speed at the previous moment before the current moment is zero; The vehicle is in a second preset gear, and the motor speed is greater than the preset speed threshold, and it is recognized that the vehicle has not started at a moment before the current moment, and it is recognized that the starting speed at a moment before the current moment is zero.

9. The vehicle starting speed calculation method according to claim 1, characterized in that: Recognizing that the vehicle starts, including: When the following conditions are met at the same time, it is determined that the vehicle starts; The conditions include: The vehicle is in the second preset gear position or the third preset gear position; The motor speed is greater than a preset speed threshold and lasts for a first preset time, and the rate of change of the motor speed is greater than a preset rate of change threshold and lasts for a second preset time, wherein the motor speed is obtained based on the motor speed, and the rate of change of the motor speed is the amount of change of the motor speed per unit time; It is recognized that the starting vehicle speed at a time point before the current time point is zero.

10. The vehicle starting speed calculation method according to claim 1, characterized in that: Determining a starting mode of the vehicle includes: When it is identified that the motor is slipping, the starting mode of the vehicle is determined to be the slipping starting mode; otherwise, the starting mode of the vehicle is determined to be the normal starting mode.

11. The vehicle starting speed calculation method according to claim 10, characterized in that: Identifying that the motor is slipping includes: When the rate of change of the motor speed is greater than a preset difference, and the difference between the rate of change of the motor speed and the preset difference is greater than a first preset threshold, it is determined that the motor is slipping, wherein the rate of change of the motor speed is the amount of change of the motor speed per unit time, the motor speed is obtained based on the motor speed, and the preset difference is the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, and the longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle along the direction of the road surface slope when the vehicle is stationary.

12. The vehicle starting speed calculation method according to claim 10, characterized in that: When it is determined that the motor has stopped slipping, the normal starting mode is used again to calculate the starting vehicle speed.

13. The vehicle starting speed calculation method according to claim 12, characterized in that: Determining that the motor ends slipping includes: When the difference between the rate of change of the motor speed and the preset difference is less than a second preset threshold and the duration reaches a third preset time, it is determined that the motor has stopped slipping, wherein the rate of change of the motor speed is the change of the motor speed per unit time, the motor speed is obtained based on the motor speed, and the preset difference is the difference between the longitudinal acceleration of the whole vehicle and the longitudinal acceleration offset of the whole vehicle, and the longitudinal acceleration offset of the whole vehicle is the component of the gravitational acceleration of the vehicle along the direction of the road surface slope when the vehicle is stationary.

14. The vehicle starting speed calculation method according to claim 1, characterized in that: Also includes: When it is determined that the start is completed, the calculation of the start vehicle speed is stopped.

15. The vehicle starting speed calculation method according to claim 14, characterized in that: The determination of the start-up completion includes: When the following conditions are met at the same time, the start is determined to be completed; The conditions include: The difference between the motor speed and the vehicle speed corresponding to the wheel speed signal is less than a third preset threshold and lasts for a fourth preset time, wherein the motor speed is obtained based on the motor speed, and the wheel speed signal is obtained based on the wheel speed sensor; The starting time of the vehicle reaches a fifth preset time, and within a subsequent sixth preset time, it is recognized that the wheel speed signal of the vehicle continues to change.

16. A vehicle starting speed calculation device, characterized in that: include: an identification module, used to determine that the vehicle is stationary and to identify that the vehicle has started; a processing module, configured to determine a starting mode of the vehicle, wherein the starting mode includes a normal starting mode and a slipping starting mode; The calculation module is used to calculate the starting speed of the vehicle based on the motor speed in the normal starting mode, or to calculate the starting speed based on the motor speed and the longitudinal acceleration of the vehicle in the slipping starting mode.

17. A vehicle, characterized in that: include: The vehicle starting speed calculation device as claimed in claim 16; or, A processor, a memory, and a vehicle speed calculation program stored in the memory and executable on the processor, wherein the vehicle speed calculation program, when executed by the processor, implements the vehicle starting speed calculation method as described in any one of claims 1 to 15.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle starting speed calculation program, and when the vehicle starting speed calculation program is executed by the processor, the vehicle starting speed calculation method according to any one of claims 1 to 15 is implemented.

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