Vehicle speed calculation method and device for vehicle anti-skid control, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicle control, in particular to a vehicle speed calculation method and device for vehicle anti-skid control, a vehicle and a storage medium, and the method comprises the steps: switching a wheel speed calculation mode of the vehicle into an integral estimation mode when an anti-skid control function of the vehicle is in an activated state, so as to determine an integral estimation vehicle speed of the vehicle; executing a torque reduction action of the vehicle according to the torque reduction request sign of the target periodicity, sending a torque reduction request completion sign of the vehicle when the obtained actual torque meets a preset torque reduction condition, and switching to a wheel speed calculation mode when the current wheel speed of the vehicle is consistent with the actual vehicle speed of the vehicle so as to determine the actual wheel speed of the vehicle, therefore, the integral estimation vehicle speed is quickly corrected to obtain the vehicle speed for anti-slip control of the vehicle. Therefore, the problems that the integral estimated vehicle speed is only close to the real vehicle speed in a short time and the accuracy and reliability of vehicle speed estimation are reduced due to the original deviation of the integral initial vehicle speed and the noise of the longitudinal acceleration of the whole vehicle in related technologies are solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle speed calculation method, device, vehicle and storage medium for vehicle anti-skid control. Background Art

[0002] Currently, most vehicle speed estimations are based on the fusion calculation of multiple systems including wheel speed, motor speed and inertial measurement unit. In related technologies, the vehicle speed can be estimated based on the wheel speed. The method is simple, and the estimated vehicle speed is close to the actual vehicle speed under non-driving and non-braking conditions. The vehicle speed can also be calculated based on the fusion of wheel speed and vehicle longitudinal acceleration. When all four wheels are slipping or sliding, the vehicle speed can be estimated by acceleration integral, and the estimated vehicle speed can be close to the actual vehicle speed in a short time. Secondly, the vehicle speed can also be calculated based on the fusion of motor speed and vehicle longitudinal acceleration. During driving or braking anti-skid control, the four wheels maintain stable slip or sliding, and the vehicle speed estimated by short-time integration can be close to the actual vehicle speed.

[0003] However, in the related technology, due to the original deviation of the integral initial vehicle speed and the noise of the longitudinal acceleration of the whole vehicle, the integral estimated vehicle speed is close to the actual vehicle speed only in a short period of time. Over a long period of time, the integral estimated vehicle speed will gradually deviate from the actual vehicle speed, reducing the accuracy and reliability of the vehicle speed estimation, and reducing the safety of the vehicle, which needs to be solved urgently. Summary of the invention

[0004] The present application provides a vehicle speed calculation method, device, vehicle and storage medium for vehicle anti-skid control, in order to solve the problems in the related art that due to the original deviation of the integral initial vehicle speed and the noise of the longitudinal acceleration of the whole vehicle, the integral estimated vehicle speed is close to the actual vehicle speed only in a short period of time, and the integral estimated vehicle speed will gradually deviate from the actual vehicle speed over a long period of time, thereby reducing the accuracy and reliability of the vehicle speed estimation.

[0005] A first aspect embodiment of the present application provides a vehicle speed calculation method for anti-skid control of a vehicle, comprising the following steps: when a target anti-skid control function of the vehicle is in an activated state, switching the wheel speed calculation mode of the vehicle to a target integral estimation mode to determine the integral estimated vehicle speed; executing the torque reduction action of the vehicle according to a target periodic request torque reduction flag sent by a speed module of the vehicle to obtain the actual torque of the vehicle; when the actual torque of the vehicle meets a preset torque reduction condition, sending a request torque reduction completion flag of the vehicle, and when the current wheel speed of the vehicle is consistent with the actual speed of the vehicle, switching the target integral estimation mode of the vehicle to the wheel speed calculation mode, and using the wheel speed calculation mode to determine the actual wheel speed of the vehicle, and using the actual wheel speed to correct the integral estimated vehicle speed to obtain the vehicle speed for anti-skid control.

[0006] Optionally, in one embodiment of the present application, after obtaining the vehicle speed for anti-skid control, it also includes: detecting whether the target anti-skid control function of the vehicle has not exited the activation state; when it is detected that the target anti-skid control function has not exited the activation state, switching the wheel speed calculation mode of the vehicle to the target integral estimation mode to send the request torque reduction flag of a new cycle.

[0007] Optionally, in one embodiment of the present application, before switching the wheel speed calculation mode of the vehicle to the target integral estimation mode, it also includes: when it is detected that the target anti-skid control function exits the activation state, switching the target integral estimation mode to the wheel speed calculation mode to calculate the vehicle speed using the four-wheel speeds of the vehicle and the acceleration of the entire vehicle.

[0008] Optionally, in one embodiment of the present application, when the current wheel speed of the vehicle is consistent with the actual vehicle speed of the vehicle, the target integral estimation mode of the vehicle is switched to the wheel speed calculation mode, including: when the first wheel acceleration of the vehicle is less than zero when the vehicle is driving control, or when the second wheel acceleration of the vehicle is greater than zero when the vehicle is braking control, it is determined that the current wheel speed of the vehicle meets a preset recovery condition; when the current wheel speed is restored to be consistent with the actual vehicle speed, the target integral estimation mode is switched to the wheel speed calculation mode.

[0009] Optionally, in one embodiment of the present application, determining the integrated estimated speed of the vehicle includes: based on the target integrated estimation mode, using the initial vehicle speed of the vehicle at the integration moment, the longitudinal acceleration value of the vehicle and the time interval between the current moment and the starting moment of the vehicle, determining the integrated estimated speed of the vehicle.

[0010] A second aspect of the present application provides a vehicle speed calculation device for anti-skid control, comprising: a determination module, for switching the wheel speed calculation mode of the vehicle to a target integral estimation mode to determine the integral estimated vehicle speed when the target anti-skid control function of the vehicle is in an activated state; an execution module, for executing the torque reduction action of the vehicle according to a target periodic request torque reduction flag sent by the vehicle speed module to obtain the actual torque of the vehicle; a calculation module, for sending a request torque reduction completion flag of the vehicle when the actual torque of the vehicle meets a preset torque reduction condition, and switching the target integral estimation mode of the vehicle to the wheel speed calculation mode when the current wheel speed of the vehicle is consistent with the actual speed of the vehicle, and using the wheel speed calculation mode to determine the actual wheel speed of the vehicle, and using the actual wheel speed to correct the integral estimated vehicle speed to obtain the vehicle speed for anti-skid control.

[0011] Optionally, in one embodiment of the present application, the device of the embodiment of the present application also includes: a detection module, used to detect whether the target anti-skid control function of the vehicle has not exited the activation state after obtaining the vehicle speed for anti-skid control; a first processing module, used to switch the wheel speed calculation mode of the vehicle to the target integral estimation mode to send the request torque reduction flag of a new cycle when it is detected that the target anti-skid control function has not exited the activation state.

[0012] Optionally, in one embodiment of the present application, the device of the embodiment of the present application also includes: a second processing module, which is used to switch the target integral estimation mode to the wheel speed calculation mode before switching the wheel speed calculation mode of the vehicle to the target integral estimation mode, when it is detected that the target anti-skid control function exits the activation state, so as to calculate the vehicle speed using the four-wheel speeds of the vehicle and the acceleration of the whole vehicle.

[0013] Optionally, in one embodiment of the present application, the calculation module includes: a judgment unit, used to determine that the current wheel speed of the vehicle meets a preset recovery condition when the first wheel acceleration of the vehicle is less than zero when the vehicle is under driving control, or when the second wheel acceleration of the vehicle is greater than zero when the vehicle is under braking control; and a switching unit, used to switch the target integral estimation mode to the wheel speed calculation mode when the current wheel speed is restored to be consistent with the actual vehicle speed.

[0014] Optionally, in one embodiment of the present application, the determination module includes: a determination unit, used to determine the integrated estimated vehicle speed of the vehicle based on the target integral estimation mode, using the initial vehicle speed of the vehicle at the integration moment, the vehicle longitudinal acceleration value and the time interval between the current moment and the starting moment of the vehicle.

[0015] A third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle speed calculation method for vehicle anti-skid control as described in the above embodiment.

[0016] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the vehicle speed calculation method for vehicle anti-skid control as described above.

[0017] A fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, is used to implement the vehicle speed calculation method for vehicle anti-skid control as described above.

[0018] The embodiment of the present application can switch the wheel speed calculation mode of the vehicle to the integral estimation mode when the anti-skid control function of the vehicle is activated to determine the integral estimated vehicle speed of the vehicle, execute the vehicle torque reduction action according to the target periodic request torque reduction flag, send the vehicle torque reduction request completion flag when the actual torque obtained meets the preset torque reduction condition, and switch to the wheel speed calculation mode when the current wheel speed of the vehicle is consistent with the actual vehicle speed of the vehicle to determine the actual wheel speed of the vehicle, thereby correcting the integral estimated vehicle speed to obtain the vehicle speed for anti-skid control, effectively improving the accuracy and reliability of vehicle speed estimation. Thus, the problem that the original deviation of the integral initial vehicle speed and the noise of the longitudinal acceleration of the whole vehicle in the related art cause the integral estimated vehicle speed to be close to the actual vehicle speed only in a short period of time, thereby reducing the accuracy and reliability of vehicle speed estimation is solved.

[0019] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0021] Figure 1 A flow chart of a vehicle speed calculation method for vehicle anti-skid control provided according to an embodiment of the present application;

[0022] Figure 2 A brief flow chart of a vehicle speed calculation method according to a specific embodiment of the present application;

[0023] Figure 3 A specific flow chart of a vehicle speed calculation method according to a specific embodiment of the present application;

[0024] Figure 4 It is a structural schematic diagram of a vehicle speed calculation device for vehicle anti-skid control provided according to an embodiment of the present application;

[0025] Figure 5 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0027] The following describes the vehicle speed calculation method, device, vehicle and storage medium for anti-skid control of the embodiment of the present application with reference to the accompanying drawings. In view of the problems that the original deviation of the integral initial vehicle speed and the noise of the longitudinal acceleration of the whole vehicle in the related art mentioned in the above background technology cause the integral estimated vehicle speed to be close to the actual vehicle speed only in a short period of time, thereby reducing the accuracy and reliability of the vehicle speed estimation, the present application provides a vehicle speed calculation method for anti-skid control of the vehicle, in which the wheel speed calculation mode of the vehicle can be switched to the integral estimation mode when the anti-skid control function of the vehicle is activated to determine the integral estimated vehicle speed of the vehicle, and the vehicle torque reduction action is performed according to the target periodic request torque reduction flag, when the actual torque obtained meets the preset torque reduction condition, the vehicle torque reduction request completion flag is sent, and when the current wheel speed of the vehicle is consistent with the actual vehicle speed of the vehicle, the wheel speed calculation mode is switched to determine the actual wheel speed of the vehicle, thereby correcting the integral estimated vehicle speed to obtain the vehicle speed for anti-skid control, effectively improving the accuracy and reliability of the vehicle speed estimation. Thus, the problem in the related art that the original deviation of the integral initial vehicle speed and the noise of the longitudinal acceleration of the whole vehicle cause the integral estimated vehicle speed to be close to the actual vehicle speed only in a short period of time, thereby reducing the accuracy and reliability of the vehicle speed estimation, and the like is solved.

[0028] Specifically, Figure 1 A schematic flow chart of a vehicle speed calculation method for vehicle anti-skid control provided in an embodiment of the present application.

[0029] like Figure 1 As shown, the vehicle speed calculation method for vehicle anti-skid control includes the following steps:

[0030] In step S101 , when the target anti-skid control function of the vehicle is in an activated state, the wheel speed calculation mode of the vehicle is switched to the target integral estimation mode to determine the integral estimated vehicle speed of the vehicle.

[0031] In the embodiment of the present application, the target anti-skid control function is a vehicle driving slip or brake feedback anti-skid control function.

[0032] It can be understood that the embodiments of the present application can be used when the target anti-skid control function of the vehicle is in an activated state. For example, the vehicle drive slip or brake feedback anti-skid control function activation flag can be obtained according to the vehicle ESP (Electronic Stability Program) control information, wherein 0x0 is function inactive and 0x1 is function active, by identifying the slip or brake feedback anti-skid control function activation flag, wherein, when the vehicle drive slip or brake feedback anti-skid control function is activated, the four-wheel speed is kept in a stable slip or slip state through the slip rate, and the wheel speed deviates from the current true vehicle speed. At this time, the four-wheel speeds are unreliable, so it is necessary to exit the wheel speed calculation mode, that is, the wheel speed and acceleration fusion calculation mode, and switch to the kinematic integral estimation mode, so that the integral estimated speed of the vehicle can be determined, which effectively improves the accuracy of the vehicle speed calculation.

[0033] Among them, in one embodiment of the present application, determining the integrated estimated speed of the vehicle includes: based on the target integrated estimation mode, using the initial vehicle speed of the vehicle at the integration moment, the longitudinal acceleration value of the vehicle and the time interval between the current moment and the starting moment of the vehicle, to determine the integrated estimated speed of the vehicle.

[0034] In the actual implementation process, the embodiment of the present application can use the kinematic integration mode to estimate the vehicle speed, that is:

[0035] V=V 0 +a x T

[0036] Where V is the integrated estimated vehicle speed, in km / h; V 0 is the initial vehicle speed at the integration time, in km / h; a x is the longitudinal acceleration value, in m / s 2 ; T is the time interval between the current time and the starting time, in seconds.

[0037] Therefore, the embodiments of the present application can ensure that the vehicle can still maintain relatively accurate speed estimation under slipping or braking driving conditions, thereby enhancing the stability and reliability of vehicle dynamic control.

[0038] In step S102 , according to the target periodic torque reduction request flag sent by the vehicle speed module, the vehicle torque reduction action is executed to obtain the actual torque of the vehicle.

[0039] It can be understood that the embodiment of the present application can execute the torque reduction action of the vehicle according to the target periodic request torque reduction flag sent by the vehicle speed module. For example, the vehicle speed module can periodically send a torque reduction request, and the driving or braking anti-skid control function can execute the torque reduction action after receiving the torque reduction flag. In addition, the torque reduction action can also be actively completed during the control process of the driving or braking anti-skid control function to obtain the actual torque of the vehicle.

[0040] Among them, the vehicle speed module can periodically send a request for torque reduction flag. The specific torque reduction cycle strategy is as follows: send a request for torque reduction flag 1 second after the anti-skid control function is activated; secondly, after the first request for torque reduction is completed, send the torque reduction cycle according to the vehicle speed table lookup; thirdly, after receiving the active torque reduction flag, request the torque reduction cycle to be reset.

[0041] In the embodiment of the present application, when the vehicle speed is calculated using the integral estimation mode, due to the original error of the integral initial vehicle speed and the longitudinal acceleration a of the whole vehicle, x The noise of long-term integration is prone to large deviation in estimated vehicle speed. Therefore, when the anti-skid control function is activated, the vehicle speed module can periodically send a request for torque reduction flag to restore the wheel speed to the actual vehicle speed by reducing the torque and correct the integral estimated vehicle speed. In addition, the wheel speed fluctuates greatly in the initial stage of function activation, and the original error of the initial vehicle speed of the integration is large. Therefore, the request for torque reduction flag is sent within a certain short time threshold after the function is activated.

[0042] In step S103, when the actual torque of the vehicle meets the preset torque reduction condition, the vehicle's request torque reduction completion flag is sent, and when the vehicle's current wheel speed is consistent with the vehicle's actual speed, the vehicle's target integral estimation mode is switched to the wheel speed calculation mode, and the wheel speed calculation mode is used to determine the vehicle's actual wheel speed, and the actual wheel speed is used to correct the integral estimated vehicle speed to obtain the vehicle speed for anti-skid control.

[0043] It can be understood that the embodiments of the present application can send a request torque reduction completion flag for the vehicle when the actual torque of the vehicle meets the preset torque reduction conditions. For example, after the driving or braking anti-skid control function receives the request torque reduction flag, the control torque is reduced to 50% of the current torque and maintained for a certain period of time, and the request torque reduction is completed. In addition, the embodiments of the present application can also perform active torque reduction, that is, during the control process of the driving or braking anti-skid control function, the torque is reduced to within a certain threshold and maintained for a certain period of time, and the active torque reduction is completed, thereby sending an active torque reduction completion flag or a request torque reduction completion flag.

[0044] Next, after the vehicle speed module receives the request torque reduction completion flag or actively completes the torque reduction completion flag, the present application can determine whether the wheel speed has recovered to the true vehicle speed, that is, the actual vehicle speed. When the wheel speed recovers to the true vehicle speed, the target integral estimation mode is exited and switched to the wheel speed calculation mode. The wheel speed calculation mode is used to determine the actual wheel speed of the vehicle, and the actual wheel speed is used to correct the integral estimated vehicle speed. For example, the speed correction is completed within 15ms to obtain the vehicle speed for anti-skid control, thereby effectively reducing the deviation of the integral estimated speed and improving the accuracy and reliability of the vehicle speed estimation.

[0045] Therefore, in the embodiment of the present application, when the target anti-skid control function, that is, the driving or braking anti-skid control function is activated, the four-wheel speed is controlled to maintain stable slip or sliding. The vehicle speed module is obtained by integrating the longitudinal acceleration. In a short period of time, the speed estimated by integration can be consistent with the actual speed. In order to solve the problem of large deviation of the integrated speed for a long time, the speed module periodically sends a request for torque reduction flag, the function responds to the torque reduction action, and the wheel speed is restored to the actual speed. At this time, the deviation of the integrated speed can be repaired by the reliable wheel speed, so that the estimated speed can stably fit the actual speed.

[0046] Optionally, in one embodiment of the present application, when the current wheel speed of the vehicle is consistent with the actual vehicle speed, the target integral estimation mode of the vehicle is switched to the wheel speed calculation mode, including: when the first wheel acceleration is less than zero when the vehicle is driving control, or when the second wheel acceleration is greater than zero when the vehicle is braking control, it is determined that the current wheel speed of the vehicle meets the preset recovery condition; when the current wheel speed is restored to be consistent with the actual vehicle speed, the target integral estimation mode is switched to the wheel speed calculation mode.

[0047] As a possible implementation method, the embodiment of the present application can determine the recovery condition of the current wheel speed according to the driving state of the vehicle. For example, when the vehicle is driving control, the wheel acceleration of the vehicle needs to be less than zero, and when the vehicle is braking control, the wheel acceleration of the vehicle needs to be greater than zero. When the wheel acceleration of the vehicle meets the above conditions, it is determined that the vehicle wheel speed begins to recover to the true vehicle speed. When the wheel speed recovers to the true vehicle speed, the vehicle speed calculation exits the target integral estimation mode and switches to the wheel speed calculation mode, which effectively improves the accuracy and reliability of the vehicle speed calculation.

[0048] The embodiment of the present application ensures that the target integral estimation mode is switched to the wheel speed calculation mode only when the wheel truly regains grip and the wheel speed can accurately reflect the actual vehicle speed. This not only improves the accuracy of vehicle speed estimation, but also enhances the response efficiency and stability of the vehicle dynamic control system, effectively avoiding estimation errors caused by premature switching, thereby improving overall driving safety and handling performance.

[0049] Optionally, in one embodiment of the present application, after obtaining the vehicle speed for anti-skid control, it also includes: detecting whether the target anti-skid control function of the vehicle has not exited the activation state; when it is detected that the target anti-skid control function has not exited the activation state, switching the vehicle's wheel speed calculation mode to a target integral estimation mode to send a new cycle request torque reduction flag.

[0050] In some embodiments, the embodiments of the present application can detect whether the anti-skid control function of the vehicle has not exited the activated state, that is, whether the anti-skid control function remains activated. When the anti-skid control function is still activated, the wheel speed calculation mode of the vehicle can be restored to the integral estimation mode. When the vehicle speed completes a correction, for example, the vehicle speed receives a request for torque reduction completion flag, and the vehicle speed correction is completed within a certain threshold time (such as 15ms), the present application exits the vehicle speed request for torque reduction, and the vehicle speed calculation exits the wheel speed calculation mode and returns to the integral estimation mode to send a new cycle of request for torque reduction flag, so that the embodiments of the present application can provide continuous and accurate vehicle speed estimation when the wheel speed data is unreliable, ensuring that the anti-skid control system can adjust the torque output in time according to more accurate speed information, thereby effectively improving the stability and safety of the vehicle under complex road conditions.

[0051] Optionally, in one embodiment of the present application, before switching the vehicle's wheel speed calculation mode to a target integral estimation mode, it also includes: when it is detected that the target anti-skid control function has exited the activation state, switching the target integral estimation mode to the wheel speed calculation mode to calculate the vehicle speed using the vehicle's four-wheel speeds and the vehicle's acceleration.

[0052] In some embodiments, the embodiments of the present application can switch the vehicle speed calculation from the integral estimation mode to the wheel speed calculation mode, that is, the four-wheel speed and longitudinal acceleration fusion mode, when it detects that the anti-skid control function has exited the activation state, that is, exit the continuous integration logic, restore the four-wheel speed credible judgment, no longer send the request torque reduction flag, and calculate the vehicle speed based on the vehicle's four-wheel speed and the vehicle's longitudinal acceleration. In this way, the present application can promptly resume using more direct and accurate wheel speed data for vehicle speed estimation, thereby improving the accuracy of vehicle speed measurement and the response speed of the system, and ensuring the efficiency and stability of vehicle dynamic control.

[0053] For example, Figure 2 As shown, the working principle of the embodiment of the present application is described in detail below with a specific embodiment.

[0054] Step S201: Obtain a function activation flag.

[0055] Step S202: Determine whether the vehicle activates the target anti-skid control function. When the vehicle activates the target anti-skid control function, execute step S203, otherwise re-determine whether the vehicle activates the target anti-skid control function.

[0056] Step S203: Obtain the function activation flag.

[0057] Step S204: whether the active torque reduction completion flag is received, if the active torque reduction completion flag is received, then execute step S206, otherwise re-acquire the activation flag.

[0058] Step S205: whether a torque reduction request completion flag is received, if the torque reduction request completion flag is received, then execute step S206, otherwise, re-acquire the activation flag.

[0059] Step S206: Wheel speed calculation mode, correct the integral estimated vehicle speed.

[0060] Step S207: Determine whether the vehicle has exited the target anti-skid control function. When the vehicle exits the target anti-skid control function, restore the wheel speed calculation mode, that is, restore the four-wheel speed credible judgment, no longer send the request torque reduction flag, and calculate the vehicle speed based on the vehicle's four-wheel speed and the vehicle's longitudinal acceleration.

[0061] For example, Figure 3 As shown, the working principle of the embodiment of the present application is described in detail below with a specific embodiment.

[0062] Step S301: Determine whether the target anti-skid control function of the vehicle is activated according to the ESP system information of the vehicle.

[0063] Step S302: The target anti-skid control function is activated, the wheel speed calculation mode is exited, and the vehicle speed calculation enters the integral estimation mode.

[0064] Step S303: the vehicle speed module periodically sends a request torque reduction flag during the activation of the target anti-skid control function, or sends an active torque reduction completion flag during the activation of the target anti-skid control function.

[0065] Step S304: the target anti-skid control function receives the torque reduction request flag, controls the motor to complete the torque reduction, and sends a torque reduction request completion flag.

[0066] Step S305: the vehicle speed estimation module receives the active torque reduction completion flag or the torque reduction request completion flag, restores the wheel speed calculation mode, and estimates the vehicle speed according to the wheel speed correction integral.

[0067] Step S306: After completing one vehicle speed correction, exit the wheel speed calculation mode, continue to use the integral estimation mode, and enter the next period of torque reduction cycle.

[0068] Step S307: During activation of the target anti-skid control function, the vehicle speed is estimated by periodically reducing the torque and using the wheel speed correction integral.

[0069] Step S308: the target anti-skid control function exits and the wheel speed calculation mode is restored, that is, the four-wheel speed credible judgment is restored, the torque reduction request flag is no longer sent, and the vehicle speed is calculated based on the four-wheel speed of the vehicle and the longitudinal acceleration of the vehicle.

[0070] According to the vehicle speed calculation method for anti-skid control of the vehicle proposed in the embodiment of the present application, when the anti-skid control function of the vehicle is in an activated state, the wheel speed calculation mode of the vehicle can be switched to the integral estimation mode to determine the integral estimated vehicle speed of the vehicle, and the vehicle torque reduction action is performed according to the target periodic request torque reduction flag. When the actual torque obtained meets the preset torque reduction condition, the vehicle torque reduction request completion flag is sent, and when the current wheel speed of the vehicle is consistent with the actual vehicle speed of the vehicle, it is switched to the wheel speed calculation mode to determine the actual wheel speed of the vehicle, thereby correcting the integral estimated vehicle speed to obtain the vehicle speed for anti-skid control, which effectively improves the accuracy and reliability of vehicle speed estimation. Therefore, the problem that the original deviation of the integral initial vehicle speed and the noise of the longitudinal acceleration of the whole vehicle in the related art cause the integral estimated vehicle speed to be close to the actual vehicle speed only in a short period of time, thereby reducing the accuracy and reliability of vehicle speed estimation is solved.

[0071] Next, a vehicle speed calculation device for vehicle anti-skid control according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0072] Figure 4 It is a block diagram of a vehicle speed calculation device for vehicle anti-skid control according to an embodiment of the present application.

[0073] like Figure 4 As shown, the vehicle speed calculation device 10 for vehicle anti-skid control includes: a determination module 100 , an execution module 200 and a calculation module 300 .

[0074] Specifically, the determination module 100 is used to switch the wheel speed calculation mode of the vehicle to the target integral estimation mode to determine the integral estimated vehicle speed of the vehicle when the target anti-skid control function of the vehicle is activated.

[0075] The execution module 200 is used to execute the torque reduction action of the vehicle according to the target periodic torque reduction request flag sent by the vehicle speed module of the vehicle to obtain the actual torque of the vehicle.

[0076] The calculation module 300 is used to send a torque reduction request completion flag of the vehicle when the actual torque of the vehicle meets the preset torque reduction condition, and when the current wheel speed of the vehicle is consistent with the actual vehicle speed of the vehicle, switch the target integral estimation mode of the vehicle to the wheel speed calculation mode, and use the wheel speed calculation mode to determine the actual wheel speed of the vehicle, and use the actual wheel speed to correct the integral estimation speed to obtain the vehicle speed for anti-skid control.

[0077] Optionally, in one embodiment of the present application, the device 10 of the embodiment of the present application further includes: a detection module and a first processing module.

[0078] The detection module is used to detect whether the target anti-skid control function of the vehicle has not exited the activation state after obtaining the vehicle speed for anti-skid control.

[0079] The first processing module is used to switch the wheel speed calculation mode of the vehicle to the target integral estimation mode to send a new periodic torque reduction request flag when detecting that the target anti-skid control function has not exited the activation state.

[0080] Optionally, in one embodiment of the present application, the device 10 of the embodiment of the present application further includes: a second processing module.

[0081] Among them, the second processing module is used to switch the target integral estimation mode to the wheel speed calculation mode before switching the vehicle's wheel speed calculation mode to the target integral estimation mode, when it is detected that the target anti-skid control function has exited the activation state, so as to calculate the vehicle speed using the vehicle's four-wheel speeds and the vehicle acceleration.

[0082] Optionally, in one embodiment of the present application, the calculation module 300 includes: a judgment unit and a switching unit.

[0083] The judgment unit is used to determine whether the current wheel speed of the vehicle meets the preset recovery condition when the first wheel acceleration is less than zero when the vehicle is under driving control, or when the second wheel acceleration is greater than zero when the vehicle is under braking control.

[0084] The switching unit is used to switch the target integral estimation mode to the wheel speed calculation mode when the current wheel speed is restored to be consistent with the actual vehicle speed.

[0085] Optionally, in one embodiment of the present application, the determination module 100 includes: a determination unit.

[0086] The determination unit is used to determine the vehicle's integrated estimated speed based on the target integral estimation mode, using the vehicle's initial speed at the integration moment, the vehicle's longitudinal acceleration value, and the time interval between the vehicle's current moment and the starting moment.

[0087] It should be noted that the above explanation of the embodiment of the vehicle speed calculation method for vehicle anti-skid control is also applicable to the vehicle speed calculation device for vehicle anti-skid control of this embodiment, and will not be repeated here.

[0088] According to the vehicle speed calculation device for anti-skid control of the vehicle proposed in the embodiment of the present application, when the anti-skid control function of the vehicle is in an activated state, the wheel speed calculation mode of the vehicle can be switched to the integral estimation mode to determine the integral estimated vehicle speed of the vehicle, and the vehicle torque reduction action is performed according to the target periodic request torque reduction flag. When the actual torque obtained meets the preset torque reduction condition, the vehicle torque reduction request completion flag is sent, and when the current wheel speed of the vehicle is consistent with the actual vehicle speed of the vehicle, it is switched to the wheel speed calculation mode to determine the actual wheel speed of the vehicle, thereby correcting the integral estimated vehicle speed to obtain the vehicle speed for anti-skid control, which effectively improves the accuracy and reliability of vehicle speed estimation. Therefore, the problem that the original deviation of the integral initial vehicle speed and the noise of the longitudinal acceleration of the whole vehicle in the related art cause the integral estimated vehicle speed to be close to the actual vehicle speed only in a short period of time, thereby reducing the accuracy and reliability of vehicle speed estimation is solved.

[0089] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0090] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0091] When the processor 502 executes the program, the vehicle speed calculation method for the vehicle anti-skid control provided in the above embodiment is implemented.

[0092] Furthermore, the electronic device further comprises:

[0093] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0094] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0095] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0096] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0097] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0098] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0099] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the vehicle speed calculation method for vehicle anti-skid control as described above is implemented.

[0100] This embodiment also provides a computer program product, including a computer program, which, when executed, is used to implement the vehicle speed calculation method for vehicle anti-skid control as described above.

[0101] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0102] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0103] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0104] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0105] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0106] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0107] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0108] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle speed calculation method for vehicle anti-skid control, characterized in that: The following steps are involved: When the target anti-skid control function of the vehicle is activated, switching the wheel speed calculation mode of the vehicle to the target integral estimation mode to determine the integral estimated vehicle speed of the vehicle; Executing a torque reduction action of the vehicle according to a target periodic torque reduction request flag sent by a vehicle speed module of the vehicle to obtain an actual torque of the vehicle; When the actual torque of the vehicle meets the preset torque reduction condition, the requested torque reduction completion flag of the vehicle is sent, and when the current wheel speed of the vehicle is consistent with the actual vehicle speed of the vehicle, the target integral estimation mode of the vehicle is switched to the wheel speed calculation mode, and the actual wheel speed of the vehicle is determined by the wheel speed calculation mode, and the integral estimated speed is corrected by the actual wheel speed to obtain the vehicle speed for anti-skid control.

2. The method according to claim 1, characterized in that After obtaining the vehicle speed for anti-skid control of the vehicle, the method further includes: detecting whether the target anti-skid control function of the vehicle has not exited the activation state; When it is detected that the target anti-skid control function has not exited the activation state, the wheel speed calculation mode of the vehicle is switched to the target integral estimation mode to send the torque reduction request flag of a new period.

3. The method according to claim 2, characterized in that Before switching the wheel speed calculation mode of the vehicle to the target integral estimation mode, the method further includes: When it is detected that the target anti-skid control function exits the activation state, the target integral estimation mode is switched to the wheel speed calculation mode to calculate the vehicle speed by using the four-wheel speeds of the vehicle and the whole vehicle acceleration.

4. The method according to claim 1, characterized in that: When the current wheel speed of the vehicle is consistent with the actual vehicle speed of the vehicle, switching the target integral estimation mode of the vehicle to the wheel speed calculation mode includes: When the first wheel acceleration of the vehicle is less than zero when the vehicle is under driving control, or when the second wheel acceleration of the vehicle is greater than zero when the vehicle is under braking control, determining that the current wheel speed of the vehicle satisfies a preset recovery condition; When the current wheel speed is restored to be consistent with the actual vehicle speed, the target integral estimation mode is switched to the wheel speed calculation mode.

5. The method according to claim 1, characterized in that The step of determining the integrated estimated vehicle speed of the vehicle comprises: Based on the target integral estimation mode, the integrated estimated vehicle speed of the vehicle is determined using the initial vehicle speed at the integration time, the vehicle longitudinal acceleration value, and the time interval between the current time and the starting time of the vehicle.

6. A vehicle speed calculation device for vehicle anti-skid control, characterized in that: include: a determination module, configured to switch a wheel speed calculation mode of the vehicle to a target integral estimation mode to determine an integral estimated vehicle speed of the vehicle when a target anti-skid control function of the vehicle is activated; an execution module, configured to execute a torque reduction action of the vehicle according to a target periodic torque reduction request flag sent by a vehicle speed module of the vehicle, so as to obtain an actual torque of the vehicle; A calculation module is used to send a torque reduction request completion flag of the vehicle when the actual torque of the vehicle meets the preset torque reduction condition, and when the current wheel speed of the vehicle is consistent with the actual vehicle speed of the vehicle, switch the target integral estimation mode of the vehicle to the wheel speed calculation mode, and use the wheel speed calculation mode to determine the actual wheel speed of the vehicle, and use the actual wheel speed to correct the integral estimated vehicle speed to obtain the vehicle speed for anti-skid control.

7. The device according to claim 6, characterized in that Also includes: a detection module, configured to detect whether the target anti-skid control function of the vehicle has not exited the activation state after obtaining the vehicle speed at which the anti-skid control is performed; The first processing module is used to switch the wheel speed calculation mode of the vehicle to the target integral estimation mode to send the request torque reduction flag of a new period when it is detected that the target anti-skid control function has not exited the activation state.

8. The device according to claim 7, characterized in that Also includes: The second processing module is used to switch the target integral estimation mode to the wheel speed calculation mode before switching the wheel speed calculation mode of the vehicle to the target integral estimation mode, when it is detected that the target anti-skid control function exits the activation state, so as to calculate the vehicle speed by using the four-wheel speeds of the vehicle and the whole vehicle acceleration.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle speed calculation method for vehicle anti-skid control as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle speed calculation method for vehicle anti-skid control as described in any one of claims 1-5.

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