Vehicle acceleration determination method and device, medium and electronic equipment

Abstract

The invention provides a vehicle acceleration determination method and device, a medium and electronic equipment. The method comprises the following steps: calculating a difference value obtained by subtracting a fusion vehicle speed value of a starting point detection period in a first adjacent detection period group from a fusion vehicle speed value of a target detection period, and dividing the difference value by duration of a plurality of adjacent detection periods in the first adjacent detection period group to obtain an undetermined acceleration value of the target detection period; performing weighted filtering based on the respective undetermined acceleration values of the plurality of adjacent detection periods in the second adjacent detection period group and the preset calibration weight values of the corresponding detection periods to obtain an estimated acceleration value of the target detection period; and obtaining a target acceleration value of the target detection period based on the actually measured acceleration value and the preset actually measured weight value of the target detection period and the estimated acceleration value and the preset estimated weight value of the target detection period. The target acceleration value of the target detection period is finally generated after multiple influence factors are integrated, so that the accuracy of the target acceleration value is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle acceleration, and in particular to a method, device, medium and electronic device for determining vehicle acceleration. Background Art

[0002] Currently, vehicles mainly collect acceleration values ​​through acceleration sensors.

[0003] However, under complex driving conditions (e.g., turning, sudden acceleration, sudden deceleration, uneven road surface, etc.), the acceleration sensor data may be affected by factors such as noise and vibration, resulting in inaccurate acceleration estimation.

[0004] Therefore, the present application provides a method for determining vehicle acceleration to solve the above technical problems. Summary of the invention

[0005] The purpose of this application is to provide a method, device, medium and electronic device for determining vehicle acceleration, which can solve at least one of the above-mentioned technical problems. The specific solution is as follows:

[0006] According to a specific implementation of the present application, in a first aspect, the present application provides a method for determining vehicle acceleration, comprising:

[0007] Determine a first adjacent detection cycle group and a second adjacent detection cycle group based on a preset cycle data set, wherein the first adjacent detection cycle group consists of a plurality of adjacent detection cycles, the second adjacent detection cycle group consists of a plurality of adjacent detection cycles, and the endpoint detection cycle in the first adjacent detection cycle group and the endpoint detection cycle in the second adjacent detection cycle group are both target detection cycles;

[0008] Based on the preset periodic data set, the fused vehicle speed value of the starting detection period and the fused vehicle speed value of the target detection period in the first adjacent detection period group, the measured acceleration value of the target detection period, and the undetermined acceleration values ​​of each detection period before the target detection period in the second adjacent detection period group are obtained;

[0009] Calculate the difference between the fused vehicle speed value of the target detection period and the fused vehicle speed value of the starting point detection period in the first adjacent detection period group, and divide the difference by the duration of the plurality of adjacent detection periods in the first adjacent detection period group to obtain the undetermined acceleration value of the target detection period;

[0010] Performing weighted filtering based on the pending acceleration values ​​of each of the plurality of adjacent detection periods in the second adjacent detection period group and the preset calibration weight values ​​of the corresponding detection periods to obtain an estimated acceleration value of the target detection period;

[0011] A target acceleration value of the target detection period is obtained based on the measured acceleration value and the preset measured weight value of the target detection period, and the estimated acceleration value and the preset estimated weight value of the target detection period.

[0012] Optionally, before acquiring the fused vehicle speed value of the starting detection period and the fused vehicle speed value of the target detection period in the first adjacent detection period group, the measured acceleration value of the target detection period, and the undetermined acceleration values ​​of each detection period before the target detection period in the second adjacent detection period group based on the preset period data set, it also includes:

[0013] Acquire the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set;

[0014] Based on the predicted vehicle speed value and the preset calculated weight value of the target detection period, and the estimated vehicle speed value and the preset estimated weight value of the target detection period, a fused vehicle speed value of the target detection period is obtained;

[0015] The corresponding relationship between the target detection period and the fused vehicle speed value of the target detection period is saved in the preset period data set.

[0016] Optionally, before acquiring the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set, the method further includes:

[0017] Acquiring a fused vehicle speed value of a previous detection cycle adjacent to the target detection cycle and a target acceleration value of the previous detection cycle based on the preset cycle data set;

[0018] Obtaining a predicted vehicle speed value of the target detection cycle based on the fused vehicle speed value of the immediately previous detection cycle, the target acceleration value of the immediately previous detection cycle, and the duration of the detection cycle;

[0019] The corresponding relationship between the target detection period and the predicted vehicle speed value corresponding to the target detection period is saved in the preset period data set.

[0020] Optionally, before acquiring the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set, the method further includes:

[0021] Acquire the measured wheel speed value of each wheel and the measured acceleration value of the vehicle in the target detection period based on the preset period data set;

[0022] Applying the measured wheel speed value and the preset correction parameter value of each wheel in the target detection period to the preset wheel speed correction model to obtain the corrected wheel speed value of the corresponding wheel in the target detection period;

[0023] In the target detection cycle, a weight value of a corresponding wheel is determined based on the corrected wheel speed value of each wheel, the predicted vehicle speed value and a preset wheel weight strategy;

[0024] In the target detection period, an estimated vehicle speed value of the target detection period is obtained based on the measured acceleration value, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel;

[0025] The corresponding relationship between the target detection period and the estimated vehicle speed value corresponding to the target detection period is saved in the preset period data set.

[0026] Optionally, the step of applying the measured wheel speed value of each wheel in the target detection period to a preset wheel speed correction model to obtain a corrected wheel speed value of the corresponding wheel in the target detection period comprises the following formula:

[0027] V Est_Fl =v Fl -w*L Fr *P corr ;

[0028] V Est_Fr =v Fr +w*L Fr *P corr ;

[0029] V Est_Rl =v Rl -w*L Rr *P corr ;

[0030] V Est_Rr =v Rr +w*L Rr *P corr ;

[0031] Among them, v Fl 、v Fr 、v Rl 、v Rr represents the measured wheel speed value of the left front wheel, the measured wheel speed value of the right front wheel, the measured wheel speed value of the left rear wheel, and the measured wheel speed value of the right rear wheel in the target detection period, w is the preset yaw angular velocity of the vehicle, L Fr , L Rr Respectively represent the preset front wheel track value and the preset rear wheel track value, P corr Indicates the preset correction factor, V Est_Fl 、V Est_Fr 、VEst_Rl 、V Est_Rr They respectively represent the corrected wheel speed value of the left front wheel, the corrected wheel speed value of the right front wheel, the corrected wheel speed value of the left rear wheel, and the corrected wheel speed value of the right rear wheel in the target detection cycle.

[0032] Optionally, determining the weight value of the corresponding wheel based on the corrected wheel speed value, the predicted vehicle speed value and the preset wheel weight strategy of each wheel in the target detection cycle includes:

[0033] Calculating the predicted vehicle speed value of the target detection period and the corrected wheel speed value of each wheel respectively to obtain the slip rate value of the corresponding wheel of the target detection period;

[0034] In the target detection cycle, a weight value of a corresponding wheel is determined based on a slip value of each wheel and a preset wheel weight strategy.

[0035] Optionally, determining the weight value of the corresponding wheel based on the slip rate value of each wheel and a preset wheel weight strategy in the target detection cycle includes:

[0036] In the target detection cycle, when the slip value of the first wheel is less than a minimum slip threshold value of a preset slip linear range, the weight value of the first wheel is a preset first weight value;

[0037] In the target detection cycle, when the slip value of the second wheel is greater than the maximum slip threshold of the preset slip linear range, the weight value of the second wheel is a second weight value;

[0038] In the target detection cycle, when the slip value of the third wheel is within the preset slip linear range, a linear difference calculation is performed based on a preset minimum slip threshold and a preset maximum slip threshold of the preset slip linear range and the slip value of the third wheel to obtain a weight value of the third wheel.

[0039] Optionally, in the target detection period, obtaining the estimated vehicle speed value of the target detection period based on the measured acceleration value, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel includes:

[0040] In the target detection cycle, determining the driving state of the target detection cycle based on the measured acceleration value and a preset driving state strategy;

[0041] In the target detection cycle, based on the driving state, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel, a to-be-determined estimated vehicle speed value of the target detection cycle is obtained;

[0042] Acquiring a fused vehicle speed value of a previous detection cycle adjacent to the target detection cycle and an estimated acceleration value of the previous detection cycle based on the preset cycle data set;

[0043] Obtaining an estimated acceleration value of the target detection cycle based on the pending estimated vehicle speed value of the target detection cycle, the fused vehicle speed value of the previous detection cycle, and the duration of the detection cycle;

[0044] When the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the measured acceleration value of the target detection cycle is greater than a preset deviation threshold, or the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is greater than the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection cycle is equal to the predicted vehicle speed value of the target detection cycle in the preset period data set;

[0045] When the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the measured acceleration value of the target detection cycle is less than or equal to the preset deviation threshold, and the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is less than or equal to the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection cycle is equal to the pending estimated vehicle speed value of the target detection cycle.

[0046] Optionally, in the target detection cycle, determining the driving state of the vehicle based on the measured acceleration value and a preset driving state strategy includes:

[0047] In the target detection cycle, when the measured acceleration value is within a preset normal state range, determining that the driving state is a normal driving state;

[0048] In the target detection cycle, when the measured acceleration value is greater than a maximum threshold value of a preset normal state range, determining that the driving state is a rapid acceleration state;

[0049] In the target detection cycle, when the measured acceleration value is greater than a minimum threshold value of a preset normal state range, it is determined that the driving state is a rapid deceleration state.

[0050] Optionally, obtaining the undetermined estimated vehicle speed value of the target detection period based on the driving state, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel in the target detection period includes:

[0051] When the driving state of the target detection period is the normal driving state, in the target detection period, the to-be-determined estimated vehicle speed value of the target detection period is obtained based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel;

[0052] When the driving state of the target detection period is the rapid acceleration state, determining that the undetermined estimated vehicle speed value of the target detection period is equal to the minimum value of all corrected wheel speed values;

[0053] When the driving state of the target detection period is the rapid deceleration state, it is determined that the undetermined estimated vehicle speed value of the target detection period is equal to the maximum value of all corrected wheel speed values.

[0054] Optionally, in the target detection cycle, obtaining the undetermined estimated vehicle speed value of the target detection cycle based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel includes the following formula:

[0055]

[0056] Among them, V Est0 represents the estimated vehicle speed value during the target detection period, V Est_Fl 、V Est_Fr 、V Est_Rl 、V Est_Rr They represent the corrected wheel speed value of the left front wheel, the corrected wheel speed value of the right front wheel, the corrected wheel speed value of the left rear wheel, and the corrected wheel speed value of the right rear wheel in the target detection cycle, respectively. Fl , W Fr , W Rl , W Rr They respectively represent the weight value of the left front wheel, the weight value of the right front wheel, the weight value of the left rear wheel, and the weight value of the right rear wheel in the target detection cycle.

[0057] According to a specific implementation of the present application, in a second aspect, the present application provides a device for determining vehicle acceleration, comprising:

[0058] a determining unit, configured to determine a first adjacent detection cycle group and a second adjacent detection cycle group based on a preset cycle data set, wherein the first adjacent detection cycle group is composed of a plurality of adjacent detection cycles, the second adjacent detection cycle group is composed of a plurality of adjacent detection cycles, and an endpoint detection cycle in the first adjacent detection cycle group and an endpoint detection cycle in the second adjacent detection cycle group are both target detection cycles;

[0059] an acquisition unit, configured to acquire, based on the preset periodic data set, a fused vehicle speed value of a starting point detection period and a fused vehicle speed value of a target detection period in the first adjacent detection period group, a measured acceleration value of the target detection period, and undetermined acceleration values ​​of each detection period before the target detection period in the second adjacent detection period group;

[0060] a calculation unit, configured to calculate a difference between the fused vehicle speed value of the target detection period and the fused vehicle speed value of the starting point detection period in the first adjacent detection period group, and divide the difference by the duration of the plurality of adjacent detection periods in the first adjacent detection period group to obtain a pending acceleration value of the target detection period;

[0061] A filtering unit, configured to perform weighted filtering based on the respective pending acceleration values ​​of the plurality of adjacent detection periods in the second adjacent detection period group and the preset calibration weight values ​​of the corresponding detection periods, to obtain an estimated acceleration value of the target detection period;

[0062] An obtaining unit is used to obtain a target acceleration value of the target detection period based on a measured acceleration value and a preset measured weight value of the target detection period, and an estimated acceleration value and a preset estimated weight value of the target detection period.

[0063] Optionally, before acquiring the fused vehicle speed value of the starting detection period and the fused vehicle speed value of the target detection period in the first adjacent detection period group, the measured acceleration value of the target detection period, and the undetermined acceleration values ​​of each detection period before the target detection period in the second adjacent detection period group based on the preset period data set, it also includes:

[0064] Acquire the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set;

[0065] Based on the predicted vehicle speed value and the preset calculated weight value of the target detection period, and the estimated vehicle speed value and the preset estimated weight value of the target detection period, a fused vehicle speed value of the target detection period is obtained;

[0066] The corresponding relationship between the target detection period and the fused vehicle speed value of the target detection period is saved in the preset period data set.

[0067] Optionally, before acquiring the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set, the method further includes:

[0068] Acquiring a fused vehicle speed value of a previous detection cycle adjacent to the target detection cycle and a target acceleration value of the previous detection cycle based on the preset cycle data set;

[0069] Obtaining a predicted vehicle speed value of the target detection cycle based on the fused vehicle speed value of the immediately previous detection cycle, the target acceleration value of the immediately previous detection cycle, and the duration of the detection cycle;

[0070] The corresponding relationship between the target detection period and the predicted vehicle speed value corresponding to the target detection period is saved in the preset period data set.

[0071] Optionally, before acquiring the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set, the method further includes:

[0072] Acquire the measured wheel speed value of each wheel and the measured acceleration value of the vehicle in the target detection period based on the preset period data set;

[0073] Applying the measured wheel speed value and the preset correction parameter value of each wheel in the target detection period to the preset wheel speed correction model to obtain the corrected wheel speed value of the corresponding wheel in the target detection period;

[0074] In the target detection cycle, a weight value of a corresponding wheel is determined based on the corrected wheel speed value of each wheel, the predicted vehicle speed value and a preset wheel weight strategy;

[0075] In the target detection period, an estimated vehicle speed value of the target detection period is obtained based on the measured acceleration value, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel;

[0076] The corresponding relationship between the target detection period and the estimated vehicle speed value corresponding to the target detection period is saved in the preset period data set.

[0077] Optionally, the step of applying the measured wheel speed value of each wheel in the target detection period to a preset wheel speed correction model to obtain a corrected wheel speed value of the corresponding wheel in the target detection period comprises the following formula:

[0078] V Est_Fl =v Fl -w*L Fr *P corr ;

[0079] V Est_Fr =v Fr +w*L Fr *P corr ;

[0080] V Est_Rl =v Rl -w*L Rr *P corr ;

[0081] V Est_Rr =v Rr +w*L Rr *P corr ;

[0082] Among them, vFl 、v Fr 、v Rl 、v Rr represents the measured wheel speed value of the left front wheel, the measured wheel speed value of the right front wheel, the measured wheel speed value of the left rear wheel, and the measured wheel speed value of the right rear wheel in the target detection period, w is the preset yaw angular velocity of the vehicle, L Fr , L Rr Respectively represent the preset front wheel track value and the preset rear wheel track value, P corr Indicates the preset correction factor, V Est_Fl 、V Est_Fr 、V Est_Rl 、V Est_Rr They respectively represent the corrected wheel speed value of the left front wheel, the corrected wheel speed value of the right front wheel, the corrected wheel speed value of the left rear wheel, and the corrected wheel speed value of the right rear wheel in the target detection cycle.

[0083] Optionally, determining the weight value of the corresponding wheel based on the corrected wheel speed value, the predicted vehicle speed value and the preset wheel weight strategy of each wheel in the target detection cycle includes:

[0084] Calculating the predicted vehicle speed value of the target detection period and the corrected wheel speed value of each wheel respectively to obtain the slip rate value of the corresponding wheel of the target detection period;

[0085] In the target detection cycle, a weight value of a corresponding wheel is determined based on a slip value of each wheel and a preset wheel weight strategy.

[0086] Optionally, determining the weight value of the corresponding wheel based on the slip rate value of each wheel and a preset wheel weight strategy in the target detection cycle includes:

[0087] In the target detection cycle, when the slip value of the first wheel is less than a minimum slip threshold value of a preset slip linear range, the weight value of the first wheel is a preset first weight value;

[0088] In the target detection cycle, when the slip value of the second wheel is greater than the maximum slip threshold of the preset slip linear range, the weight value of the second wheel is a second weight value;

[0089] In the target detection cycle, when the slip value of the third wheel is within the preset slip linear range, a linear difference calculation is performed based on a preset minimum slip threshold and a preset maximum slip threshold of the preset slip linear range and the slip value of the third wheel to obtain a weight value of the third wheel.

[0090] Optionally, in the target detection period, obtaining the estimated vehicle speed value of the target detection period based on the measured acceleration value, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel includes:

[0091] In the target detection cycle, determining the driving state of the target detection cycle based on the measured acceleration value and a preset driving state strategy;

[0092] In the target detection cycle, based on the driving state, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel, a to-be-determined estimated vehicle speed value of the target detection cycle is obtained;

[0093] Acquiring a fused vehicle speed value of a previous detection cycle adjacent to the target detection cycle and an estimated acceleration value of the previous detection cycle based on the preset cycle data set;

[0094] Obtaining an estimated acceleration value of the target detection cycle based on the pending estimated vehicle speed value of the target detection cycle, the fused vehicle speed value of the previous detection cycle, and the duration of the detection cycle;

[0095] When the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the measured acceleration value of the target detection cycle is greater than a preset deviation threshold, or the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is greater than the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection cycle is equal to the predicted vehicle speed value of the target detection cycle in the preset period data set;

[0096] When the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the measured acceleration value of the target detection cycle is less than or equal to the preset deviation threshold, and the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is less than or equal to the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection cycle is equal to the pending estimated vehicle speed value of the target detection cycle.

[0097] Optionally, in the target detection cycle, determining the driving state of the vehicle based on the measured acceleration value and a preset driving state strategy includes:

[0098] In the target detection cycle, when the measured acceleration value is within a preset normal state range, determining that the driving state is a normal driving state;

[0099] In the target detection cycle, when the measured acceleration value is greater than a maximum threshold value of a preset normal state range, determining that the driving state is a rapid acceleration state;

[0100] In the target detection cycle, when the measured acceleration value is greater than a minimum threshold value of a preset normal state range, it is determined that the driving state is a rapid deceleration state.

[0101] Optionally, obtaining the undetermined estimated vehicle speed value of the target detection period based on the driving state, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel in the target detection period includes:

[0102] When the driving state of the target detection period is the normal driving state, in the target detection period, the to-be-determined estimated vehicle speed value of the target detection period is obtained based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel;

[0103] When the driving state of the target detection period is the rapid acceleration state, determining that the undetermined estimated vehicle speed value of the target detection period is equal to the minimum value of all corrected wheel speed values;

[0104] When the driving state of the target detection period is the rapid deceleration state, it is determined that the undetermined estimated vehicle speed value of the target detection period is equal to the maximum value of all corrected wheel speed values.

[0105] Optionally, in the target detection cycle, obtaining the undetermined estimated vehicle speed value of the target detection cycle based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel includes the following formula:

[0106]

[0107] Among them, V Est0 represents the estimated vehicle speed value during the target detection period, V Est_Fl 、V Est_Fr 、V Est_Rl 、V Est_Rr They represent the corrected wheel speed value of the left front wheel, the corrected wheel speed value of the right front wheel, the corrected wheel speed value of the left rear wheel, and the corrected wheel speed value of the right rear wheel in the target detection cycle, respectively. Fl , W Fr , W Rl , W Rr They respectively represent the weight value of the left front wheel, the weight value of the right front wheel, the weight value of the left rear wheel, and the weight value of the right rear wheel in the target detection cycle.

[0108] According to a specific implementation of the present application, in a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method for determining the vehicle acceleration as described in any one of the above items is implemented.

[0109] According to the specific implementation of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the vehicle acceleration as described in any of the above items.

[0110] Compared with the prior art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0111] The present application provides a method, device, medium and electronic device for determining vehicle acceleration. The method comprises: calculating the difference between the fused vehicle speed value of the target detection cycle and the fused vehicle speed value of the starting detection cycle in the first adjacent detection cycle group, dividing the difference by the duration of the multiple adjacent detection cycles in the first adjacent detection cycle group, and obtaining the pending acceleration value of the target detection cycle; performing weighted filtering based on the pending acceleration values ​​of the multiple adjacent detection cycles in the second adjacent detection cycle group and the preset calibration weight value of the corresponding detection cycle, and obtaining the estimated acceleration value of the target detection cycle; obtaining the target acceleration value of the target detection cycle based on the measured acceleration value and the preset measured weight value of the target detection cycle, and the estimated acceleration value and the preset estimated weight value of the target detection cycle. The target acceleration value of the target detection cycle is finally generated after combining the measured speed value, driving state, wheel slip and / or locking, thereby improving the accuracy of the target acceleration value. Avoid the influence of factors such as noise and vibration, which cause the measured acceleration value to be inaccurate. Improve the accuracy of vehicle driving control. BRIEF DESCRIPTION OF THE DRAWINGS

[0112] Figure 1 A flow chart showing a method for determining vehicle acceleration according to an embodiment of the present application;

[0113] Figure 2 A unit block diagram of a device for determining vehicle acceleration according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0114] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0115] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0116] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0117] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0118] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0119] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0120] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0121] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0122] The embodiment provided in this application is an embodiment of a method for determining vehicle acceleration.

[0123] Combine the following Figure 1 The embodiments of the present application are described in detail.

[0124] Step S111: determining a first adjacent detection cycle group and a second adjacent detection cycle group based on a preset cycle data set.

[0125] The preset cycle data set stores the data of each detection cycle during the vehicle driving process. After each detection cycle, the measured data and calculated data of the corresponding detection cycle are stored in the preset cycle data set.

[0126] The preset periodic data set includes: the detection period, the measured wheel speed value of each wheel, the predicted vehicle speed value, the estimated vehicle speed value, the fused vehicle speed value, the measured acceleration value, the pending acceleration value, the estimated acceleration value and the corresponding relationship between the target acceleration value.

[0127] The measured data of each detection cycle is detected in real time during the vehicle driving in the corresponding detection cycle and is saved in the preset cycle data set. The calculated data can be saved in the preset cycle data set after real-time calculation in the corresponding detection cycle, or it can be saved in the preset cycle data set after calculation when studying the data, but the present application is not limited thereto.

[0128] The first adjacent detection cycle group consists of multiple adjacent detection cycles, the second adjacent detection cycle group consists of multiple adjacent detection cycles, and the endpoint detection cycle in the first adjacent detection cycle group and the endpoint detection cycle in the second adjacent detection cycle group are both target detection cycles.

[0129] For example, the target detection period of the vehicle is the current detection period T 100 , the first adjacent detection cycle group includes 5 detection cycles: T 96 , T 97 , T 98 , T 99 and T 100 , the starting detection period of the first adjacent detection period group is T 96 , the end point detection period is T 100 ; The second adjacent detection cycle group includes 10 detection cycles: T 91 , T 92 , T 93 , T 94 , T 95 , T 96 , T 97 , T 98 , T 99 and T 100 , the starting detection period of the second adjacent detection period group is T 91 , the end point detection period is T 100 The endpoint detection period of the first adjacent detection period group and the endpoint detection period of the second adjacent detection period group are both T 100 .

[0130] Step S112, based on the preset periodic data set, obtain the fused vehicle speed value of the starting detection period and the fused vehicle speed value of the target detection period in the first adjacent detection period group, the measured acceleration value of the target detection period, and the pending acceleration values ​​of each detection period before the target detection period in the second adjacent detection period group.

[0131] The fused vehicle speed value is a speed value generated by weighting multiple factors including the measured speed value, driving status, wheel slip and / or locking.

[0132] The pending acceleration values ​​of each detection cycle before the target detection cycle in the second adjacent detection cycle group can be understood as that the pending acceleration value in the target detection cycle in the second adjacent detection cycle group has not yet been obtained, while the pending acceleration values ​​of other detection cycles except the target detection cycle in the second adjacent detection cycle group have been obtained and saved in the preset cycle data set. For example, continuing the above example, the second adjacent detection cycle group includes 10 detection cycles: T 91 , T 92 , T 93 , T 94 , T 95 , T 96 , T 97 , T 98 , T 99 and T 100 , target detection cycle T 100 The acceleration value has not yet been obtained, and T 91 , T 92 , T 93 , T 94 , T 95 , T 96 , T 97 , T 98 and T 99 The pending acceleration value has been saved in the preset period data set.

[0133] Step S113, calculate the difference between the fused vehicle speed value of the target detection cycle and the fused vehicle speed value of the starting point detection cycle in the first adjacent detection cycle group, and divide it by the duration of the multiple adjacent detection cycles in the first adjacent detection cycle group to obtain the pending acceleration value of the target detection cycle.

[0134] Optionally, the calculation of the difference between the fused vehicle speed value of the target detection cycle and the fused vehicle speed value of the starting point detection cycle in the first adjacent detection cycle group is divided by the duration of the multiple adjacent detection cycles in the first adjacent detection cycle group to obtain the undetermined acceleration value of the target detection cycle, including the following formula:

[0135]

[0136] Among them, a cal represents the undetermined acceleration value of the target detection cycle, V TN represents the fused vehicle speed value of the target detection cycle, V T0 represents the fused vehicle speed value of the starting point detection period, N represents the number of the multiple adjacent detection periods in the first adjacent detection period group, T represents the duration of the detection period, and TxN represents the duration of the multiple adjacent detection periods in the first adjacent detection period group.

[0137] After obtaining the pending acceleration value of the target detection cycle, the corresponding relationship between the target detection cycle and the pending acceleration value of the target detection cycle can be saved in a preset period data set.

[0138] Step S114, performing weighted filtering based on the pending acceleration values ​​of each of the plurality of adjacent detection periods in the second adjacent detection period group and the preset calibration weight values ​​of the corresponding detection periods, to obtain an estimated acceleration value of the target detection period.

[0139] The estimated acceleration value is obtained after weighted filtering of the determined acceleration value, so as to make the generated acceleration curve more stable and smooth.

[0140] Optionally, for the preset calibration weight value of each detection cycle in the second adjacent detection cycle group, the preset calibration weight value of each detection cycle in the second adjacent detection cycle group is set from small to large based on the order of each detection cycle in the second adjacent detection cycle group on the time axis.

[0141] After the estimated acceleration value of the target detection period is obtained, the corresponding relationship between the target detection period and the estimated acceleration value of the target detection period can be saved in a preset period data set.

[0142] Optionally, the weighted filtering based on the pending acceleration values ​​of each of the plurality of adjacent detection cycles in the second adjacent detection cycle group and the preset calibration weight value of the corresponding detection cycle to obtain the estimated acceleration value of the target detection cycle includes the following formula:

[0143]

[0144] Among them, a filt represents the estimated acceleration value of the target detection period, N represents the difference between the number of the plurality of adjacent detection periods in the second adjacent detection period group minus one, a cal_i represents the i-th undetermined acceleration value in the second adjacent detection period group, w iRepresents the i-th preset calibration weight value in the second adjacent detection cycle group.

[0145] Step S115, obtaining a target acceleration value of the target detection period based on the measured acceleration value and the preset measured weight value of the target detection period, and the estimated acceleration value and the preset estimated weight value of the target detection period.

[0146] Optionally, obtaining the target acceleration value of the target detection period based on the measured acceleration value and the preset measured weight value of the target detection period, and the estimated acceleration value and the preset estimated weight value of the target detection period comprises the following steps:

[0147] a tag =W filt ⅹa filt +(1-W filt )ⅹa sen ;

[0148] Among them, a tag represents the target acceleration value of the target detection cycle, W filt Indicates the preset estimated weight value, a filt + represents the estimated acceleration value of the target detection period, a sen represents the measured acceleration value of the target detection cycle, 1-W filt Indicates the preset measured weight value. For example, W filt =0.7.

[0149] After obtaining the target acceleration value of the target detection cycle, the corresponding relationship between the target detection cycle and the target acceleration value of the target detection cycle can be saved in a preset cycle data set, so that other cycles after the target detection cycle can be used.

[0150] In the embodiment of the present application, the difference between the fused vehicle speed value of the target detection cycle and the fused vehicle speed value of the starting detection cycle in the first adjacent detection cycle group is calculated, and the difference is divided by the duration of the multiple adjacent detection cycles in the first adjacent detection cycle group to obtain the pending acceleration value of the target detection cycle; weighted filtering is performed based on the pending acceleration values ​​of the multiple adjacent detection cycles in the second adjacent detection cycle group and the preset calibration weight value of the corresponding detection cycle to obtain the estimated acceleration value of the target detection cycle; the target acceleration value of the target detection cycle is obtained based on the measured acceleration value and the preset measured weight value of the target detection cycle, as well as the estimated acceleration value and the preset estimated weight value of the target detection cycle. The target acceleration value of the target detection cycle is finally generated after combining the measured speed value, driving state, wheel slip and / or locking, thereby improving the accuracy of the target acceleration value. The influence of factors such as noise and vibration is avoided, which causes the measured acceleration value to be inaccurate. The accuracy of vehicle driving control is improved.

[0151] In some specific implementation examples, before acquiring the fused vehicle speed value of the starting detection cycle and the fused vehicle speed value of the target detection cycle in the first adjacent detection cycle group, the measured acceleration value of the target detection cycle, and the undetermined acceleration values ​​of each detection cycle before the target detection cycle in the second adjacent detection cycle group based on the preset cycle data set, the following steps are also included:

[0152] Step S101, obtaining a predicted vehicle speed value of the target detection period and an estimated vehicle speed value of the target detection period based on the preset period data set.

[0153] Predicted vehicle speed value, used to calculate the reference speed of the slip ratio value.

[0154] The estimated vehicle speed value is a speed value generated by integrating multiple factors such as the measured speed value, driving status, wheel slip and / or locking, and is the speed value before the fusion vehicle speed value is weighted.

[0155] Step S102, based on the predicted vehicle speed value and the preset calculated weight value of the target detection period, as well as the estimated vehicle speed value and the preset estimated weight value of the target detection period, obtain the fused vehicle speed value of the target detection period.

[0156] Optionally, the predicted vehicle speed value and the preset calculated weight value of the target detection period, as well as the estimated vehicle speed value and the preset estimated weight value of the target detection period, are used to obtain the fused vehicle speed value of the target detection period, including the following formula:

[0157] V T =W Est ⅹV Est +(1-W Est)ⅹV pre ;

[0158] Among them, V T represents the fused vehicle speed value of the target detection cycle, V Est represents the estimated vehicle speed value of the target detection cycle, W Est Represents the preset estimated weight value, V pre represents the predicted vehicle speed value of the target detection cycle, (1-W Est ) represents the preset measurement weight value. For example, W Est =0.7.

[0159] Step S103, saving the corresponding relationship between the target detection period and the fused vehicle speed value of the target detection period into the preset period data set.

[0160] In some other specific implementation examples, before acquiring the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set, the following steps are also included:

[0161] Step S100a-1, based on the preset periodic data set, obtaining a fused vehicle speed value of a previous detection period adjacent to the target detection period and a target acceleration value of the previous detection period.

[0162] Step S100a-2, obtaining a predicted vehicle speed value of the target detection cycle based on the fused vehicle speed value of the immediately previous detection cycle, the target acceleration value of the immediately previous detection cycle, and the duration of the detection cycle.

[0163] Optionally, the predicted vehicle speed value of the target detection cycle is obtained based on the fused vehicle speed value of the immediately previous detection cycle, the target acceleration value of the immediately previous detection cycle, and the duration of the detection cycle, including the following formula:

[0164] V pre =V TN-1 +a tag-1 ⅹT;

[0165] Among them, V pre represents the predicted vehicle speed value of the target detection cycle, V TN-1 represents the fused vehicle speed value of the immediately previous detection cycle, a tag-1 represents the target acceleration value of the immediately previous detection cycle, and T represents the duration of the detection cycle.

[0166] Step S100a-3, saving the corresponding relationship between the target detection period and the predicted vehicle speed value corresponding to the target detection period into the preset period data set.

[0167] In some other specific implementation examples, before acquiring the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set, the following steps are also included:

[0168] Step S100b-1, obtaining the actual wheel speed value of each wheel and the actual acceleration value of the vehicle in the target detection period based on the preset period data set.

[0169] The measured wheel speed value and the measured acceleration value are both measured data, which are measured data obtained by sensor detection. After the target detection cycle is measured, the corresponding relationship between the target detection cycle and each measured wheel speed value and measured acceleration value is saved in the preset cycle data set.

[0170] Step S100b-2, applying the measured wheel speed value and the preset correction parameter value of each wheel in the target detection period to the preset wheel speed correction model to obtain the corrected wheel speed value of the corresponding wheel in the target detection period.

[0171] This specific embodiment corrects the deviation of each wheel during the vehicle's driving process by presetting the correction parameter value and the preset wheel speed correction model.

[0172] In some specific implementation examples, the method of applying the measured wheel speed value of each wheel in the target detection period to a preset wheel speed correction model to obtain the corrected wheel speed value of the corresponding wheel in the target detection period includes the following formula:

[0173] V Est_Fl =v Fl -w×L Fr ×P corr ;

[0174] V Est_Fr =v Fr +w×L Fr ×P corr ;

[0175] V Est_Rl =v Rl -w×L Rr ×P corr ;

[0176] V Est_Rr =v Rr +w×L Rr ×P corr ;

[0177] Among them, v Fl 、v Fr 、v Rl 、v Rrrepresents the measured wheel speed value of the left front wheel, the measured wheel speed value of the right front wheel, the measured wheel speed value of the left rear wheel, and the measured wheel speed value of the right rear wheel in the target detection period, w is the preset yaw angular velocity of the vehicle, L Fr , L Rr Respectively represent the preset front wheel track value and the preset rear wheel track value, P corr Indicates the preset correction factor, V Est_Fl 、V Est_Fr 、V Est_Rl 、V Est_Rr They respectively represent the corrected wheel speed value of the left front wheel, the corrected wheel speed value of the right front wheel, the corrected wheel speed value of the left rear wheel, and the corrected wheel speed value of the right rear wheel in the target detection cycle.

[0178] This specific embodiment uses a preset yaw acceleration to correct and compensate the wheel speed, so as to eliminate the deviation value of the inner and outer wheel speeds during the vehicle's turning process.

[0179] Step S100b-3, in the target detection cycle, determining the weight value of the corresponding wheel based on the corrected wheel speed value of each wheel, the predicted vehicle speed value and the preset wheel weight strategy.

[0180] In some specific implementation examples, determining the weight value of the corresponding wheel based on the corrected wheel speed value, the predicted vehicle speed value and the preset wheel weight strategy of each wheel in the target detection cycle includes the following steps:

[0181] Step S100b-31, calculating the predicted vehicle speed value of the target detection period and the corrected wheel speed value of each wheel respectively, to obtain the slip rate value of the corresponding wheel of the target detection period.

[0182] Optionally, the predicted vehicle speed value based on the target detection period is calculated with the corrected wheel speed value of each wheel respectively to obtain the slip rate value of the corresponding wheel in the target detection period, including the following formula:

[0183] S i =|V pre -V i| / V pre ;

[0184] Among them, S i represents the slip ratio value of the i-th wheel in the target detection cycle, V pre represents the predicted vehicle speed value of the target detection cycle, V i| Represents the corrected wheel speed value of the i-th wheel in the target detection cycle.

[0185] Step S100b-32: in the target detection cycle, determining the weight value of the corresponding wheel based on the slip value of each wheel and a preset wheel weight strategy.

[0186] In some specific implementation examples, determining the weight value of the corresponding wheel based on the slip value of each wheel and a preset wheel weight strategy in the target detection cycle includes the following steps:

[0187] Step S100b-32a, in the target detection cycle, when the slip value of the first wheel is less than the minimum slip threshold of the preset slip linear range, the weight value of the first wheel is a preset first weight value.

[0188] For example, the preset slip rate linear range is: [0.01, 0.1], the minimum slip rate threshold of the preset slip rate linear range is 0.01, and the preset first weight value is 1, that is, in the target detection cycle, the slip rate value S of the i-th wheel i <0.01, the weight value W of the i-th wheel i =1.

[0189] Step S100b-32b, in the target detection cycle, when the slip value of the second wheel is greater than the maximum slip threshold of the preset slip linear range, the weight value of the second wheel is a second weight value.

[0190] For example, continuing the above example, the maximum slip rate threshold value of the preset slip rate linear range is 0.1, and the preset second weight value is 0, that is, in the target detection cycle, the slip rate value S of the i-th wheel is i >0.1, the weight value W of the i-th wheel i =0.

[0191] Step S100b-32c, in the target detection cycle, when the slip value of the third wheel is within the preset slip linear range, a linear difference calculation is performed based on the preset minimum slip threshold and the preset maximum slip threshold of the preset slip linear range and the slip value of the third wheel to obtain the weight value of the third wheel.

[0192] For example, continuing the above example, the weight value of the third wheel=(0.1−s) / (0.1−0.01), where s represents the slip value of the third wheel.

[0193] In this particular embodiment, the first wheel, the second wheel, and the third wheel each represent one of a plurality of wheels of the vehicle.

[0194] In this specific embodiment, the step sequence numbers of step S100b-32a, step S100b-32b and step S100b-32c do not represent the execution order of each step.

[0195] Step S100b-4, in the target detection period, obtaining the estimated vehicle speed value of the target detection period based on the measured acceleration value, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel.

[0196] In some specific implementation examples, in the target detection period, obtaining the estimated vehicle speed value of the target detection period based on the measured acceleration value, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel includes the following steps:

[0197] Step S100b-41, in the target detection cycle, determining the driving state of the target detection cycle based on the measured acceleration value and a preset driving state strategy.

[0198] In some specific implementation examples, in the target detection cycle, determining the driving state of the vehicle based on the measured acceleration value and a preset driving state strategy includes the following steps:

[0199] Step S100b-41a, in the target detection cycle, when the measured acceleration value is within a preset normal state range, determining that the driving state is a normal driving state.

[0200] For example, the preset normal state range is [-3m / s2, 3m / s2].

[0201] Step S100b-41b, in the target detection cycle, when the measured acceleration value is greater than the maximum threshold of the preset normal state range, it is determined that the driving state is a rapid acceleration state.

[0202] Step S100b-41c, in the target detection cycle, when the measured acceleration value is greater than the minimum threshold of the preset normal state range, it is determined that the driving state is a sudden deceleration state.

[0203] In this specific embodiment, the step sequence numbers of step S100b-41a, step S100b-41b and step S100b-41c do not represent the execution order of each step.

[0204] In this specific embodiment, the judgment of the vehicle driving scene based on the measured acceleration value is added to enhance the objectivity of the vehicle speed value and improve the accuracy of the estimated vehicle speed value.

[0205] Step S100b-42, in the target detection cycle, obtain the pending estimated vehicle speed value of the target detection cycle based on the driving state, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel.

[0206] In this specific embodiment, the vehicle speed value is determined based on the driving state of the vehicle.

[0207] In some specific implementation examples, obtaining the pending estimated vehicle speed value of the target detection period based on the driving state, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel in the target detection period includes:

[0208] Step S100b-421, when the driving state of the target detection cycle is the normal driving state, in the target detection cycle, the pending estimated vehicle speed value of the target detection cycle is obtained based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel.

[0209] In this specific embodiment, when the vehicle is running normally, the wheel speeds of multiple wheels are fused according to weights to obtain a pending estimated vehicle speed value.

[0210] In some specific implementation examples, in the target detection period, the undetermined estimated vehicle speed value of the target detection period is obtained based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel, including the following formula:

[0211]

[0212] Among them, V Est0 represents the estimated vehicle speed value to be determined during the target detection period, V Est_Fl 、V Est_Fr 、V Est_Rl 、V Est_Rr They represent the corrected wheel speed value of the left front wheel, the corrected wheel speed value of the right front wheel, the corrected wheel speed value of the left rear wheel, and the corrected wheel speed value of the right rear wheel in the target detection cycle, respectively. Fl , W Fr , W Rl , W Rr They respectively represent the weight value of the left front wheel, the weight value of the right front wheel, the weight value of the left rear wheel, and the weight value of the right rear wheel in the target detection cycle.

[0213] Step S100b-422, when the driving state of the target detection cycle is the rapid acceleration state, determine that the pending estimated vehicle speed value of the target detection cycle is equal to the minimum value of all corrected wheel speed values.

[0214] For example, when the driving state of the target detection period is the rapid acceleration state:

[0215] V Est0 =min(V Est_Fl , V Est_Fr , V Est_Rl , V Est_Rr ).

[0216] Step S100b-423, when the driving state of the target detection cycle is the rapid deceleration state, determine that the pending estimated vehicle speed value of the target detection cycle is equal to the maximum value of all corrected wheel speed values.

[0217] For example, when the driving state of the target detection period is the rapid deceleration state:

[0218] V Est0 =max(V Est_Fl , V Est_Fr , V Est_Rl , V Est_Rr ).

[0219] Step S100b-43, obtaining the fused vehicle speed value of the previous detection cycle adjacent to the target detection cycle and the estimated acceleration value of the previous detection cycle based on the preset cycle data set.

[0220] Step S100b-44, obtaining the estimated acceleration value of the target detection cycle based on the pending estimated vehicle speed value of the target detection cycle, the fused vehicle speed value of the previous detection cycle, and the duration of the detection cycle.

[0221] Optionally, the estimated acceleration value of the target detection cycle is obtained based on the undetermined estimated vehicle speed value of the target detection cycle, the fused vehicle speed value of the previous detection cycle, and the duration of the detection cycle, including the following formula:

[0222] a Est =(V Est0 -V Tz ) / T;

[0223] Among them, a Est Indicates that V Est0 represents the estimated vehicle speed value to be determined during the target detection period, V Tz represents the fused vehicle speed value of the previous detection cycle, and T represents the duration of the detection cycle.

[0224] After the estimated acceleration value of the target detection period is obtained, the corresponding relationship between the target detection period and the estimated acceleration value of the corresponding target detection period is saved in the preset period data set.

[0225] Step S100b-45, when the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the measured acceleration value of the target detection cycle is greater than a preset deviation threshold, or the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is greater than a preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection cycle is equal to the predicted vehicle speed value of the target detection cycle in the preset cycle data set.

[0226] The absolute value of the deviation between the estimated acceleration value of the target detection period and the measured acceleration value of the target detection period is used to determine whether the wheel is slipping. When the absolute value of the deviation between the estimated acceleration value of the target detection period and the measured acceleration value of the target detection period is greater than the preset deviation threshold, it indicates that the wheel is slipping. At this time, the estimated vehicle speed value V of the target detection period is Est =V pre , where V pre Indicates the predicted vehicle speed value of the target detection period.

[0227] The absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is used to determine whether the wheel is locked. When the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is greater than the preset deviation threshold, it indicates that the wheel is locked. At this time, the estimated vehicle speed value V of the target detection cycle is Est =V pre , where V pre Indicates the predicted vehicle speed value of the target detection period.

[0228] For example, the preset deviation threshold is 0.2.

[0229] Step S100b-46, when the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the measured acceleration value of the target detection cycle is less than or equal to the preset deviation threshold, and the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is less than or equal to the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection cycle is equal to the pending estimated vehicle speed value of the target detection cycle.

[0230] When there is no wheel slip or locking, the estimated vehicle speed value V of the target detection cycle Est =V Est0 .

[0231] Step S100b-5, saving the correspondence between the target detection period and the estimated vehicle speed value corresponding to the target detection period into the preset period data set.

[0232] The present application also provides a device embodiment that is based on the above embodiment, which is used to implement the method steps described in the above embodiment. The explanation based on the same name meaning is the same as the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

[0233] like Figure 2 As shown, the present application provides a vehicle acceleration determination device 200, comprising:

[0234] A determining unit 201 is configured to determine a first adjacent detection cycle group and a second adjacent detection cycle group based on a preset cycle data set, wherein the first adjacent detection cycle group is composed of a plurality of adjacent detection cycles, the second adjacent detection cycle group is composed of a plurality of adjacent detection cycles, and an endpoint detection cycle in the first adjacent detection cycle group and an endpoint detection cycle in the second adjacent detection cycle group are both target detection cycles;

[0235] An acquisition unit 202 is used to acquire, based on the preset period data set, a fused vehicle speed value of a starting point detection period and a fused vehicle speed value of a target detection period in the first adjacent detection period group, a measured acceleration value of the target detection period, and undetermined acceleration values ​​of each detection period before the target detection period in the second adjacent detection period group;

[0236] The calculation unit 203 is used to calculate the difference between the fused vehicle speed value of the target detection period and the fused vehicle speed value of the starting point detection period in the first adjacent detection period group, and divide the difference by the duration of the plurality of adjacent detection periods in the first adjacent detection period group to obtain the undetermined acceleration value of the target detection period;

[0237] A filtering unit 204, configured to perform weighted filtering based on the respective pending acceleration values ​​of the plurality of adjacent detection periods in the second adjacent detection period group and the preset calibration weight values ​​of the corresponding detection periods, to obtain an estimated acceleration value of the target detection period;

[0238] The obtaining unit 205 is used to obtain the target acceleration value of the target detection period based on the measured acceleration value and the preset measured weight value of the target detection period, and the estimated acceleration value and the preset estimated weight value of the target detection period.

[0239] Optionally, before acquiring the fused vehicle speed value of the starting detection period and the fused vehicle speed value of the target detection period in the first adjacent detection period group, the measured acceleration value of the target detection period, and the undetermined acceleration values ​​of each detection period before the target detection period in the second adjacent detection period group based on the preset period data set, it also includes:

[0240] Acquire the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set;

[0241] Based on the predicted vehicle speed value and the preset calculated weight value of the target detection period, and the estimated vehicle speed value and the preset estimated weight value of the target detection period, a fused vehicle speed value of the target detection period is obtained;

[0242] The corresponding relationship between the target detection period and the fused vehicle speed value of the target detection period is saved in the preset period data set.

[0243] Optionally, before acquiring the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set, the method further includes:

[0244] Acquiring a fused vehicle speed value of a previous detection cycle adjacent to the target detection cycle and a target acceleration value of the previous detection cycle based on the preset cycle data set;

[0245] Obtaining a predicted vehicle speed value of the target detection cycle based on the fused vehicle speed value of the immediately previous detection cycle, the target acceleration value of the immediately previous detection cycle, and the duration of the detection cycle;

[0246] The corresponding relationship between the target detection period and the predicted vehicle speed value corresponding to the target detection period is saved in the preset period data set.

[0247] Optionally, before acquiring the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set, the method further includes:

[0248] Acquire the measured wheel speed value of each wheel and the measured acceleration value of the vehicle in the target detection period based on the preset period data set;

[0249] Applying the measured wheel speed value and the preset correction parameter value of each wheel in the target detection period to the preset wheel speed correction model to obtain the corrected wheel speed value of the corresponding wheel in the target detection period;

[0250] In the target detection cycle, a weight value of a corresponding wheel is determined based on the corrected wheel speed value of each wheel, the predicted vehicle speed value and a preset wheel weight strategy;

[0251] In the target detection period, an estimated vehicle speed value of the target detection period is obtained based on the measured acceleration value, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel;

[0252] The corresponding relationship between the target detection period and the estimated vehicle speed value corresponding to the target detection period is saved in the preset period data set.

[0253] Optionally, the step of applying the measured wheel speed value of each wheel in the target detection period to a preset wheel speed correction model to obtain a corrected wheel speed value of the corresponding wheel in the target detection period comprises the following formula:

[0254] V Est_Fl =v Fl -w*LFr *P corr ;

[0255] V Est_Fr =v Fr +w*L Fr *P corr ;

[0256] V Est_Rl =v Rl -w*L Rr *P corr ;

[0257] V Est_Rr =v Rr +w*L Rr *P corr ;

[0258] Among them, v Fl 、v Fr 、v Rl 、v Rr represents the measured wheel speed value of the left front wheel, the measured wheel speed value of the right front wheel, the measured wheel speed value of the left rear wheel, and the measured wheel speed value of the right rear wheel in the target detection period, w is the preset yaw angular velocity of the vehicle, L Fr , L Rr Respectively represent the preset front wheel track value and the preset rear wheel track value, P corr Indicates the preset correction factor, V Est_Fl 、V Est_Fr 、V Est_Rl 、V Est_Rr They respectively represent the corrected wheel speed value of the left front wheel, the corrected wheel speed value of the right front wheel, the corrected wheel speed value of the left rear wheel, and the corrected wheel speed value of the right rear wheel in the target detection cycle.

[0259] Optionally, determining the weight value of the corresponding wheel based on the corrected wheel speed value, the predicted vehicle speed value and the preset wheel weight strategy of each wheel in the target detection cycle includes:

[0260] Calculating the predicted vehicle speed value of the target detection period and the corrected wheel speed value of each wheel respectively to obtain the slip rate value of the corresponding wheel of the target detection period;

[0261] In the target detection cycle, a weight value of a corresponding wheel is determined based on a slip value of each wheel and a preset wheel weight strategy.

[0262] Optionally, determining the weight value of the corresponding wheel based on the slip rate value of each wheel and a preset wheel weight strategy in the target detection cycle includes:

[0263] In the target detection cycle, when the slip value of the first wheel is less than a minimum slip threshold value of a preset slip linear range, the weight value of the first wheel is a preset first weight value;

[0264] In the target detection cycle, when the slip value of the second wheel is greater than the maximum slip threshold of the preset slip linear range, the weight value of the second wheel is a second weight value;

[0265] In the target detection cycle, when the slip value of the third wheel is within the preset slip linear range, a linear difference calculation is performed based on a preset minimum slip threshold and a preset maximum slip threshold of the preset slip linear range and the slip value of the third wheel to obtain a weight value of the third wheel.

[0266] Optionally, in the target detection period, obtaining the estimated vehicle speed value of the target detection period based on the measured acceleration value, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel includes:

[0267] In the target detection cycle, determining the driving state of the target detection cycle based on the measured acceleration value and a preset driving state strategy;

[0268] In the target detection cycle, based on the driving state, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel, a to-be-determined estimated vehicle speed value of the target detection cycle is obtained;

[0269] Acquiring a fused vehicle speed value of a previous detection cycle adjacent to the target detection cycle and an estimated acceleration value of the previous detection cycle based on the preset cycle data set;

[0270] Obtaining an estimated acceleration value of the target detection cycle based on the pending estimated vehicle speed value of the target detection cycle, the fused vehicle speed value of the previous detection cycle, and the duration of the detection cycle;

[0271] When the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the measured acceleration value of the target detection cycle is greater than a preset deviation threshold, or the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is greater than the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection cycle is equal to the predicted vehicle speed value of the target detection cycle in the preset period data set;

[0272] When the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the measured acceleration value of the target detection cycle is less than or equal to the preset deviation threshold, and the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is less than or equal to the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection cycle is equal to the pending estimated vehicle speed value of the target detection cycle.

[0273] Optionally, in the target detection cycle, determining the driving state of the vehicle based on the measured acceleration value and a preset driving state strategy includes:

[0274] In the target detection cycle, when the measured acceleration value is within a preset normal state range, determining that the driving state is a normal driving state;

[0275] In the target detection cycle, when the measured acceleration value is greater than a maximum threshold value of a preset normal state range, determining that the driving state is a rapid acceleration state;

[0276] In the target detection cycle, when the measured acceleration value is greater than a minimum threshold value of a preset normal state range, it is determined that the driving state is a rapid deceleration state.

[0277] Optionally, obtaining the undetermined estimated vehicle speed value of the target detection period based on the driving state, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel in the target detection period includes:

[0278] When the driving state of the target detection period is the normal driving state, in the target detection period, the to-be-determined estimated vehicle speed value of the target detection period is obtained based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel;

[0279] When the driving state of the target detection period is the rapid acceleration state, determining that the undetermined estimated vehicle speed value of the target detection period is equal to the minimum value of all corrected wheel speed values;

[0280] When the driving state of the target detection period is the rapid deceleration state, it is determined that the undetermined estimated vehicle speed value of the target detection period is equal to the maximum value of all corrected wheel speed values.

[0281] Optionally, in the target detection cycle, obtaining the undetermined estimated vehicle speed value of the target detection cycle based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel includes the following formula:

[0282]

[0283] Among them, V Est0 represents the estimated vehicle speed value during the target detection period, VEst_Fl 、V Est_Fr 、V Est_Rl 、V Est_Rr They represent the corrected wheel speed value of the left front wheel, the corrected wheel speed value of the right front wheel, the corrected wheel speed value of the left rear wheel, and the corrected wheel speed value of the right rear wheel in the target detection cycle, respectively. Fl , W Fr , W Rl , W Rr They respectively represent the weight value of the left front wheel, the weight value of the right front wheel, the weight value of the left rear wheel, and the weight value of the right rear wheel in the target detection cycle.

[0284] In the embodiment of the present application, the difference between the fused vehicle speed value of the target detection cycle and the fused vehicle speed value of the starting detection cycle in the first adjacent detection cycle group is calculated, and the difference is divided by the duration of the multiple adjacent detection cycles in the first adjacent detection cycle group to obtain the pending acceleration value of the target detection cycle; weighted filtering is performed based on the pending acceleration values ​​of the multiple adjacent detection cycles in the second adjacent detection cycle group and the preset calibration weight value of the corresponding detection cycle to obtain the estimated acceleration value of the target detection cycle; the target acceleration value of the target detection cycle is obtained based on the measured acceleration value and the preset measured weight value of the target detection cycle, as well as the estimated acceleration value and the preset estimated weight value of the target detection cycle. The target acceleration value of the target detection cycle is finally generated after combining the measured speed value, driving state, wheel slip and / or locking, thereby improving the accuracy of the target acceleration value. The influence of factors such as noise and vibration is avoided, which causes the measured acceleration value to be inaccurate. The accuracy of vehicle driving control is improved.

[0285] This embodiment provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method steps described in the above embodiment.

[0286] An embodiment of the present application provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps described in the above embodiment.

[0287] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0288] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining vehicle acceleration, characterized in that: include: Determine a first adjacent detection cycle group and a second adjacent detection cycle group based on a preset cycle data set, wherein the first adjacent detection cycle group consists of a plurality of adjacent detection cycles, the second adjacent detection cycle group consists of a plurality of adjacent detection cycles, and the endpoint detection cycle in the first adjacent detection cycle group and the endpoint detection cycle in the second adjacent detection cycle group are both target detection cycles; Based on the preset periodic data set, the fused vehicle speed value of the starting detection period and the fused vehicle speed value of the target detection period in the first adjacent detection period group, the measured acceleration value of the target detection period, and the undetermined acceleration values ​​of each detection period before the target detection period in the second adjacent detection period group are obtained; Calculate the difference between the fused vehicle speed value of the target detection period and the fused vehicle speed value of the starting point detection period in the first adjacent detection period group, and divide the difference by the duration of the plurality of adjacent detection periods in the first adjacent detection period group to obtain the undetermined acceleration value of the target detection period; Performing weighted filtering based on the pending acceleration values ​​of each of the plurality of adjacent detection periods in the second adjacent detection period group and the preset calibration weight values ​​of the corresponding detection periods to obtain an estimated acceleration value of the target detection period; A target acceleration value of the target detection period is obtained based on the measured acceleration value and the preset measured weight value of the target detection period, and the estimated acceleration value and the preset estimated weight value of the target detection period.

2. The method according to claim 1, characterized in that Before obtaining the fused vehicle speed value of the starting detection cycle and the fused vehicle speed value of the target detection cycle in the first adjacent detection cycle group based on the preset cycle data set, the measured acceleration value of the target detection cycle, and the undetermined acceleration values ​​of each detection cycle before the target detection cycle in the second adjacent detection cycle group, the method further includes: Acquire the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set; Based on the predicted vehicle speed value and the preset calculated weight value of the target detection period, and the estimated vehicle speed value and the preset estimated weight value of the target detection period, a fused vehicle speed value of the target detection period is obtained; The corresponding relationship between the target detection period and the fused vehicle speed value of the target detection period is saved in the preset period data set.

3. The method according to claim 2, characterized in that Before acquiring the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set, the method further includes: Acquiring a fused vehicle speed value of a previous detection cycle adjacent to the target detection cycle and a target acceleration value of the previous detection cycle based on the preset cycle data set; Obtaining a predicted vehicle speed value of the target detection cycle based on the fused vehicle speed value of the immediately previous detection cycle, the target acceleration value of the immediately previous detection cycle, and the duration of the detection cycle; The corresponding relationship between the target detection period and the predicted vehicle speed value corresponding to the target detection period is saved in the preset period data set.

4. The method according to claim 2, characterized in that: Before acquiring the predicted vehicle speed value of the target detection period and the estimated vehicle speed value of the target detection period based on the preset period data set, the method further includes: Acquire the measured wheel speed value of each wheel and the measured acceleration value of the vehicle in the target detection period based on the preset period data set; Applying the measured wheel speed value and the preset correction parameter value of each wheel in the target detection period to the preset wheel speed correction model to obtain the corrected wheel speed value of the corresponding wheel in the target detection period; In the target detection cycle, a weight value of a corresponding wheel is determined based on the corrected wheel speed value of each wheel, the predicted vehicle speed value and a preset wheel weight strategy; In the target detection period, an estimated vehicle speed value of the target detection period is obtained based on the measured acceleration value, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel; The corresponding relationship between the target detection period and the estimated vehicle speed value corresponding to the target detection period is saved in the preset period data set.

5. The method according to claim 4, characterized in that The step of applying the measured wheel speed value of each wheel in the target detection period to the preset wheel speed correction model to obtain the corrected wheel speed value of the corresponding wheel in the target detection period includes the following formula: V Est_Fl =v Fl -w*L Fr *P corr ; V Est_Fr =v Fr +w*L Fr *P corr ; V Est_Rl =v Rl -w*L Rr *P corr ; V Est_Rr =v Rr +w*L Rr *P corr ; Among them, v Fl 、v Fr 、v Rl 、v Rr represents the measured wheel speed value of the left front wheel, the measured wheel speed value of the right front wheel, the measured wheel speed value of the left rear wheel, and the measured wheel speed value of the right rear wheel in the target detection period, w is the preset yaw angular velocity of the vehicle, L Fr , L Rr Respectively represent the preset front wheel track value and the preset rear wheel track value, P corr Indicates the preset correction factor, V Est_Fl 、V Est_Fr 、V Est_Rl 、V Est_Rr They respectively represent the corrected wheel speed value of the left front wheel, the corrected wheel speed value of the right front wheel, the corrected wheel speed value of the left rear wheel, and the corrected wheel speed value of the right rear wheel in the target detection cycle.

6. The method according to claim 4, characterized in that Determining the weight value of the corresponding wheel based on the corrected wheel speed value, the predicted vehicle speed value and the preset wheel weight strategy of each wheel in the target detection cycle includes: Calculating the predicted vehicle speed value of the target detection period and the corrected wheel speed value of each wheel respectively to obtain the slip rate value of the corresponding wheel of the target detection period; In the target detection cycle, a weight value of a corresponding wheel is determined based on a slip value of each wheel and a preset wheel weight strategy.

7. The method according to claim 6, characterized in that Determining the weight value of the corresponding wheel based on the slip rate value of each wheel and a preset wheel weight strategy in the target detection cycle includes: In the target detection cycle, when the slip value of the first wheel is less than a minimum slip threshold value of a preset slip linear range, the weight value of the first wheel is a preset first weight value; In the target detection cycle, when the slip value of the second wheel is greater than the maximum slip threshold of the preset slip linear range, the weight value of the second wheel is a second weight value; In the target detection cycle, when the slip value of the third wheel is within the preset slip linear range, a linear difference calculation is performed based on a preset minimum slip threshold and a preset maximum slip threshold of the preset slip linear range and the slip value of the third wheel to obtain a weight value of the third wheel.

8. The method according to claim 4, characterized in that In the target detection period, obtaining the estimated vehicle speed value of the target detection period based on the measured acceleration value, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel includes: In the target detection cycle, determining the driving state of the target detection cycle based on the measured acceleration value and a preset driving state strategy; In the target detection cycle, based on the driving state, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel, a to-be-determined estimated vehicle speed value of the target detection cycle is obtained; Acquiring a fused vehicle speed value of a previous detection cycle adjacent to the target detection cycle and an estimated acceleration value of the previous detection cycle based on the preset cycle data set; Obtaining an estimated acceleration value of the target detection cycle based on the pending estimated vehicle speed value of the target detection cycle, the fused vehicle speed value of the previous detection cycle, and the duration of the detection cycle; When the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the measured acceleration value of the target detection cycle is greater than a preset deviation threshold, or the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is greater than the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection cycle is equal to the predicted vehicle speed value of the target detection cycle in the preset period data set; When the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the measured acceleration value of the target detection cycle is less than or equal to the preset deviation threshold, and the absolute value of the deviation between the estimated acceleration value of the target detection cycle and the estimated acceleration value of the previous detection cycle is less than or equal to the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection cycle is equal to the pending estimated vehicle speed value of the target detection cycle.

9. The method according to claim 8, characterized in that Determining the driving state of the vehicle based on the measured acceleration value and a preset driving state strategy during the target detection cycle includes: In the target detection cycle, when the measured acceleration value is within a preset normal state range, determining that the driving state is a normal driving state; In the target detection cycle, when the measured acceleration value is greater than a maximum threshold value of a preset normal state range, determining that the driving state is a rapid acceleration state; In the target detection cycle, when the measured acceleration value is greater than a minimum threshold value of a preset normal state range, it is determined that the driving state is a rapid deceleration state.

10. The method according to claim 9, characterized in that The step of obtaining the undetermined estimated vehicle speed value of the target detection period based on the driving state, the corrected wheel speed value of each wheel and the weight value of the corresponding wheel in the target detection period includes: When the driving state of the target detection period is the normal driving state, in the target detection period, the to-be-determined estimated vehicle speed value of the target detection period is obtained based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel; When the driving state of the target detection period is the rapid acceleration state, determining that the undetermined estimated vehicle speed value of the target detection period is equal to the minimum value of all corrected wheel speed values; When the driving state of the target detection period is the rapid deceleration state, it is determined that the undetermined estimated vehicle speed value of the target detection period is equal to the maximum value of all corrected wheel speed values.

11. The method according to claim 10, characterized in that In the target detection cycle, the undetermined estimated vehicle speed value of the target detection cycle is obtained based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel, including the following formula: Among them, V Est0 represents the estimated vehicle speed value during the target detection period, V Est_Fl 、V Est_Fr 、V Est_Rl 、V Est_Rr They represent the corrected wheel speed value of the left front wheel, the corrected wheel speed value of the right front wheel, the corrected wheel speed value of the left rear wheel, and the corrected wheel speed value of the right rear wheel in the target detection cycle, respectively. Fl , W Fr , W Rl , W Rr They respectively represent the weight value of the left front wheel, the weight value of the right front wheel, the weight value of the left rear wheel, and the weight value of the right rear wheel in the target detection cycle.

12. A device for determining vehicle acceleration, characterized in that: include: a determining unit, configured to determine a first adjacent detection cycle group and a second adjacent detection cycle group based on a preset cycle data set, wherein the first adjacent detection cycle group is composed of a plurality of adjacent detection cycles, the second adjacent detection cycle group is composed of a plurality of adjacent detection cycles, and an endpoint detection cycle in the first adjacent detection cycle group and an endpoint detection cycle in the second adjacent detection cycle group are both target detection cycles; an acquisition unit, configured to acquire, based on the preset periodic data set, a fused vehicle speed value of a starting point detection period and a fused vehicle speed value of a target detection period in the first adjacent detection period group, a measured acceleration value of the target detection period, and undetermined acceleration values ​​of each detection period before the target detection period in the second adjacent detection period group; a calculation unit, configured to calculate a difference between the fused vehicle speed value of the target detection period and the fused vehicle speed value of the starting point detection period in the first adjacent detection period group, and divide the difference by the duration of the plurality of adjacent detection periods in the first adjacent detection period group to obtain a pending acceleration value of the target detection period; A filtering unit, configured to perform weighted filtering based on the respective pending acceleration values ​​of the plurality of adjacent detection periods in the second adjacent detection period group and the preset calibration weight values ​​of the corresponding detection periods, to obtain an estimated acceleration value of the target detection period; An obtaining unit is used to obtain a target acceleration value of the target detection period based on a measured acceleration value and a preset measured weight value of the target detection period, and an estimated acceleration value and a preset estimated weight value of the target detection period.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

14. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 11.

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