Method for Detecting Vehicle Speed, Electronic Device, and Computer-Readable Storage Medium

Abstract

The present application discloses a method for detecting vehicle speed, an electronic device, and a computer-readable storage medium, including: determining the rotational speed of a tire wheel by using at least one of the tooth pitch time, the tooth pitch time sampling signal, the number of teeth within a time interval, and the number of teeth within a time interval sampling signal, which can improve the measurement accuracy of the rotational speed; calculating the vehicle speed obtained by filtering and arbitrating the rotational speed of the tire wheel and the effective rolling radius of the tire, which can eliminate the influence of errors and abnormal data and adapt to complex working conditions such as roll and turning, thereby improving the calculation accuracy of the vehicle speed.

Description

Technical Field

[0001] The present application relates to the technical field of electric motorcycle control, and in particular to a vehicle speed detection method, an electronic device, and a computer-readable storage medium. Background Art

[0002] Motorcycles are two-wheeled vehicles with statically unstable mechanics. Unlike car tires, motorcycle tires have an arc-shaped crown. This utilizes the area of the tire surface in contact with the ground during roll, creating a difference in rolling radius between the inside and outside of the tire. This creates a lateral slip angle similar to a tapered roller, enabling the motorcycle to turn.

[0003] Currently, electric motorcycles are equipped with front and rear wheel speed sensors and 48-hole signal ring gears. Electric motorcycles can calculate front and rear wheel speeds by reading the square wave signals from these sensors through the Anti-lock Braking System (ABS) controller or Vehicle Control Unit (VCU). Unlike gasoline motorcycles, which rely on a fixed parameter, the front and rear wheel speeds are calculated based on the preset tire rolling radius. Because electric motorcycles have rear motor speed, the gear ratio can be used to convert this to rear wheel speed, thereby determining the overall speed of the electric motorcycle.

[0004] However, when an electric motorcycle turns, the actual tire rolling radius becomes smaller due to the roll angle, and the wheel speed increases. However, the tire rolling radius stored in the motorcycle instrument and other controllers is a fixed value, which causes the vehicle instrument speed and the controller-calculated speed to be distorted and appear to be too large. Summary of the Invention

[0005] The present application provides a vehicle speed detection method, electronic device, and computer-readable storage medium, which can improve the detection accuracy of the vehicle speed of an electric motorcycle.

[0006] A technical solution adopted in the present application is: to provide a vehicle speed detection method, the vehicle speed detection method comprising: obtaining the effective rolling radius of the vehicle's tire; reading the wheel speed square wave signal of the ring gear hardware on the vehicle's tire from a wheel speed sensor; processing the wheel speed square wave signal to obtain corresponding wheel speed information; wherein the wheel speed information includes at least one of the tooth spacing time, the tooth spacing time sampling signal, the number of teeth within a time interval, and the number of teeth within a time interval sampling signal; determining the tire wheel speed based on the wheel speed information; filtering and arbitrating the tire wheel speed and the tire effective rolling radius to obtain the vehicle speed.

[0007] In some embodiments, determining the tire wheel rotation speed based on the wheel rotation speed information includes: performing wheel rotation speed calculation on the tooth pitch time to obtain a first wheel rotation speed, and performing wheel rotation speed calculation on the number of teeth within a time interval to obtain a second wheel rotation speed; performing reliability verification on the tooth pitch time sampling signal to obtain a first weight corresponding to the first wheel rotation speed, and performing reliability verification on the number of teeth sampling signal within the time interval to obtain a second weight corresponding to the second wheel rotation speed; based on the magnitudes of the first weight and the second weight, the first wheel rotation speed and the second wheel rotation speed, switching to the corresponding calculation state to determine the tire wheel rotation speed.

[0008] In some embodiments, the calculation states include the number of teeth calculation state within a time interval and the tooth pitch time calculation state; based on the magnitudes of the first weight and the second weight, the first wheel rotation speed and the second wheel rotation speed, switching to the corresponding calculation state to determine the tire wheel rotation speed includes: in response to the current being the number of teeth calculation state within a time interval, the first weight being greater than the second weight, and the difference between the first wheel rotation speed and the second wheel rotation speed being less than a preset synchronization threshold, switching to the tooth pitch time calculation state to use the first wheel rotation speed as the tire wheel rotation speed; in response to the current being the tooth pitch time calculation state, the second weight being greater than the first weight, and the difference between the first wheel rotation speed and the second wheel rotation speed being less than the synchronization threshold, switching to the number of teeth calculation state within a time interval to use the second wheel rotation speed as the tire wheel rotation speed.

[0009] In some embodiments, determining the tire wheel rotation speed based on the wheel rotation speed information further includes: in response to the current being the tooth pitch time calculation state, the fluctuation of the first wheel rotation speed being within a preset first fluctuation threshold, switching to the vehicle speed holding mode to use the first wheel rotation speed as the tire wheel rotation speed and keep it unchanged. In response to the current being the number of teeth calculation state within a time interval, the fluctuation of the second wheel rotation speed being within a preset second fluctuation threshold, switching to the vehicle speed holding mode to use the second wheel rotation speed as the tire wheel rotation speed and keep it unchanged. In response to the current being the vehicle speed holding mode, the tooth pitch time sampling signal satisfying a preset continuous stability condition, and the difference between the first wheel rotation speed and the second wheel rotation speed being less than the synchronization threshold, switching to the tooth pitch time calculation state to use the first wheel rotation speed as the tire wheel rotation speed. In response to the current being the vehicle speed holding mode, the number of teeth sampling signal within the time interval satisfying a preset continuous existence condition, and the difference between the first wheel rotation speed and the second wheel rotation speed being less than the synchronization threshold, switching to the number of teeth calculation state within a time interval to select the second wheel rotation speed as the tire wheel rotation speed.

[0010] In some embodiments, determining the tire wheel rotation speed based on the wheel rotation speed information further includes: in response to the current being the tooth number calculation state within a time interval, when the tooth number sampling signal within the time interval does not meet the condition of continuous existence, switching to a preset backup mode to calculate using the rotation speed and reduction ratio of a preset drive motor to obtain the tire wheel rotation speed. In response to the current being the tooth pitch time calculation state, when the tooth pitch time sampling signal does not meet the condition of continuous stability, switching to the backup mode to calculate using the rotation speed and reduction ratio of the drive motor to obtain the tire wheel rotation speed. In response to the current being the backup mode, when the tooth pitch time sampling signal meets the condition of continuous stability and the difference between the first wheel rotation speed and the second wheel rotation speed is less than the synchronization threshold, switching to the tooth pitch time calculation state to use the first wheel rotation speed as the tire wheel rotation speed. In response to the current being the backup mode, when the tooth number sampling signal within the time interval meets the condition of continuous existence and the difference between the first wheel rotation speed and the second wheel rotation speed is less than the synchronization threshold, switching to the tooth number calculation state within the time interval to use the second wheel rotation speed as the tire wheel rotation speed.

[0011] In some embodiments, determining the tire wheel rotation speed based on the wheel rotation speed information further includes: in response to the current being the vehicle speed holding mode, when the tooth pitch time is greater than or equal to a preset third time period, or the tooth number within the time interval remains unchanged within a preset fourth time period, switching to a preset vehicle speed zeroing mode to set the tire wheel rotation speed to zero. In response to the current being the vehicle speed zeroing mode, when the tooth pitch time sampling signal meets the condition of continuous stability and the difference between the first wheel rotation speed and the second wheel rotation speed is less than the synchronization threshold, switching to the tooth pitch time calculation state to use the first wheel rotation speed as the tire wheel rotation speed.

[0012] In some embodiments, for the tooth pitch time sampling signal to meet the preset condition of continuous stability, it includes: analyzing the tooth pitch time sampling signal to obtain the tooth pitch time within a continuous number of controller operation cycles; in response to the tooth pitch time within the continuous number of controller operation cycles not exceeding the preset range of jumps and the tooth pitch time remaining updated within a preset first time period, determining that the tooth pitch time sampling signal meets the condition of continuous stability.

[0013] In some embodiments, for the tooth number sampling signal within the time interval to meet the preset condition of continuous existence, it includes: analyzing the tooth number sampling signal within the time interval to obtain that the tooth number within the time interval is not zero and persists for a preset second time period, determining that the tooth number sampling signal within the time interval meets the condition of continuous existence.

[0014] In some embodiments, reliability verification is performed on the tooth pitch time sampling signal to obtain the first weight corresponding to the first round of rotational speed, and reliability verification is performed on the tooth number sampling signal within the time interval to obtain the second weight corresponding to the second round of rotational speed, including: performing time difference verification on the tooth pitch time sampling signal to obtain the first weight; performing tooth number verification on the tooth number sampling signal within the time interval to obtain the second weight; in response to the equality of the first weight and the second weight, obtaining the current vehicle speed, and adjusting the first weight and / or the second weight according to the current vehicle speed.

[0015] In some embodiments, processing the wheel rotational speed square wave signal to obtain the corresponding wheel rotational speed information includes: respectively sampling the wheel rotational speed square wave signal to obtain the tooth pitch time sampling signal and the tooth number sampling signal within the time interval; in response to the rising edge or falling edge of the wheel rotational speed square wave signal, performing a tooth number accumulation operation to obtain the current tooth number; obtaining the tooth number within the time interval according to the current tooth number and the tooth number in the previous time interval; obtaining the time between the rising edge and the adjacent falling edge to obtain the tooth pitch time.

[0016] In some embodiments, obtaining the effective rolling radius of the vehicle tire includes: obtaining the roll angle, the maximum rolling radius of the tire, the crown radius, and the tire ground contact width; performing geometric calculation on the roll angle, the crown radius, and the tire ground contact width to obtain the geometric change amount of the rolling radius caused by the roll angle; calculating the maximum rolling radius of the tire and the geometric change amount of the rolling radius to obtain the effective rolling radius of the tire.

[0017] In some embodiments, filtering and arbitration calculation are performed on the tire wheel rotational speed and the effective rolling radius of the tire to obtain the vehicle speed, including: in response to the intensity of the received global positioning vehicle speed signal being greater than a preset intensity threshold, performing filtering and arbitration calculation on the global positioning vehicle speed, the effective rolling radius of the tire, and the tire wheel rotational speed to obtain the vehicle speed.

[0018] Another technical solution adopted by this application is: providing an electronic device, which includes: a memory for storing executable program code; a processor for calling and running the executable program code from the memory, so that the electronic device executes the vehicle speed detection method of any one of the above.

[0019] Another technical solution adopted by this application is: providing a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the vehicle speed detection method of any one of the above is implemented.

[0020] The embodiment of the present application provides a method for detecting the vehicle speed. The method for detecting the vehicle speed includes: obtaining the effective rolling radius of the vehicle's tire; reading the wheel speed square wave signal of the gear ring hardware on the vehicle's tire from the wheel speed sensor; processing the wheel speed square wave signal to obtain the corresponding wheel speed information; where the wheel speed information includes at least one of the tooth pitch time, the tooth pitch time sampling signal, the number of teeth within the time interval, and the number of teeth within the time interval sampling signal; determining the tire wheel speed based on the wheel speed information; and performing filtering and arbitration calculations on the tire wheel speed and the effective rolling radius of the tire to obtain the vehicle speed.

[0021] By using at least one of the tooth pitch time, the tooth pitch time sampling signal, the number of teeth within the time interval, and the number of teeth within the time interval sampling signal to determine the tire wheel speed, the measurement accuracy of the wheel speed can be improved; by performing filtering and arbitration calculations on the tire wheel speed and the effective rolling radius of the tire to obtain the vehicle speed, the influence of errors and abnormal data can be eliminated, and it can adapt to complex working conditions such as roll and turn, thereby improving the calculation accuracy of the vehicle speed. Brief Description of the Drawings

[0022] Figure 1 is a schematic flowchart of the first embodiment of the method for detecting the vehicle speed of the present application;

[0023] Figure 2 is a schematic flowchart of the second embodiment of the method for detecting the vehicle speed of the present application;

[0024] Figure 3 is a schematic diagram of the effective rolling radius of the tire of the method for detecting the vehicle speed of the present application;

[0025] Figure 4 is a schematic diagram of the wheel speed calculation state machine of the method for detecting the vehicle speed of the present application;

[0026] Figure 5 is a schematic diagram of the motorcycle speed calculation logic of the method for detecting the vehicle speed of the present application;

[0027] Figure 6 is an exemplary structural block diagram of an electronic device of the method for detecting the vehicle speed of the present application;

[0028] Figure 7 is an exemplary structural block diagram of a computer-readable storage medium of the method for detecting the vehicle speed of the present application. Detailed Description of the Embodiment

[0029] The present application will be described in detail below with reference to the drawings and embodiments.

[0030] In some embodiments, please refer to Figure 1 , Figure 1It is a schematic flowchart of the first embodiment of the method for detecting the vehicle speed of the present application. It should be noted that if there are substantially the same results, the method of the present application is not limited to Figure 1 the process sequence shown. For example Figure 1 as shown, the method for detecting the vehicle speed includes:

[0031] Step S101, obtaining the effective rolling radius of the vehicle's tire.

[0032] Among them, the vehicle can be an electric motorcycle. The vehicle's tires include front wheels and rear wheels. The effective rolling radius of the tire can be the actual rolling radius of the tire in contact with the ground during the actual driving of the electric motorcycle. This embodiment can be applied to the Motorcycle Vehicle Control Unit (MVCU).

[0033] As an exemplary example, since the motorcycle may roll over during driving, the position of the tire's grounding part will change, making the rolling radius of the tire not a static value but a dynamically changing value. Therefore, by obtaining the effective rolling radius of the tire, the accuracy of calculating the vehicle speed of the vehicle can be improved.

[0034] Among them, in this embodiment, it is taken as an exemplary example that step S102 is executed after step S101. In other embodiments, step S101 and step S102 can be executed simultaneously, or step S102 can be executed before step S101.

[0035] Step S102, reading the wheel speed square wave signal of the tooth ring hardware on the vehicle's tire from the wheel speed sensor.

[0036] Among them, the wheel speed sensor can be used to measure the rotational speed of the tire. It can be installed near the hub of the tire and use electromagnetic induction or Hall effect to detect the rotation of the tooth ring hardware, and output the wheel speed square wave signal of the tooth ring hardware. The tooth ring hardware can be a 48-hole signal tooth ring hardware, a metal ring installed on the tire, with evenly distributed tooth grooves. When each tooth in the tooth ring hardware passes through the wheel speed sensor, a high-low changing wheel speed square wave signal will be generated. The wheel speed square wave signal can represent the rotation state of the tire, so the tire rotational speed can be calculated by analyzing the square wave signal.

[0037] Step S103, processing the wheel speed square wave signal to obtain the corresponding wheel speed information; among them, the wheel speed information includes at least one of the tooth pitch time, the tooth pitch time sampling signal, the number of teeth within the time interval, and the number of teeth within the time interval sampling signal.

[0038] Among them, the tooth pitch time can be the time taken by the wheel speed sensor to pass through adjacent tooth grooves in the tooth ring hardware. The number of teeth within the time interval can be the number of teeth passing through the wheel speed sensor within a fixed time window. As an example, the number of teeth within the time interval can be the number of teeth counted every 100 ms. In other embodiments, it can also be other time intervals, and this embodiment does not limit this.

[0039] As an exemplary example, during the driving of a motorcycle, the vehicle speed can be low or high. When the tire speed is slow, the time for a single tooth of the tooth ring hardware to pass is longer. Using the tooth pitch time to calculate the tire wheel speed can improve the calculation accuracy. When the tire speed is fast, the time for a single tooth to pass becomes extremely short, and the error may increase. Using the number of teeth within the time interval to calculate the tire wheel speed can improve the calculation stability. Therefore, it is possible to make a judgment based on the tooth pitch time sampling signal and the number of teeth within the time interval sampling signal to select the calculation state of the tooth pitch time or the calculation state of the number of teeth within the time interval, so as to improve the calculation accuracy and calculation stability.

[0040] Step S104, determine the tire wheel speed based on the wheel speed information.

[0041] Among them, the tire wheel speed can be the rotational speed of the tire per minute calculated through the above signals. The tire speed is the core parameter for calculating the vehicle speed, and the final vehicle speed needs to be combined with the tire radius.

[0042] Step S105, perform filtering and arbitration calculations on the tire wheel speed and the effective rolling radius of the tire to obtain the vehicle speed.

[0043] Among them, the tire wheel speed includes the front wheel wheel speed and the rear wheel wheel speed, and the effective rolling radius of the tire includes the front wheel effective rolling radius and the rear wheel effective rolling radius.

[0044] As an exemplary example, considering that when two wheels or any one wheel of the motorcycle leaves the ground, the vehicle speed on the whole vehicle instrument and the vehicle speed calculated by the controller are distorted, showing a situation of being too large or too small; or when the motorcycle turns, due to the roll angle (Roll), the actual tire rolling radius becomes smaller, the wheel speed will increase, and the tire rolling radius stored in the motorcycle instrument and other controllers is a fixed value, resulting in the distortion of the vehicle speed on the whole vehicle instrument and the vehicle speed calculated by the controller, showing a situation of being too large.

[0045] Therefore, the front wheel wheel speed, the rear wheel wheel speed, the front wheel effective rolling radius, and the rear wheel effective rolling radius can be substituted into the wheel circumference equation to calculate the front wheel wheel speed and the rear wheel wheel speed. Then, the front wheel wheel speed and the rear wheel wheel speed are input into the Kalman filter, and the true vehicle speed of the vehicle is estimated using the calculation principle of prior + conditional probability = posterior probability, which can eliminate the influence of errors and abnormal data, and thus obtain the true vehicle speed of the vehicle.

[0046] This embodiment determines the tire wheel speed by utilizing at least one of the tooth spacing time, the tooth spacing time sampling signal, the number of teeth within the time interval, and the tooth number sampling signal within the time interval, thereby improving the measurement accuracy of the wheel speed. By filtering and arbitrating the tire wheel speed and the effective rolling radius of the tire, the vehicle speed obtained can eliminate the influence of errors and abnormal data, thereby improving the calculation accuracy of the vehicle speed. The embodiment is also adaptable to complex working conditions such as roll and turn.

[0047] See also Figure 2 , Figure 2 FIG2 is a flow chart of a second embodiment of a method for detecting vehicle speed according to the present application. The method comprises the following steps:

[0048] Step S201 , obtaining the roll angle, the maximum rolling radius of the tire, the crown radius, and the tire contact width.

[0049] As an illustrative example, see Figure 3 The roll angle can be the angle at which a motorcycle tilts relative to the vertical when turning. The maximum rolling radius of the tire can be the nominal value specified at the factory, which is the rolling radius of the motorcycle tire in an upright position. The crown radius can be the radius of curvature of the tire's tread, that is, the radius of the arc curve of the tire surface from the center to the sidewall, which affects the tire's contact pattern at different roll angles. The tire contact width can be the lateral width of the tire in contact with the ground. When the motorcycle rolls, the tire's contact position will shift accordingly.

[0050] Step S202 : geometrically calculating the roll angle, the crown radius, and the tire contact width to obtain a geometric change in the rolling radius caused by the roll angle.

[0051] The geometric variation of the rolling radius may be the variation in the effective rolling radius of the tire resulting from the contact point of the tire shifting from the center area of the tire toward the sidewall when the motorcycle rolls over.

[0052] Step S203 : Calculate the maximum rolling radius of the tire and the geometric variation of the rolling radius to obtain the effective rolling radius of the tire.

[0053] As an example, the curved crown surface of a motorcycle tire provides a lateral steering slip angle when the motorcycle rolls, allowing it to resist lateral centrifugal forces while turning. As the tire's roll angle increases, the portion of the tire contacting the ground shifts from the centerline toward the crown section, reducing the tire's rolling radius and increasing wheel speed. In other words, the effective rolling radius of the tire when rolling is smaller than its maximum rolling radius when upright.

[0054] Therefore, in this embodiment, the MVCU constructs a mathematical geometric model of the tire in software, inputs tire-related parameters, calculates the effective rolling radius of the tire in real time and dynamically, and replaces the maximum rolling radius of the tire, so as to obtain an accurate wheel speed in subsequent calculations. The effective rolling radius A of the tire can be calculated by the following formula (1).

[0055] (1);

[0056] Among them, A represents the effective rolling radius of the tire; B represents the crown radius; C represents the ground contact width of the tire; D represents the roll angle; E represents the maximum rolling radius of the tire.

[0057] Step S204, read the wheel speed square wave signal of the gear ring hardware on the tire of the vehicle from the wheel speed sensor.

[0058] Among them, the implementation manner and beneficial effects of step S204 can be as described in step S102 above.

[0059] Step S205, sample the wheel speed square wave signal respectively to obtain the tooth pitch time sampling signal and the number of teeth sampling signal within the time interval.

[0060] As an exemplary example, since the square wave signal is a discrete pulse signal, it can be sampled for subsequent calculation of a more stable wheel speed.

[0061] Step S206, in response to the rising edge or falling edge of the wheel speed square wave signal, perform a tooth count accumulation operation to obtain the current number of teeth.

[0062] As an exemplary example, since the 48-hole signal gear ring hardware has a total of 48 teeth, the wheel speed square wave signal has a total of 48 rising edges and 48 falling edges, and the high and low levels of the square wave of the 48-hole signal gear ring hardware and the wheel speed sensor signal are the same when read on the oscilloscope.

[0063] Therefore, each rising edge and falling edge of the wheel speed square wave signal can be counted as one tooth, that is, the 48-hole signal gear ring hardware can be calculated as 96 holes. This enables the counting to expand the calculation accuracy when the high level cuts to the low level and the low level cuts to the high level.

[0064] Step S207, obtain the number of teeth within the time interval according to the current number of teeth and the number of teeth in the previous time interval.

[0065] As an exemplary example, since the motorcycle is traveling at a high speed, the high speed will make the time interval between adjacent teeth shorter. Therefore, a calculation method of counting multiple teeth using a time window can be adopted, that is, subtracting the number of teeth in the previous time interval from the accumulated current number of teeth to obtain the number of teeth within the time interval.

[0066] As an example, the time interval can be 100 ms. In other embodiments, it can also be other time intervals. For example, the number of up and down level transitions of the wheel speed square wave signal can be counted. Each time a low-to-high or high-to-low level transition is detected, the count is incremented by 1. The count starts from 0, reaches 65535, then resets to 0 and starts accumulating again. Thus, the count difference for every 100 ms in the count can be intercepted, and then converted into the corresponding wheel speed.

[0067] Step S208: Obtain the time between the rising edge and the adjacent falling edge to get the tooth pitch time.

[0068] As an example, when the motorcycle is traveling at a low speed, the time interval between teeth is relatively long. The wheel speed can be directly calculated through the passing time of a single tooth, with a relatively small error. Therefore, the passing time of adjacent teeth can be calculated, that is, the time distance difference between the rising edge and the falling edge.

[0069] Step S209: Calculate the wheel speed using the tooth pitch time to obtain the first wheel speed, and calculate the wheel speed using the number of teeth within the time interval to obtain the second wheel speed.

[0070] Among them, the first wheel speed is the wheel speed calculated using the adjacent tooth pitch time; the second wheel speed is the wheel speed calculated using the number of teeth within the time interval. The units of the first wheel speed and the second wheel speed are rpm; the unit of the adjacent tooth pitch time is us.

[0071] As an example, the first wheel speed = 600000 ÷ 48 ÷ adjacent tooth pitch time. The second wheel speed = (the current number of teeth - the number of teeth in the previous 100 ms) × 600 ÷ 48.

[0072] Step S210: Perform reliability verification on the tooth pitch time sampling signal to obtain the first weight corresponding to the first wheel speed, and perform reliability verification on the number of teeth sampling signal within the time interval to obtain the second weight corresponding to the second wheel speed.

[0073] Among them, the first weight and the second weight are used by the wheel speed calculation state machine to select the optimal wheel speed. The first weight can be used to evaluate the stability of the first wheel speed calculated based on the tooth pitch time; the second weight can be used to evaluate the stability of the second wheel speed calculated based on the number of teeth within the time interval. Thus, the wheel speed calculation state machine can select the wheel speed data suitable for the current driving state as the output according to the magnitudes of the two weights.

[0074] In some embodiments, a time difference check is performed on the tooth pitch time sampling signal to obtain a first weight; a tooth count check is performed on the tooth count sampling signal within a time interval to obtain a second weight; in response to the first weight and the second weight being equal, the current vehicle speed is obtained, and based on the current vehicle speed, the first weight and / or the second weight is adjusted.

[0075] Among them, the time difference check can determine whether the data is stable by comparing the continuous changes in tooth pitch time. The tooth count check can be to check whether there are abnormal changes in the number of teeth within a fixed time window.

[0076] As an illustrative example, since the first-round rotational speed calculated based on the tooth pitch time can reach an accuracy of 0.1 km / h within the vehicle speed range of [0, 100] km / h. For the part higher than 100 km / h, the accuracy will decrease as the vehicle speed increases. When higher than 150 km / h, due to the excessively small value of the adjacent tooth pitch time (in microseconds) and the fluctuations of the tooth ring hardware mechanism and the wheel rotational speed square wave signal, it is difficult for the wheel rotational speed accuracy to meet 1 km / h.

[0077] The second-round rotational speed calculated based on the number of teeth within a time interval has an accuracy of 1 km / h throughout the speed range of [0, 300] km / h, and its accuracy is limited by the number of 48-hole signal tooth rings in the hardware.

[0078] Therefore, when it is detected that the first weight and the second weight are equal, the magnitudes of the first weight and / or the second weight can be adjusted according to the current vehicle speed, so that subsequently, according to the magnitudes of the first weight and the second weight, the corresponding calculation state can be switched. By this means, it is beneficial to improve the switching accuracy between the tooth count calculation state and the tooth pitch time calculation state within the switching time interval.

[0079] For example, when the driving vehicle speed is low, increase the value of the first weight. When the driving vehicle speed is high, increase the value of the second weight. Dynamically adjust the calculation method according to the first weight and the second weight, so that the wheel rotational speed can be accurately calculated within different speed ranges, thereby improving the accuracy and reliability of vehicle speed calculation.

[0080] As an illustrative example, the demarcation value between high speed and low speed can be set according to the vehicle configuration or actual situation. For example, the range of the demarcation value can be 100 - 150 km / h. In some embodiments, the demarcation value can be any one of 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150 or a value between any two of them.

[0081] Step S211, based on the magnitudes of the first weight and the second weight, the first-round rotational speed and the second-round rotational speed, switch to the corresponding calculation state to determine the tire wheel rotational speed.

[0082] As an exemplary example, the switching between calculation states can be composed of relevant condition judgments, which is used to optimize the vehicle speed calculation logic and prevent frequent jumps or non-return-to-zero when the vehicle is moving at a constant speed, thereby improving the accuracy and timeliness of the wheel speed calculation.

[0083] In some embodiments, step S211 may include: switching to the corresponding calculation state based on the magnitudes of the first weight and the second weight, the first wheel speed, and the second wheel speed through a preset wheel speed calculation state machine, and determining the tire wheel speed.

[0084] As an exemplary example, the corresponding calculation state can be switched using the wheel speed calculation state machine to determine the tire wheel speed. In this way, the calculation of the tire wheel speed can be matched with the current vehicle operating state, improving the accuracy of the tire wheel speed calculation.

[0085] In some embodiments, please refer to Figure 4 , the calculation states include the tooth number calculation state within a time interval and the tooth pitch time calculation state.

[0086] As an exemplary example, the tooth pitch time calculation state can use the first wheel speed calculated based on the tooth pitch time as the tire wheel speed. The tooth number calculation state within a time interval can use the second wheel speed calculated based on the tooth number within the time interval as the tire wheel speed.

[0087] In some embodiments, step S211 may include: in response to the current being the tooth number calculation state within a time interval, the first weight being greater than the second weight, and the difference between the first wheel speed and the second wheel speed being less than a preset synchronization threshold, switching to the tooth pitch time calculation state to use the first wheel speed as the tire wheel speed.

[0088] As an exemplary example, please continue to refer to Figure 4 , when the current is the tooth number calculation state within a time interval, the magnitudes of the first weight and the second weight are detected. When it is detected that the first weight is greater than the second weight, the reliability weight is selected as the tooth pitch time calculation state, indicating that the tooth pitch time calculation state is more suitable for the current driving state at this time. The difference between the first wheel speed and the second wheel speed is detected. When the difference between the first wheel speed and the second wheel speed is less than the synchronization threshold, the inter-mode wheel speed synchronization check is 1, which can be used to improve the stability and smoothness of the wheel speed switching. When the above conditions are met, the state can be switched from the tooth number calculation state within a time interval to the tooth pitch time calculation state to use the first wheel speed as the tire wheel speed.

[0089] In some embodiments, step S211 may include: in response to the current being the tooth pitch time calculation state, the second weight being greater than the first weight, and the difference between the rotational speed of the first wheel and the rotational speed of the second wheel being less than the synchronization threshold, switching to the tooth count within time interval calculation state to use the rotational speed of the second wheel as the rotational speed of the tire wheel.

[0090] As an exemplary example, please continue to refer to Figure 4 , when in the current tooth pitch time calculation state, detect the magnitudes of the first weight and the second weight. When it is detected that the second weight is greater than the first weight, the reliability weight is selected as the tooth count within time interval calculation state, indicating that the tooth count within time interval calculation state is more suitable for the current driving state at this time. Detect the difference between the rotational speed of the first wheel and the rotational speed of the second wheel. When the difference between the rotational speed of the first wheel and the rotational speed of the second wheel is less than the synchronization threshold, the inter-mode wheel rotational speed synchronization check is 1, which can be used to improve the stability and smoothness of the wheel rotational speed switching. When the above conditions are met, switch from the tooth pitch time calculation state to the tooth count within time interval calculation state to use the rotational speed of the second wheel as the rotational speed of the tire wheel.

[0091] In some embodiments, step S211 may include: in response to the current being the tooth count within time interval calculation state, the first weight being greater than the second weight, the difference between the rotational speed of the first wheel and the rotational speed of the second wheel being less than a preset synchronization threshold, and the tooth pitch time sampling signal satisfying a preset continuous stability condition, switching to the tooth pitch time calculation state to use the rotational speed of the first wheel as the rotational speed of the tire wheel.

[0092] As an exemplary example, please continue to refer to Figure 4 , when in the current tooth count within time interval calculation state, detect the magnitudes of the first weight and the second weight. When it is detected that the first weight is greater than the second weight, the reliability weight is selected as the tooth pitch time calculation state, indicating that the tooth pitch time calculation state is more suitable for the current driving state at this time. Detect the difference between the rotational speed of the first wheel and the rotational speed of the second wheel. When the difference between the rotational speed of the first wheel and the rotational speed of the second wheel is less than the synchronization threshold, that is, the inter-mode wheel rotational speed synchronization check is 1, which can be used to improve the stability and smoothness of the wheel rotational speed switching. Detect the change of the tooth pitch time sampling signal. When it is detected that the tooth pitch time sampling signal satisfies the continuous stability condition and the tooth pitch time sampling signal is 1, it can reduce the misjudgment risk of the wheel rotational speed of the electric motorcycle in cases such as tire skidding and single-wheel leaving the ground. When the above conditions are met, switch from the tooth count within time interval calculation state to the tooth pitch time calculation state to use the rotational speed of the first wheel as the rotational speed of the tire wheel.

[0093] In some embodiments, step S211 may include: in response to the current being the tooth pitch time calculation state, the second weight being greater than the first weight, the difference between the rotational speed of the first wheel and the rotational speed of the second wheel being less than the synchronization threshold, and the tooth number sampling signal within the time interval satisfying the preset continuous existence condition, switching to the tooth number calculation state within the time interval to use the rotational speed of the second wheel as the rotational speed of the tire wheel.

[0094] As an exemplary example, please continue to refer to Figure 4 , when in the current tooth pitch time calculation state, detect the magnitudes of the first weight and the second weight. When it is detected that the second weight is greater than the first weight, the reliability weight is selected as the tooth number calculation state within the time interval, indicating that the tooth number calculation state within the time interval is more suitable for the current driving state at this time. Detect the difference between the rotational speed of the first wheel and the rotational speed of the second wheel. When the difference between the rotational speed of the first wheel and the rotational speed of the second wheel is less than the synchronization threshold, the inter-mode wheel rotational speed synchronization check is 1, which can be used to improve the stability and smoothness of the wheel rotational speed switching. Detect the change in the tooth number sampling signal within the time interval. When it is detected that the change in the tooth number sampling signal within the time interval satisfies the continuous existence condition, the tooth number sampling signal within the time interval is 1, which can reduce the misjudgment risk of the wheel rotational speed of the electric motorcycle in cases such as tire skidding and single-wheel leaving the ground. When the above conditions are met, the tooth pitch time calculation state can be switched to the tooth number calculation state within the time interval to use the rotational speed of the second wheel as the rotational speed of the tire wheel.

[0095] Among them, the synchronization threshold, the first time period, and the second time period can be set according to the actual situation.

[0096] In some embodiments, step S104 may include the above steps S209 to S211 for mutual switching between the tooth number calculation state within the time interval and the tooth pitch time calculation state.

[0097] In some embodiments, step S104 may further include: in response to the current being the tooth pitch time calculation state, the fluctuation of the rotational speed of the first wheel being within the preset first fluctuation threshold, switching to the vehicle speed holding mode to use the rotational speed of the first wheel as the rotational speed of the tire wheel and keeping it unchanged.

[0098] As an exemplary example, please continue to refer to Figure 4 , when the wheel rotational speed fluctuates within a very small range, it can be switched from the tooth number calculation state within the time interval or the tooth pitch time calculation state to the vehicle speed holding mode and keep the wheel rotational speed unchanged.

[0099] For example, in response to the current tooth pitch time calculation state, the fluctuation of the first-round rotational speed is detected and judged. When the fluctuation of the first-round rotational speed is within a preset first fluctuation threshold, that is, when the vehicle speed holding mode is 1, it can be switched from the tooth pitch time calculation state to the vehicle speed holding mode, and the first-round rotational speed is used as the tire wheel rotational speed and remains unchanged. This can reduce the over-response to minor fluctuations and reduce the calculation burden of the wheel rotational speed.

[0100] In some embodiments, step S104 may further include: in response to the current tooth number calculation state within a time interval, when the fluctuation of the second-round rotational speed is within a preset second fluctuation threshold, switching to the vehicle speed holding mode to use the second-round rotational speed as the tire wheel rotational speed and keep it unchanged.

[0101] For example, please continue to refer to Figure 4 , in response to the current tooth number calculation state within a time interval, the fluctuation of the second-round rotational speed is detected and judged. When the fluctuation of the second-round rotational speed is within a preset second fluctuation threshold, that is, when the vehicle speed holding mode is 1, it can be switched from the tooth number calculation state within a time interval to the vehicle speed holding mode, and the second-round rotational speed is used as the tire wheel rotational speed and remains unchanged. This can reduce the over-response to minor fluctuations and reduce the calculation burden of the wheel rotational speed.

[0102] As an exemplary illustration, the first fluctuation threshold and the second fluctuation threshold can be set according to the actual situation, for example, within the range of -2 rpm to 2 rpm.

[0103] In some embodiments, step S104 may further include: in response to the current vehicle speed holding mode, when the tooth pitch time sampling signal meets the preset continuous stability condition and the difference between the first-round rotational speed and the second-round rotational speed is less than the synchronization threshold, switching to the tooth pitch time calculation state to use the first-round rotational speed as the tire wheel rotational speed.

[0104] As an exemplary example, please continue to refer to Figure 4

[0105] ​For example, when in the current vehicle speed holding mode, detect the change in the tooth pitch time sampling signal. When it is detected that the tooth pitch time sampling signal meets the preset continuous stability condition, the tooth pitch time sampling signal is 1, which can reduce the misjudgment risk of the wheel speed of the electric motorcycle in cases such as tire skidding and single-wheel lifting off the ground. Detect the difference between the first wheel speed and the second wheel speed. When it is detected that the difference between the first wheel speed and the second wheel speed is less than the synchronization threshold, the inter-mode wheel speed synchronization check is 1, which can improve the stability and smoothness of the wheel speed switching. When the above conditions are met, switch the vehicle speed holding mode to the tooth pitch time calculation state to use the first wheel speed as the tire wheel speed.

[0106] In some embodiments, for the tooth pitch time sampling signal to meet the preset continuous stability condition, it includes: analyzing the tooth pitch time sampling signal to obtain the tooth pitch time within a continuous number of controller operation cycles; in response to the tooth pitch time within a continuous number of controller operation cycles not exceeding the preset range jump and the tooth pitch time remaining updated within the preset first time period, determine that the tooth pitch time sampling signal meets the continuous stability condition.

[0107] As an exemplary example, if the tooth pitch time remains unchanged for a long time, it may be that the vehicle is in a stationary, skidding, single-wheel lifting off the ground, etc. situation. Therefore, by detecting that there is no out-of-range physical slope jump in the tooth pitch time within a continuous number of controller operation cycles, the risk of drastic changes in the tooth pitch time caused by abnormal signals can be reduced, and by detecting that the tooth pitch time within a continuous number of controller operation cycles remains dynamically changing and updated within the first time period instead of being constant, the risk of signal stagnation for a long time can be reduced.

[0108] As an exemplary illustration, the continuous number of controller operation cycles and the first time period can be set according to the actual situation. For example, when the tooth pitch time within three consecutive controller operation cycles (5 ms) does not have an out-of-range (physical slope) jump and the tooth pitch time remains updated and not constant within the first time period (380 ms), determine that the tooth pitch time sampling signal meets the continuous stability condition.

[0109] In some embodiments, step S104 may further include: in response to being in the current vehicle speed holding mode, the number of teeth sampling signal within the time interval meets the preset continuous existence condition, and the difference between the first wheel speed and the second wheel speed is less than the synchronization threshold, switch to the number of teeth calculation state within the time interval to select the second wheel speed as the tire wheel speed.

[0110] For example, please continue to refer to Figure 4, when it is currently in the vehicle speed holding mode, detect the change of the tooth number sampling signal within a time interval. When it is detected that the tooth number sampling signal within the time interval meets the preset continuous existence condition, the tooth number sampling signal within the time interval is 1, which can reduce the misjudgment risk of the wheel speed of the electric motorcycle in cases such as tire skidding and single-wheel leaving the ground. Detect the difference between the first wheel speed and the second wheel speed. When it is detected that the difference between the first wheel speed and the second wheel speed is less than the synchronization threshold, the inter-mode wheel speed synchronization check is 1, which can improve the stability and smoothness of the wheel speed switching. When the above conditions are met, switch the vehicle speed holding mode to the tooth number calculation state within the time interval to use the first wheel speed as the tire wheel speed.

[0111] In some embodiments, the tooth number sampling signal within the time interval meets the preset continuous existence condition, including: analyzing the tooth number sampling signal within the time interval to obtain that the tooth number within the time interval is not zero and lasts for a preset second time period, and determining that the tooth number sampling signal within the time interval meets the continuous existence condition.

[0112] As an exemplary example, if the tooth number within the time interval is not zero, it can be confirmed that there is a signal input within each time interval, and if the tooth number within the time interval is not zero and lasts for the second time period, the reliability of the signal can be improved. For example, if the number of teeth counted within 100 ms is not 0 and lasts for a certain time of 280 ms, it is determined that the tooth number sampling signal within the time interval meets the continuous existence condition, which can exclude accidental error signals or short-term interference.

[0113] In some embodiments, step S104 may further include: in response to the current being the tooth pitch time calculation state and the tooth pitch time sampling signal not meeting the continuous and stable condition, switching to the backup mode to calculate the tire wheel speed by using the speed and reduction ratio of the drive motor.

[0114] As an exemplary example, please continue to refer to Figure 4 , when it is currently in the tooth pitch time calculation state, detect the tooth pitch time sampling signal. When it is detected that the tooth pitch time sampling signal does not meet the continuous and stable condition, that is, the tooth pitch time sampling signal is 0, it means that there is interference or damage to the current wheel speed sensor or signal tooth ring, resulting in the unreliability of the first wheel speed calculated based on the tooth pitch time. Therefore, it can be switched from the tooth pitch time calculation state to the backup mode, and the wheel speed calculated by using the drive motor speed and reduction ratio is used as the tire wheel speed. This method can reduce the risk of system failure caused by faults of the wheel speed sensor or signal tooth ring and improve the fault tolerance rate.

[0115] In some embodiments, step S104 may further include: in response to the current state being the tooth number calculation state within a time interval and the tooth number sampling signal within the time interval not satisfying the condition of continuous existence, switching to a preset backup mode to calculate the tire wheel speed by converting the rotational speed and reduction ratio of a preset drive motor.

[0116] As an exemplary example, please continue to refer to Figure 4 , when the current state is the tooth number calculation state within a time interval and it is detected that the tooth number sampling signal within the time interval does not satisfy the condition of continuous existence, that is, the tooth number sampling signal within the time interval is 0, it indicates that there is interference or damage to the current wheel speed sensor or signal gear ring, resulting in the unreliability of the second wheel speed calculated based on the tooth number within the time interval. Therefore, it is possible to switch from the tooth number calculation state within the time interval to the backup mode and use the wheel speed converted from the drive motor speed and reduction ratio as the tire wheel speed. This method can reduce the risk of system failure caused by faults in the wheel speed sensor or signal gear ring and improve the fault tolerance rate.

[0117] In some embodiments, step S104 may further include: in response to the current state being the backup mode, the tooth pitch time sampling signal satisfying the condition of continuous stability, and the difference between the first wheel speed and the second wheel speed being less than the synchronization threshold, switching to the tooth pitch time calculation state to use the first wheel speed as the tire wheel speed.

[0118] As an exemplary example, please continue to refer to Figure 4 , when the current state is the backup mode, the tooth pitch time sampling signal, the difference between the first wheel speed and the second wheel speed are detected. When it is detected that the tooth pitch time sampling signal satisfies the condition of continuous stability and the difference between the first wheel speed and the second wheel speed is less than the synchronization threshold, that is, the tooth pitch time sampling signal is 1 and the inter-mode wheel speed synchronization verification is 1, it indicates that the wheel speed sensor or signal gear ring has returned to normal. Therefore, it is possible to switch from the backup mode to the tooth pitch time calculation state and use the first wheel speed as the tire wheel speed.

[0119] In some embodiments, step S104 may further include: in response to the current state being the backup mode, the tooth number sampling signal within the time interval satisfying the condition of continuous existence, and the difference between the first wheel speed and the second wheel speed being less than the synchronization threshold, switching to the tooth number calculation state within the time interval to use the second wheel speed as the tire wheel speed. This method can reduce the dependence on the conversion model and improve the accuracy of the wheel speed.

[0120] As an exemplary example, please continue to refer to Figure 4In backup mode, the difference between the tooth number sampling signal and the first and second wheel speeds within the time interval is checked. If the tooth number sampling signal meets the continuous existence condition within the time interval and the difference between the first and second wheel speeds is less than the synchronization threshold, that is, the tooth number sampling signal within the time interval is 1 and the inter-mode wheel speed synchronization check is 1, it indicates that the wheel speed sensor or signal ring gear has returned to normal. Therefore, the system switches from backup mode to the tooth number calculation state within the time interval, using the first wheel speed as the tire wheel speed. This approach reduces reliance on the conversion model and improves wheel speed accuracy.

[0121] In some embodiments, step S104 may further include: in response to the current vehicle speed holding mode, the tooth spacing time is greater than or equal to the preset third time period, or the number of teeth within the time interval remains unchanged within the preset fourth time period, switching to the preset vehicle speed zeroing mode to set the tire wheel speed to zero.

[0122] For example, see Figure 4 When in speed hold mode, the time between adjacent pitches can be monitored. If the time between adjacent pitches is greater than or equal to the third time period, the speed reset mode is set to 1, indicating that the vehicle's wheels have stopped rotating, possibly due to wheel slip or spin. Therefore, the system can switch from speed hold mode to speed reset mode, returning the tire wheel speed to zero. This approach reduces the risk of misjudgment by the vehicle control system.

[0123] As an exemplary description, the third time period can be set according to actual conditions, for example, 200 ms.

[0124] For example, see Figure 4 When in speed hold mode, the number of teeth within a time interval can be checked. If the number of teeth remains constant for a fourth time period, the speed reset mode is set to 1, indicating that the wheels have stopped rotating, possibly due to wheel slip or spin. Therefore, the system switches from speed hold mode to speed reset mode, returning the tire wheel speed to zero. This reduces the risk of misjudgment by the vehicle control system.

[0125] As an exemplary description, the fourth time period can be set according to actual conditions, for example, 200 ms.

[0126] In some embodiments, step S104 may further include: in response to the current vehicle speed zeroing mode, the tooth spacing time sampling signal meets the continuous stability condition, and the difference between the first wheel speed and the second wheel speed is less than the synchronization threshold, switching to the tooth spacing time calculation state to use the first wheel speed as the tire wheel speed.

[0127] For illustrative examples, seeFigure 4 When in the current vehicle speed zeroing mode, it is possible to detect the tooth pitch time sampling signal, the difference between the rotational speed of the first wheel and the rotational speed of the second wheel. When it is detected that the tooth pitch time sampling signal meets the conditions of being continuous and stable, and the difference between the rotational speed of the first wheel and the rotational speed of the second wheel is less than the synchronization threshold, that is, the tooth pitch time sampling signal is 1 and the inter-mode wheel rotational speed synchronization check is 1, it indicates that the vehicle starts to move or moves slowly at this time. Therefore, it is possible to switch from the vehicle speed zeroing mode to the tooth pitch time calculation state. In this way, more accurate wheel speed data can be provided during the low-speed driving or starting stage of the vehicle, especially at low vehicle speeds, improving the real-time response ability of the system to changes in wheel rotational speed.

[0128] As an exemplary illustration, Figure 4 The switching between the tooth number calculation state, the tooth pitch time calculation state, the vehicle speed holding mode, the backup mode, and the vehicle speed zeroing mode shown within the indicated time interval can be performed through a wheel rotational speed calculation state machine. In this way, the optimal calculation method can be dynamically selected to improve the calculation accuracy of wheel rotational speed at low or high speeds; when the sensor is abnormal, the wheel speed is calculated using the motor rotational speed and the reduction ratio to improve data availability; when the wheel slips or idles, it switches to the vehicle speed zeroing mode to reduce the misjudgment risk of the vehicle control system; when the rotational speed of the first wheel or the second wheel fluctuates slightly, it switches to the vehicle speed holding mode, which can reduce the over-response to minor fluctuations and reduce the calculation burden of wheel rotational speed. At the same time, by using the wheel rotational speed calculation state machine, different calculation states and modes are encapsulated in independent states, which can improve the efficiency and convenience of maintenance and upgrade.

[0129] Step S212, in response to the intensity of the received global positioning vehicle speed signal being greater than a preset intensity threshold, perform filtering and arbitration calculations on the global positioning vehicle speed, the effective rolling radius of the tire, and the tire wheel rotational speed to obtain the vehicle speed.

[0130] Among them, the global positioning vehicle speed signal and the global positioning vehicle speed can be obtained through an in-vehicle intelligent terminal (T-Box), and the global positioning can be the Global Positioning System (GPS).

[0131] As an exemplary example, the rotational speed of the front wheel, the rotational speed of the rear wheel, the effective rolling radius of the front wheel, and the effective rolling radius of the rear wheel can be substituted into the wheel circumference equation to calculate the rotational speed of the front wheel and the rotational speed of the rear wheel. Then, the rotational speed of the front wheel, the rotational speed of the rear wheel, and the global positioning vehicle speed are input into the Kalman filter together, and the true vehicle speed is estimated using the calculation principle of prior + conditional probability = posterior probability, which can eliminate the influence of errors and abnormal data, thereby obtaining the true vehicle speed of the vehicle.

[0132] In an exemplary embodiment, please refer to Figure 5The front wheel of the motorcycle is equipped with a 48-hole signal gear ring hardware and a front wheel speed sensor. The front wheel speed square wave signal of the front wheel speed sensor is read by the MVCU, and the front wheel speed square wave signal is processed to obtain the tooth pitch time with improved accuracy, the tooth pitch time sampling signal, the number of teeth within the time interval, and the number of teeth within the time interval sampling signal; then, the tooth pitch time is used for wheel speed calculation to obtain the first wheel speed of the front wheel; the number of teeth within the time interval is used for wheel speed calculation to obtain the second wheel speed of the front wheel; the tooth pitch time sampling signal is subjected to reliability verification to obtain the first weight corresponding to the first wheel speed of the front wheel; the number of teeth within the time interval sampling signal is subjected to reliability verification to obtain the second weight corresponding to the second wheel speed of the front wheel; then, the first wheel speed, the first weight, the second wheel speed, and the second weight are input into the front wheel speed calculation state machine for state switching to output the front wheel speed; at the same time, the roll angle of the motorcycle and the front wheel tire size parameters can be calculated to obtain the effective rolling radius of the front wheel. Similarly, the rear wheel tire can be described as above to obtain the rear wheel speed and the effective rolling radius of the rear wheel.

[0133] At the same time, obtain the global positioning vehicle speed signal and detect whether the intensity of the global positioning vehicle speed signal is sufficient; if the intensity is sufficient, it means that the global positioning vehicle speed is valid, and if the intensity is insufficient, it means that the global positioning vehicle speed is invalid.

[0134] When the global positioning vehicle speed is valid, the front wheel speed, the effective rolling radius of the front wheel, the global positioning vehicle speed, the rear wheel speed, and the effective rolling radius of the rear wheel are input into the Kalman filter for filtering and vehicle speed arbitration to obtain the true vehicle speed of the motorcycle; when the global positioning vehicle speed is invalid, the front wheel speed, the effective rolling radius of the front wheel, the rear wheel speed, and the effective rolling radius of the rear wheel are input into the Kalman filter for filtering and vehicle speed arbitration to obtain the true vehicle speed of the motorcycle.

[0135] In this embodiment, by calculating the tooth pitch time, the rotation speed of the first wheel is obtained, the rotation speed of the second wheel is obtained by calculating the number of teeth within the time interval, and the tooth pitch time sampling signal and the number of teeth sampling signal within the time interval are respectively subjected to reliability verification to obtain the first weight corresponding to the rotation speed of the first wheel and the second weight corresponding to the rotation speed of the second wheel. Then, the rotation speed of the first wheel, the rotation speed of the second wheel, the first weight, and the second weight are input into the wheel rotation speed calculation state machine for calculation state switching, and the tire wheel rotation speed is determined from the rotation speed of the first wheel and the rotation speed of the second wheel, which can reduce the risk of distortion of the vehicle instrument speed or the speed calculated by the controller caused by at least one wheel of the electric motorcycle leaving the ground or slipping. At the same time, the tire wheel rotation speed and the effective rolling radius of the tire are subjected to filtering and arbitration calculations to reduce the risk of the actual tire rolling radius becoming smaller due to the roll angle during vehicle steering, improve the accuracy of vehicle speed detection, and thus can adapt to complex working conditions such as tire slipping, single-wheel leaving the ground, and rolling turning, for example, it is applied to functions such as advanced chassis control, intelligent driving, safe driving, and path prediction. In addition, the MVCU and T-Box GPS data can be fused, and compared with the traditional scheme of simply relying on the rotation speed of the driving wheel to convert the vehicle speed, the true speed of the motorcycle can be calculated more accurately, and the accuracy of vehicle control can be improved.

[0136] Please refer to Figure 6 , Figure 6 which is an exemplary structural block diagram of an electronic device for the vehicle speed detection method of the present application. As Figure 6 shown, the electronic device 600 of the present application may include a processor 601 and a memory 602, where the processor 601 and the memory 602 communicate through a bus. The memory 602 stores program instructions for vehicle speed detection. When the program instructions are executed by the processor 601, the above-mentioned processor is caused to execute the above-mentioned related method steps to implement a vehicle speed detection method in the above-mentioned embodiment.

[0137] Please refer to [[ID=~13]] Figure 7 , Figure 7 which is an exemplary structural block diagram of a computer-readable storage medium for the vehicle speed detection method of the present application. As Figure 7 shown, a computer program 701 is stored in the computer-readable storage medium 700. When the computer program 701 runs on a computer, the computer is caused to execute the above-mentioned related method steps to implement a vehicle speed detection method in the above-mentioned embodiment.

[0138] In the above solution, the effective rolling radius of the vehicle's tire is obtained; the wheel speed square wave signal of the gear ring hardware on the vehicle's tire is read from the wheel speed sensor; the wheel speed square wave signal is processed to obtain the corresponding wheel speed information; wherein, the wheel speed information includes at least one of the tooth pitch time, the tooth pitch time sampling signal, the number of teeth within the time interval, and the number of teeth within the time interval sampling signal; the tire wheel speed is determined based on the wheel speed information; the tire wheel speed and the effective rolling radius of the tire are subjected to filtering and arbitration calculations to obtain the vehicle speed.

[0139] By using at least one of the tooth pitch time, the tooth pitch time sampling signal, the number of teeth within the time interval, and the number of teeth within the time interval sampling signal to determine the tire wheel speed, the measurement accuracy of the wheel speed can be improved; by subjecting the tire wheel speed and the effective rolling radius of the tire to filtering and arbitration calculations to obtain the vehicle speed, the influence of errors and abnormal data can be eliminated, and it can adapt to complex working conditions such as roll and turning, thereby improving the calculation accuracy of the vehicle speed.

[0140] In several implementation manners provided in the present application, it should be understood that the disclosed methods, electronic devices, and storage media can be implemented in other ways. For example, the device implementation manners described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical, or other forms.

[0141] The unit described as a separated component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it can be located in one place, or it can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this implementation manner.

[0142] In addition, each functional unit in various implementation manners of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0143] When an integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method for detecting the vehicle speed in various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0144] The above are only the embodiments of this application and do not limit the patent scope of this application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of this application.

Claims

1. A method for detecting vehicle speed, characterized in that: The vehicle speed detection method includes: Get the effective rolling radius of the vehicle's tires; Reading a wheel speed square wave signal of the ring gear hardware on the tire of the vehicle from a wheel speed sensor; Processing the wheel speed square wave signal to obtain corresponding wheel speed information, wherein the wheel speed information includes at least one of a tooth spacing time, a tooth spacing time sampling signal, a number of teeth within a time interval, and a tooth number sampling signal within a time interval; determining a tire wheel speed based on the wheel speed information; Determining the tire wheel speed based on the wheel speed information includes: The tooth spacing time is used to calculate the wheel speed to obtain the first wheel speed, and the number of teeth in the time interval is used to calculate the wheel speed to obtain the second wheel speed; Performing a reliability check on the tooth spacing time sampling signal to obtain a first weight corresponding to the first wheel speed, and performing a reliability check on the tooth number sampling signal within the time interval to obtain a second weight corresponding to the second wheel speed; Based on the magnitudes of the first weight and the second weight, the first wheel speed, and the second wheel speed, switching to a corresponding calculation state to determine the tire wheel speed; wherein the calculation state includes a tooth number calculation state within a time interval and a tooth spacing time calculation state; In response to the current tooth pitch time calculation state and the fluctuation of the first wheel speed being within a preset first fluctuation threshold, switching to a preset vehicle speed maintaining mode to maintain the first wheel speed as the tire wheel speed; In response to the current tooth number calculation state within the time interval and the fluctuation of the second wheel speed being within a preset second fluctuation threshold, switching to the vehicle speed maintaining mode to maintain the second wheel speed as the tire wheel speed; In response to the current vehicle speed holding mode being in the state where the tooth pitch time sampling signal satisfies a preset continuous stability condition, and the difference between the first wheel speed and the second wheel speed is less than a preset synchronization threshold, switching to the tooth pitch time calculation state to use the first wheel speed as the tire wheel speed; In response to the current state being the vehicle speed holding mode, the tooth number sampling signal within the time interval meeting a preset persistence condition, and the difference between the first wheel speed and the second wheel speed being less than the synchronization threshold, switching to a tooth number calculation state within the time interval to select the second wheel speed as the tire wheel speed; The tire wheel speed and the tire effective rolling radius are filtered and arbitrated to obtain the vehicle speed.

2. The vehicle speed detection method according to claim 1, characterized in that: The step of switching to a corresponding calculation state based on the first weight and the second weight, the first wheel speed, and the second wheel speed to determine the tire wheel speed includes: In response to the current state being the tooth number calculation state within the time interval, the first weight being greater than the second weight, and the difference between the first wheel speed and the second wheel speed being less than the synchronization threshold, switching to the tooth spacing time calculation state to use the first wheel speed as the tire wheel speed; In response to the current tooth spacing time calculation state, the second weight is greater than the first weight, and the difference between the first wheel speed and the second wheel speed is less than the synchronization threshold, switching to the tooth number calculation state within the time interval to use the second wheel speed as the tire wheel speed.

3. The vehicle speed detection method according to claim 1, characterized in that: The determining of the tire wheel speed based on the wheel speed information further includes: In response to the tooth number calculation state within the time interval being currently in the tooth number calculation state, and the tooth number sampling signal within the time interval not satisfying the persistence condition, switching to a preset backup mode to convert the tire wheel speed using a preset drive motor speed and reduction ratio; In response to the tooth spacing time calculation state currently being reached, the tooth spacing time sampling signal does not meet the continuous stability condition, switching to the backup mode to convert the rotation speed and reduction ratio of the drive motor to obtain the tire wheel rotation speed; In response to the backup mode being currently selected, the tooth spacing time sampling signal meeting the continuous stability condition, and the difference between the first wheel speed and the second wheel speed being less than the synchronization threshold, switching to the tooth spacing time calculation state to use the first wheel speed as the tire wheel speed; In response to the current backup mode, the tooth number sampling signal within the time interval meets the persistence condition, and the difference between the first wheel speed and the second wheel speed is less than the synchronization threshold, switching to the tooth number calculation state within the time interval to use the second wheel speed as the tire wheel speed.

4. The method for detecting vehicle speed according to claim 1, wherein: The determining of the tire wheel speed based on the wheel speed information further includes: In response to the vehicle speed maintaining mode being currently in the mode, the tooth spacing time being greater than or equal to a preset third time period, or the number of teeth within the time interval remaining unchanged for a preset fourth time period, switching to a preset vehicle speed zeroing mode to set the tire wheel speed to zero; In response to the current vehicle speed zeroing mode, the tooth spacing time sampling signal meets the continuous stability condition, and the difference between the first wheel speed and the second wheel speed is less than the synchronization threshold, switching to the tooth spacing time calculation state to use the first wheel speed as the tire wheel speed.

5. The method for detecting vehicle speed according to claim 1, wherein: The tooth spacing time sampling signal meets the preset continuous stability conditions, including: Analyzing the tooth spacing time sampling signal to obtain the tooth spacing time within a plurality of consecutive controller operation cycles; In response to the tooth spacing time not exceeding a preset range jump in a plurality of consecutive controller operation cycles and the tooth spacing time keeping updated in a preset first time period, it is determined that the tooth spacing time sampling signal meets the continuous stability condition.

6. The method for detecting vehicle speed according to claim 1, wherein: The tooth number sampling signal within the time interval meets the preset continuous existence condition, including: The tooth number sampling signal within the time interval is analyzed to obtain that the tooth number within the time interval is not zero and lasts for a preset second time period, and it is determined that the tooth number sampling signal within the time interval meets the continuous existence condition.

7. The method for detecting vehicle speed according to claim 1, wherein: The performing reliability check on the tooth spacing time sampling signal to obtain a first weight corresponding to the first wheel speed, and performing reliability check on the tooth number sampling signal within the time interval to obtain a second weight corresponding to the second wheel speed, includes: Performing a time difference check on the tooth spacing time sampling signal to obtain the first weight; Performing a tooth number check on the tooth number sampling signal within the time interval to obtain the second weight; In response to the first weight and the second weight being equal, a current vehicle speed is obtained, and the first weight and / or the second weight is adjusted according to the current vehicle speed.

8. The method for detecting vehicle speed according to claim 1, wherein: The processing of the wheel speed square wave signal to obtain corresponding wheel speed information includes: Sampling the wheel speed square wave signal respectively to obtain the tooth spacing time sampling signal and the tooth number sampling signal within the time interval; In response to a rising edge or a falling edge of the wheel speed square wave signal, performing a tooth number accumulation operation to obtain a current tooth number; Obtaining the number of teeth in the time interval according to the current number of teeth and the number of teeth in the previous time interval; The time between the rising edge and the adjacent falling edge is acquired to obtain the tooth spacing time.

9. The vehicle speed detection method according to claim 1, characterized in that: The step of obtaining the effective rolling radius of the vehicle tire includes: Obtain the roll angle, maximum tire rolling radius, crown radius, and tire contact width; Performing geometric calculation on the roll angle, the crown radius, and the tire contact width to obtain a geometric change in rolling radius caused by the roll angle; The maximum rolling radius of the tire and the geometric variation of the rolling radius are calculated to obtain the effective rolling radius of the tire.

10. The vehicle speed detection method according to claim 1, characterized in that: The filtering and arbitrating calculation of the tire wheel speed and the tire effective rolling radius to obtain the vehicle speed includes: In response to the strength of the received global positioning vehicle speed signal being greater than a preset strength threshold, the global positioning vehicle speed, the tire effective rolling radius and the tire wheel speed are filtered and arbitrated to obtain the vehicle speed.

11. The vehicle speed detection method according to any one of claims 1 to 10, characterized in that: The vehicle is a motorcycle, the tire wheel speed includes the front wheel speed and the rear wheel speed of the motorcycle, and the tire effective rolling radius includes the front wheel effective rolling radius and the rear wheel effective rolling radius of the motorcycle; The filtering and arbitrating calculation of the tire wheel speed and the tire effective rolling radius to obtain the vehicle speed includes: The front wheel speed, the rear wheel speed, the front wheel effective rolling radius, and the rear wheel effective rolling radius are filtered and arbitrated to obtain the vehicle speed.

12. A motorcycle, characterized in that: The motorcycle executes the vehicle speed detection method according to any one of claims 1 to 11.

13. An electronic device, characterized in that: The electronic device comprises: a memory for storing executable program code; A processor is used to call and run the executable program code from the memory, so that the electronic device executes the vehicle speed detection method as described in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle speed detection method according to any one of claims 1 to 11 is implemented.

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