A method, device, medium and electronic device for determining vehicle acceleration

Abstract

The application provides a vehicle acceleration determination method, device, medium and electronic equipment. The method comprises the following steps: calculating a difference value between a fusion vehicle speed value of a target detection period and a fusion vehicle speed value of a start detection period in a first adjacent detection period group, dividing the difference value by a time length of a plurality of adjacent detection periods in the first adjacent detection period group, and obtaining a to-be-determined acceleration value of the target detection period; performing weighted filtering on the to-be-determined acceleration values of the plurality of adjacent detection periods in a second adjacent detection period group and preset calibration weight values of the corresponding detection periods, and obtaining an estimated acceleration value of the target detection period; and obtaining a target acceleration value of the target detection period based on a measured acceleration value of the target detection period and a preset measured weight value, and the estimated acceleration value of the target detection period and a preset estimated weight value. The target acceleration value of the target detection period is finally generated after comprehensively considering various influencing factors, thereby improving the accuracy of the target acceleration value.

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 (such as 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 that can solve at least one of the above-mentioned technical problems. The specific solution is as follows:

[0006] According to a specific embodiment 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 period 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 both the endpoint detection cycle in the first adjacent detection cycle group and the endpoint detection cycle in the second adjacent detection cycle group are target detection cycles;

[0008] Obtaining, 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 group of adjacent detection periods, 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 group of adjacent detection periods;

[0009] Calculating a difference between the fused vehicle speed value of the target detection period and the fused vehicle speed value of the starting detection period in the first group of adjacent detection periods, and dividing the difference by the duration of the plurality of adjacent detection periods in the first group of adjacent detection periods, to obtain a pending acceleration value for 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 group of adjacent detection periods and 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 obtaining the fused vehicle speed value of the starting detection period and the fused vehicle speed value of the target detection period in the first group of adjacent detection periods, 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 group of adjacent detection periods based on the preset period data set, the method further includes:

[0013] Obtaining a predicted vehicle speed value for the target detection period and an estimated vehicle speed value for the target detection period based on the preset period data set;

[0014] Obtaining a fused vehicle speed value for the target detection period based on the predicted vehicle speed value and the preset calculated weight value for the target detection period, and the estimated vehicle speed value and the preset estimated weight value for the target detection period;

[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 obtaining 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, based on the preset periodic data set, 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;

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

[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 obtaining 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] Acquiring a measured wheel speed value of each wheel and a measured acceleration value of the vehicle during the target detection period based on the preset periodic 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] During the target detection cycle, a weight value of each wheel is determined based on the corrected wheel speed value, 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, 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 includes 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 actual wheel speed value of the left front wheel, the actual wheel speed value of the right front wheel, the actual wheel speed value of the left rear wheel, and the actual 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 coefficient, 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 period.

[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 during 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 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 the slip ratio 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 ratio value of the first wheel is less than a minimum slip ratio threshold value of a preset slip ratio linear range, the weight value of the first wheel is a preset first weight value;

[0037] In the target detection cycle, when the slip ratio value of the second wheel is greater than the maximum slip ratio threshold value of the preset slip ratio 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 period, determining the driving state of the target detection period based on the measured acceleration value and a preset driving state strategy;

[0041] In the target detection period, obtaining a pending estimated vehicle speed value for 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;

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

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

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

[0045] 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 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 period and the estimated acceleration value of the previous detection period is less than or equal to the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection period is equal to the undetermined estimated vehicle speed value of the target detection period.

[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 sudden deceleration state.

[0050] Optionally, obtaining the undetermined estimated vehicle speed value for 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, obtaining a pending estimated vehicle speed value of the target detection period 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, the undetermined estimated vehicle speed value of the target detection period is determined to be equal to the maximum value of all corrected wheel speed values.

[0054] Optionally, in the target detection period, obtaining the undetermined estimated vehicle speed value of the target detection period 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 values ​​of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel in the target detection period, 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 embodiment 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 period 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 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 the starting detection period and the target detection period in the first group of adjacent detection periods, 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 group of adjacent detection periods;

[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 group of adjacent detection periods, and divide the difference by the duration of the plurality of adjacent detection periods in the first group of adjacent detection periods to obtain a pending acceleration value for 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 group of adjacent detection periods and 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 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.

[0063] Optionally, before obtaining the fused vehicle speed value of the starting detection period and the fused vehicle speed value of the target detection period in the first group of adjacent detection periods, 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 group of adjacent detection periods based on the preset period data set, the method further includes:

[0064] Obtaining a predicted vehicle speed value for the target detection period and an estimated vehicle speed value for the target detection period based on the preset period data set;

[0065] Obtaining a fused vehicle speed value for the target detection period based on the predicted vehicle speed value and the preset calculated weight value for the target detection period, and the estimated vehicle speed value and the preset estimated weight value for the target detection period;

[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 obtaining 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, based on the preset periodic data set, 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;

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

[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 obtaining 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] Acquiring a measured wheel speed value of each wheel and a measured acceleration value of the vehicle during the target detection period based on the preset periodic 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] During the target detection cycle, a weight value of each wheel is determined based on the corrected wheel speed value, 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, 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 includes 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 actual wheel speed value of the left front wheel, the actual wheel speed value of the right front wheel, the actual wheel speed value of the left rear wheel, and the actual 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 coefficient, 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 period.

[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 during 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 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 the slip ratio 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 ratio value of the first wheel is less than a minimum slip ratio threshold value of a preset slip ratio linear range, the weight value of the first wheel is a preset first weight value;

[0088] In the target detection cycle, when the slip ratio value of the second wheel is greater than the maximum slip ratio threshold value of the preset slip ratio 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 period, determining the driving state of the target detection period based on the measured acceleration value and a preset driving state strategy;

[0092] In the target detection period, obtaining a pending estimated vehicle speed value for 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;

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

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

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

[0096] 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 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 period and the estimated acceleration value of the previous detection period is less than or equal to the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection period is equal to the undetermined estimated vehicle speed value of the target detection period.

[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 sudden deceleration state.

[0101] Optionally, obtaining the undetermined estimated vehicle speed value for 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, obtaining a pending estimated vehicle speed value of the target detection period 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, the undetermined estimated vehicle speed value of the target detection period is determined to be equal to the maximum value of all corrected wheel speed values.

[0105] Optionally, in the target detection period, obtaining the undetermined estimated vehicle speed value of the target detection period 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 values ​​of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel in the target detection period, 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 embodiment of the present application, in a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for determining the vehicle acceleration as described in any one of the above items.

[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, which, when the one or more programs are executed by the one or more processors, enables the one or more processors to implement the method for determining the vehicle acceleration as described in any one 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, apparatus, medium, and electronic device for determining vehicle acceleration. The method comprises: calculating the difference between the fused vehicle speed value of the target detection period and the fused vehicle speed value of the starting detection period in the first group of adjacent detection periods, and dividing the difference by the duration of the multiple adjacent detection periods in the first group of adjacent detection periods to obtain a pending acceleration value for the target detection period; performing weighted filtering based on the pending acceleration values ​​of the multiple adjacent detection periods in the second group of adjacent detection periods and preset calibration weights for the corresponding detection periods to obtain an estimated acceleration value for the target detection period; and obtaining a target acceleration value for the target detection period based on the measured acceleration value and preset measured weights of the target detection period, as well as the estimated acceleration value and preset estimated weights of the target detection period. The target acceleration value for the target detection period is ultimately generated by integrating multiple factors, including the measured speed value, driving state, and wheel slip and / or locking, thereby improving the accuracy of the target acceleration value. This avoids the influence of factors such as noise and vibration that could cause inaccurate measured acceleration values, thereby improving vehicle control accuracy. 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 is shown;

[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] To make the objectives, technical solutions, and advantages of this application more clear, this application will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

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

[0116] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects 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 the determination" 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 terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or device comprising the element.

[0120] It should be noted in particular 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] The following combination 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's 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 for each detection cycle is detected in real time during the corresponding detection cycle while the vehicle is driving and stored in a preset cycle data set. The calculated data can be stored in the preset cycle data set after real-time calculation during the corresponding detection cycle, or can be stored in the preset cycle data set after calculation during data analysis, but the present application is not limited to this.

[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 a 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 endpoint 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 endpoint 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 point 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 weighted speed value generated by integrating multiple factors including the measured speed value, driving status, wheel slip and / or locking.

[0132] The pending acceleration values ​​of each detection period before the target detection period in the second adjacent detection period group can be understood as follows: the pending acceleration value of the target detection period in the second adjacent detection period group has not yet been obtained, while the pending acceleration values ​​of the other detection periods in the second adjacent detection period group except the target detection period have been obtained and stored in the preset period data set. For example, continuing the above example, the second adjacent detection period group includes a total of 10 detection periods: 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 period and the fused vehicle speed value of the starting detection period in the first adjacent detection period group, and divide it by the duration of the multiple adjacent detection periods in the first adjacent detection period group to obtain the pending acceleration value of the target detection period.

[0134] Optionally, the calculation of 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 group of adjacent detection periods and the calculated difference divided by the duration of the plurality of adjacent detection periods in the first group of adjacent detection periods to obtain the undetermined acceleration value of the target detection period comprises 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 period, the corresponding relationship between the target detection period and the pending acceleration value of the target detection period can be saved in a preset period data set.

[0138] Step S114 , performing weighted filtering based on the pending acceleration values ​​of the plurality of adjacent detection periods in the second group of adjacent detection periods 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 expected 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 obtaining the estimated acceleration value of the target detection period, 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, performing weighted filtering based on the pending acceleration values ​​of each of the plurality of adjacent detection periods in the second group of adjacent detection periods and preset calibration weight values ​​of the corresponding detection periods to obtain the estimated acceleration value of the target detection period 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 Indicates 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 period, the corresponding relationship between the target detection period and the target acceleration value of the target detection period can be saved in a preset period data set, so that it can be used in other periods after the target detection period.

[0150] In this embodiment of the present application, the difference between the fused vehicle speed value of the target detection period and the fused vehicle speed value of the starting detection period in the first group of adjacent detection periods is calculated, and the difference is divided by the duration of the multiple adjacent detection periods in the first group of adjacent detection periods to obtain a pending acceleration value for the target detection period. A weighted filtering is performed based on the pending acceleration values ​​of the multiple adjacent detection periods in the second group of adjacent detection periods and the preset calibrated weight values ​​for the corresponding detection periods to obtain an estimated acceleration value for the target detection period. A target acceleration value for the target detection period is obtained based on the measured acceleration value and the preset measured weight value of the target detection period, as well as the estimated acceleration value and the preset estimated weight value of the target detection period. This method integrates multiple factors, including the measured speed value, driving conditions, and wheel slip and / or locking, to ultimately generate a target acceleration value for the target detection period, thereby improving the accuracy of the target acceleration value. This method avoids the influence of factors such as noise and vibration that could cause inaccurate measured acceleration values, thereby enhancing vehicle control accuracy.

[0151] In some specific implementation examples, before obtaining the fused vehicle speed value of the starting detection period and the fused vehicle speed value of the target detection period in the first group of adjacent detection periods based on the preset period data set, 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 group of adjacent detection periods, the following steps are further 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 as a reference speed for calculating 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: obtaining a fused vehicle speed value of the target detection period 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.

[0156] Optionally, the fused vehicle speed value of the target detection period is obtained 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, 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 period, W Est Indicates 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: Save 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 obtaining 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 further included:

[0161] Step S100a-1: 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.

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

[0163] Optionally, obtaining the predicted vehicle speed value for the target detection period based on the fused vehicle speed value for the immediately preceding detection period, the target acceleration value for the immediately preceding detection period, and the duration of the detection period comprises 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 preceding 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: Save 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 obtaining 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 further 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 period is measured, the correspondence between the target detection period and each measured wheel speed value and measured acceleration value is saved in the preset period data set.

[0170] Step S100b-2: Apply 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 vehicle driving by using a preset correction parameter value and a preset wheel speed correction model.

[0172] In some specific implementation examples, 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 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 actual wheel speed value of the left front wheel, the actual wheel speed value of the right front wheel, the actual wheel speed value of the left rear wheel, and the actual 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 coefficient, 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 period.

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

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

[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 for each wheel during the target detection cycle includes the following steps:

[0181] Step S100b-31, calculating based on the predicted vehicle speed value of the target detection period and the corrected wheel speed value of each wheel, 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 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| Indicates 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 period, 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 period, 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 a weight value of the third wheel.

[0192] For example, continuing with 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 a 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 the steps.

[0195] Step S100b-4: 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.

[0196] In some specific implementation examples, 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 during the target detection period includes the following steps:

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

[0198] In some specific implementation examples, determining the driving state of the vehicle based on the measured acceleration value and a preset driving state strategy during the target detection period 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 sudden acceleration state.

[0202] Step S100b-41c: in the target detection cycle, when the measured acceleration value is greater than the minimum threshold value 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 the steps.

[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 period, 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.

[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 undetermined estimated vehicle speed value for 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 during 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 traveling 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, obtaining the undetermined estimated vehicle speed value of the target detection period based on the corrected wheel speed value of each wheel and the weight value of the corresponding wheel includes 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 values ​​of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel in the target detection period, 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 period is the rapid acceleration state, determine that the pending estimated vehicle speed value of the target detection period 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 period is the rapid deceleration state, determining that the pending estimated vehicle speed value of the target detection period is equal to the maximum value of all corrected wheel speed values.

[0217] For example, when the driving state in 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 period based on the undetermined estimated vehicle speed value of the target detection period, the fused vehicle speed value of the previous detection period, and the duration of the detection period.

[0221] Optionally, the estimated acceleration value of the target detection period is obtained based on the undetermined estimated vehicle speed value of the target detection period, the fused vehicle speed value of the previous detection period, and the duration of the detection period, 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 obtaining the estimated acceleration value of the target detection period, 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 period and the measured acceleration value of the target detection period is greater than the preset deviation threshold, or the absolute value of the deviation between the estimated acceleration value of the target detection period and the estimated acceleration value of the previous detection period is greater than the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection period is equal to the predicted vehicle speed value of the target detection period in the preset period data set.

[0226] The absolute value of the deviation between the estimated acceleration value of the target detection period and the actual 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 actual 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 a 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 period and the measured acceleration value of the target detection period 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 period and the estimated acceleration value of the previous detection period is less than or equal to the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection period is equal to the undetermined estimated vehicle speed value of the target detection period.

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

[0231] Step S100b-5: saving the corresponding relationship 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 an apparatus embodiment that is based on the above embodiment, and is used to implement the method steps described in the above embodiment. The interpretation based on the same name meaning is the same as that of the above embodiment, and has the same technical effect as the above embodiment, and 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 configured to determine a first adjacent detection cycle group and a second adjacent detection cycle group based on a preset period 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 both an endpoint detection cycle in the first adjacent detection cycle group and an endpoint detection cycle in the second adjacent detection cycle group are target detection cycles;

[0235] an acquisition unit 202 configured to acquire, based on the preset periodic data set, a fused vehicle speed value of the starting detection period and the target detection period in the first group of adjacent detection periods, a measured acceleration value of the target detection period, and undetermined acceleration values ​​of each detection period preceding the target detection period in the second group of adjacent detection periods;

[0236] A calculation unit 203 is 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 group of adjacent detection periods, and divide the difference by the duration of the plurality of adjacent detection periods in the first group of adjacent detection periods to obtain a pending acceleration value for the target detection period.

[0237] a filtering unit 204 configured to perform weighted filtering based on the undetermined acceleration values ​​of the plurality of adjacent detection periods in the second group of adjacent detection periods and 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 configured to obtain 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.

[0239] Optionally, before obtaining the fused vehicle speed value of the starting detection period and the fused vehicle speed value of the target detection period in the first group of adjacent detection periods, 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 group of adjacent detection periods based on the preset period data set, the method further includes:

[0240] Obtaining a predicted vehicle speed value for the target detection period and an estimated vehicle speed value for the target detection period based on the preset period data set;

[0241] Obtaining a fused vehicle speed value for the target detection period based on the predicted vehicle speed value and the preset calculated weight value for the target detection period, and the estimated vehicle speed value and the preset estimated weight value for the target detection period;

[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 obtaining 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, based on the preset periodic data set, 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;

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

[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 obtaining 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] Acquiring a measured wheel speed value of each wheel and a measured acceleration value of the vehicle during the target detection period based on the preset periodic 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] During the target detection cycle, a weight value of each wheel is determined based on the corrected wheel speed value, 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, 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 includes 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 actual wheel speed value of the left front wheel, the actual wheel speed value of the right front wheel, the actual wheel speed value of the left rear wheel, and the actual 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 coefficient, 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 period.

[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 during 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 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 the slip ratio 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 ratio value of the first wheel is less than a minimum slip ratio threshold value of a preset slip ratio linear range, the weight value of the first wheel is a preset first weight value;

[0264] In the target detection cycle, when the slip ratio value of the second wheel is greater than the maximum slip ratio threshold value of the preset slip ratio 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 period, determining the driving state of the target detection period based on the measured acceleration value and a preset driving state strategy;

[0268] In the target detection period, obtaining a pending estimated vehicle speed value for 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;

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

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

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

[0272] 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 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 period and the estimated acceleration value of the previous detection period is less than or equal to the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection period is equal to the undetermined estimated vehicle speed value of the target detection period.

[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 sudden deceleration state.

[0277] Optionally, obtaining the undetermined estimated vehicle speed value for 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, obtaining a pending estimated vehicle speed value of the target detection period 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, the undetermined estimated vehicle speed value of the target detection period is determined to be equal to the maximum value of all corrected wheel speed values.

[0281] Optionally, in the target detection period, obtaining the undetermined estimated vehicle speed value of the target detection period 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 values ​​of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel in the target detection period, 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 this embodiment of the present application, the difference between the fused vehicle speed value of the target detection period and the fused vehicle speed value of the starting detection period in the first group of adjacent detection periods is calculated, and the difference is divided by the duration of the multiple adjacent detection periods in the first group of adjacent detection periods to obtain a pending acceleration value for the target detection period. A weighted filtering is performed based on the pending acceleration values ​​of the multiple adjacent detection periods in the second group of adjacent detection periods and the preset calibrated weight values ​​for the corresponding detection periods to obtain an estimated acceleration value for the target detection period. A target acceleration value for the target detection period is obtained based on the measured acceleration value and the preset measured weight value of the target detection period, as well as the estimated acceleration value and the preset estimated weight value of the target detection period. This method integrates multiple factors, including the measured speed value, driving conditions, and wheel slip and / or locking, to ultimately generate a target acceleration value for the target detection period, thereby improving the accuracy of the target acceleration value. This method avoids the influence of factors such as noise and vibration that could cause inaccurate measured acceleration values, thereby enhancing vehicle control accuracy.

[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 to enable the at least one processor to perform the method steps described in the above embodiment.

[0286] An embodiment of the present application provides a non-volatile computer storage medium, which stores computer-executable instructions. 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, with each embodiment focusing on its differences from other embodiments. References to the common and similar parts between the various embodiments will be sufficient. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, their descriptions are relatively simple; for relevant details, refer to the descriptions of the methods.

[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 both the endpoint detection cycle in the first adjacent detection cycle group and the endpoint detection cycle in the second adjacent detection cycle group are target detection cycles; Obtaining, based on the preset periodic data set, a fused vehicle speed value of a starting detection period and a fused vehicle speed value of a target detection period in the first group of adjacent detection periods, 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 group of adjacent detection periods; Calculating a difference between the fused vehicle speed value of the target detection period and the fused vehicle speed value of the starting detection period in the first group of adjacent detection periods, and dividing the difference by the duration of the plurality of adjacent detection periods in the first group of adjacent detection periods, to obtain a pending acceleration value for 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 group of adjacent detection periods and 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 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, the method further includes: Obtaining a predicted vehicle speed value for the target detection period and an estimated vehicle speed value for the target detection period based on the preset period data set; Obtaining a fused vehicle speed value for the target detection period based on the predicted vehicle speed value and the preset calculated weight value for the target detection period, and the estimated vehicle speed value and the preset estimated weight value for the target detection period; 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, based on the preset periodic data set, 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; Obtaining a predicted vehicle speed value for the target detection period based on a fused vehicle speed value for a previous detection period, a target acceleration value for the previous detection period, and a duration of the detection period; 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: Acquiring a measured wheel speed value of each wheel and a measured acceleration value of the vehicle during the target detection period based on the preset periodic 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; During the target detection cycle, a weight value of each wheel is determined based on the corrected wheel speed value, the predicted vehicle speed value, and a preset wheel weight strategy; In the target detection period, obtaining an 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; 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 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 a corrected wheel speed value of the corresponding wheel in the target detection period includes the following formula: ； ； ； ； in, v Fl 、 v Fr 、 v Rl 、 v Rr They represent the actual wheel speed values ​​of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel in the target detection period, respectively. w is the preset yaw rate 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 coefficient, 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 period.

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 during 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 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 the slip ratio 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 ratio value of the first wheel is less than a minimum slip ratio threshold value of a preset slip ratio linear range, the weight value of the first wheel is a preset first weight value; In the target detection cycle, when the slip ratio value of the second wheel is greater than the maximum slip ratio threshold value of the preset slip ratio 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 The step of obtaining an estimated vehicle speed value for 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 during the target detection period includes: In the target detection period, determining the driving state of the target detection period based on the measured acceleration value and a preset driving state strategy; In the target detection period, obtaining a pending estimated vehicle speed value for 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; acquiring, based on the preset periodic data set, a fused vehicle speed value of a previous detection period adjacent to the target detection period and an estimated acceleration value of the previous detection period; Obtaining an estimated acceleration value for the target detection period based on the undetermined estimated vehicle speed value for the target detection period, the fused vehicle speed value for the previous detection period, and the duration of the detection period; 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 a preset deviation threshold, or the absolute value of the deviation between the estimated acceleration value of the target detection period and the estimated acceleration value of the previous detection period is greater than a preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection period is equal to the predicted vehicle speed value of the target detection period in the preset period data set; 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 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 period and the estimated acceleration value of the previous detection period is less than or equal to the preset deviation threshold, it is determined that the estimated vehicle speed value of the target detection period is equal to the undetermined estimated vehicle speed value of the target detection period.

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 period 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 sudden deceleration state.

10. The method according to claim 9, characterized in that Obtaining a pending estimated vehicle speed value for 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 during the target detection period includes: When the driving state of the target detection period is the normal driving state, in the target detection period, obtaining a pending estimated vehicle speed value of the target detection period 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, the undetermined estimated vehicle speed value of the target detection period is determined to be 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 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: ； in, 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 values ​​of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel in the target detection cycle, respectively. W 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 consists of a plurality of adjacent detection cycles, the second adjacent detection cycle group consists 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 detection period and a fused vehicle speed value of a target detection period in the first group of adjacent detection periods, a measured acceleration value of the target detection period, and undetermined acceleration values ​​of each detection period preceding the target detection period in the second group of adjacent detection periods; 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 group of adjacent detection periods, and divide the difference by the duration of the plurality of adjacent detection periods in the first group of adjacent detection periods to obtain a pending acceleration value for 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 group of adjacent detection periods and 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 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.

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 according to any one of claims 1 to 11.

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