Vehicle wheel speed calculation method, electronic device and medium

Abstract

The invention provides a vehicle wheel speed calculation method, an electronic device and a medium. The calculation method comprises the following steps: S1, acquiring vehicle driving state information in a current detection period, determining a vehicle speed mode of a vehicle in the current detection period by utilizing the driving state information, and if the vehicle is in a low-speed mode, executing the step S2; if the vehicle is in the high-speed mode, executing the step S3; s2, wheel state information, phase information and angle information of each wheel of the vehicle in the current detection period are obtained in real time, and the wheel speed of the specified wheel in the current detection period is determined according to the wheel state information, the first wheel speed pulse, the phase information and the angle information; and S3, wheel state information of each wheel of the vehicle in the current detection period is acquired in real time, and the wheel speed of the specified wheel in the current detection period is determined by using the wheel state information, the first wheel speed pulse and the second wheel speed pulse. According to the scheme, the calculation precision of the wheel speed of the vehicle is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of speed measurement, and in particular relates to a method for calculating the wheel speed of a vehicle, and electronic equipment and a medium for implementing the method. Background Art

[0002] Wheel speed measurement is of great significance for vehicle motion control, electronic stability program, anti-lock braking system, transmission, etc. Wheel speed is a very important signal, which represents a core motion state of the vehicle and affects many functions such as vehicle torque request, gear control, stability control, etc. Therefore, obtaining accurate and effective wheel speed signals is not only conducive to improving vehicle performance, but also crucial to the vehicle control strategy.

[0003] At present, there are two main methods for calculating wheel speed: 1) using wheel speed sensors to measure wheel speed; 2) obtaining vehicle acceleration through vehicle acceleration sensors, integrating vehicle acceleration to calculate wheel speed. However, the above two calculation methods have the following problems: 1) The problem with solution 1 is that the installed speed sensor increases the cost of the vehicle, which is not conducive to large-scale use by vehicle manufacturers; 2) The problem with solution 2 is that the acceleration sensor has hysteresis, and when the four wheels of the vehicle are in a slip state for a long time, the calculation deviation of the wheel speed is large.

[0004] There is another method for calculating wheel speed in the prior art: the wheel speed is calculated using the transmission output shaft speed. For example, patent document CN104903129A uses a transmission output shaft sensor to monitor the estimated wheel speed of the vehicle. However, when using the above method to measure the speed of the vehicle, the following problems still exist: when the wheel slips or locks, the actual wheel speed cannot be reflected, and it is larger or smaller than the actual wheel speed. The obtained wheel speed has a large deviation and low accuracy. Therefore, it is necessary to provide a wheel speed measurement method to improve the accuracy of wheel speed measurement.

[0005] When wheel speed is measured in the prior art, the accuracy of the measured wheel speed is low. Summary of the invention

[0006] The purpose of the present invention is to solve the problem of low calculation accuracy when calculating the wheel speed of a vehicle in the prior art.

[0007] To solve the above problems, an embodiment of the present invention discloses a method for calculating the wheel speed of a vehicle, wherein the calculation method includes: each wheel of the vehicle is respectively provided with a pulse gear that rotates synchronously with the wheel, the pulse gear is connected to a counting device, and the counting device obtains pulse information generated by the rotation of the pulse gear at a predetermined time interval; and the method for calculating the wheel speed of the vehicle includes: S1: obtaining the vehicle driving state information in the current detection cycle, and using the vehicle driving state information to determine the vehicle speed mode in the current detection cycle, wherein the vehicle speed mode includes a low speed mode and a high speed mode; if the vehicle is in the low speed mode, execute step S2; if the vehicle is in the high speed mode, execute step S3; S2: according to the pulse information Determine the first wheel speed pulse generated by the designated wheel rolling one circle, and the second wheel speed pulse of the designated wheel in the current detection cycle, obtain in real time the wheel status information of each wheel of the vehicle in the current detection cycle, the phase information of the pulse gear corresponding to each wheel, and the angle information of the pulse gear corresponding to each wheel, and use the wheel status information, the first wheel speed pulse, the second wheel speed pulse, the phase information and the angle information of each wheel to determine the wheel speed corresponding to the designated wheel in the current detection cycle; S3: obtain in real time the wheel status information of each wheel of the vehicle in the current detection cycle, and use the wheel status information, the first wheel speed pulse and the second wheel speed pulse of each wheel to determine the wheel speed corresponding to the designated wheel in the current detection cycle.

[0008] By adopting the above scheme, the vehicle speed mode is determined as a low-speed mode and a high-speed mode according to the vehicle's driving state information. When the vehicle is in the low-speed mode, the wheel state information, the first wheel speed pulse, the phase information and the angle information of each wheel of the vehicle at the current detection time are obtained, and the wheel state information, the first wheel speed pulse, the phase information and the angle information can also be accurately detected when the vehicle is driving at a lower speed. Under low-speed conditions, the wheel speed calculated using these more accurate data is also more accurate; when the vehicle is in the high-speed mode, the wheel state information, the first wheel speed pulse and the second wheel speed pulse of each wheel of the vehicle at the current detection time are obtained, and the wheel speed is calculated based on this information. Since only the wheel state information, the first wheel speed pulse and the second wheel speed pulse of the wheel are used to calculate the wheel speed when the vehicle is in the high-speed mode, less data is required to calculate the wheel speed when the vehicle is in the high-speed mode, making the calculation process faster and more efficient.

[0009] According to another specific embodiment of the present invention, the method for calculating the wheel speed of a vehicle disclosed in the embodiment of the present invention, in step S2, the wheel status information includes the wheel rolling radius; the first wheel speed pulse is the number of pulses generated by the pulse gear corresponding to one circle of the specified wheel rolling; the second wheel speed pulse is the number of pulses newly added by the specified wheel in the current detection cycle; the phase information includes the phase of the pulse gear at the current moment; the angle information includes the angle corresponding to one tooth of the pulse gear; in step S2, the wheel status information, the first wheel speed pulse, the second wheel speed pulse, the phase information and the angle information of each wheel are used to determine the wheel speed corresponding to the specified wheel in the current detection cycle, including: judging the pulse measurement condition of the vehicle in the current detection cycle when in low speed mode according to the second wheel speed pulse, wherein the pulse measurement condition includes Summarize: a first operating condition in which the number of second wheel speed pulses corresponding to some wheels is not zero, and a second operating condition in which the number of second wheel speed pulses corresponding to all wheels is zero; S21: when the vehicle is in the first operating condition, determine whether the designated wheel in the current detection cycle can detect the second wheel speed pulse; if so, determine the phase difference between the designated wheel and the adjacent wheel according to the phase information of the designated wheel and the phase information of the adjacent wheel, and calculate the wheel speed of the designated wheel in the current detection cycle according to the phase difference, the wheel state information of the designated wheel, the first wheel speed pulse, and the angle information; if not, obtain the wheel speed corresponding to the pulse gear corresponding to the adjacent wheel at the moment when the latest pulse is generated, as the wheel speed of the designated wheel in the current detection cycle; S22: when the vehicle is in the second operating condition, determine that the wheel speed of each wheel in the current detection cycle is 0.

[0010] With this technical solution, the working condition of the vehicle is judged according to whether the second wheel speed pulse can be detected. When the vehicle is in different working conditions, different methods are used to calculate the wheel speed of the vehicle in the current detection moment. When the vehicle is in the first working condition, if the designated wheel does not detect the second wheel speed pulse, the wheel speed corresponding to the pulse gear corresponding to the adjacent wheel at the moment of the latest pulse generation will be obtained as the wheel speed of the designated wheel in the current detection cycle. In the low-speed mode, the speed of the adjacent wheel is closer to that of the designated wheel, and the wheel speed corresponding to the adjacent wheel at the moment of the latest pulse generation is almost equal to the wheel speed of the designated wheel in the current detection cycle, and there is no need to calculate the wheel speed of the current designated wheel again, so that the wheel speed calculation is more efficient and the calculation time is saved. When the vehicle is in the first working condition, the vehicle is in a state where all wheels do not detect the second wheel speed pulse, indicating that the current vehicle is in a stationary state, and it is determined that the wheel speed of each wheel in the current detection cycle is 0, and there is no need to repeatedly calculate the wheel speed under the current working condition, so that the calculation efficiency is higher.

[0011] According to another specific embodiment of the present invention, in the method for calculating the wheel speed of a vehicle disclosed in the embodiment of the present invention, in step S21, when the designated wheel detects the second wheel speed pulse, the wheel speed in the current detection cycle is calculated according to the following formula:

[0012]

[0013] Among them, V1 is the wheel speed of the specified wheel in the current detection cycle, t1 is the time corresponding to the specified wheel obtaining the current pulse information in the current detection cycle, t2 is the time corresponding to the adjacent wheel obtaining the latest pulse information in the current detection cycle, R is the rolling radius of the specified wheel, N is the first wheel speed pulse, Δω is the phase difference between the pulse gear corresponding to the adjacent wheel and the pulse gear of the specified wheel, and W is the angle corresponding to one tooth of the pulse gear corresponding to the specified wheel.

[0014] By adopting this technical solution, when the vehicle is in low-speed mode, the wheel status information, the first wheel speed pulse, the phase information and the angle information of each wheel at the current detection moment of the vehicle are obtained, and the wheel status information, the first wheel speed pulse, the phase information and the angle information can also be accurately detected when the vehicle is traveling at a lower speed. Under low-speed conditions, the wheel speed calculated using these more accurate data is more accurate, and when the vehicle is in low-speed mode, only some wheels detect the newly added wheel speed pulses, and the total number of pulses in the detection cycle is not used in the calculation formula, thereby improving the detection accuracy.

[0015] According to another specific embodiment of the present invention, in the method for calculating the wheel speed of a vehicle disclosed in the embodiment of the present invention, adjacent wheels are calculated by comparing the phase information of a designated wheel with the phase information of other wheels, and selecting wheels among the other wheels whose corresponding pulse gears are in an adjacent phase to the pulse gear corresponding to the designated wheel as adjacent wheels of the designated wheel.

[0016] With this technical solution, if the phase information of the adjacent wheels is closest to the phase information of the designated wheel, the phase difference between the phase information of the adjacent wheels and the designated wheel is substituted into the calculation formula, so that the obtained wheel calculation result is more accurate.

[0017] According to another specific embodiment of the present invention, in the method for calculating the wheel speed of a vehicle disclosed in the embodiment of the present invention, the number of teeth of the pulse gear corresponding to each wheel of the vehicle is the same, and the number of teeth of each pulse gear is in the range of 30 to 60; and the angle corresponding to one tooth of the pulse gear is calculated according to the following formula:

[0018]

[0019] Among them, W is the angle corresponding to one tooth of the pulse gear, and M is the number of teeth of the pulse gear.

[0020] According to another specific embodiment of the present invention, in the method for calculating the wheel speed of a vehicle disclosed in the embodiment of the present invention, in step S3, the wheel speed in the current detection cycle is calculated according to the following formula:

[0021]

[0022] Among them, V2 is the wheel speed of the specified wheel in the current detection cycle, T is the time length of two detection cycles, R is the rolling radius of the specified wheel, P is the second wheel speed pulse, and N is the first wheel speed pulse.

[0023] With this technical solution, when the vehicle is in high-speed mode, the wheel state information, the first wheel speed pulse and the second wheel speed pulse of each wheel at the current detection moment of the vehicle are obtained, and the wheel speed at the current detection moment is calculated based on this information. Since only the wheel state information, the first wheel speed pulse and the second wheel speed pulse of the wheel are used to calculate the wheel speed when the vehicle is in high-speed mode, less data is required to calculate the wheel speed when the vehicle is in high-speed mode, making the calculation process faster and more efficient.

[0024] According to another specific embodiment of the present invention, in the method for calculating the wheel speed of a vehicle disclosed in the embodiment of the present invention, in step S1, the vehicle driving state information includes the vehicle speed of the vehicle during the detection period and the pedal state information of the vehicle; and the pedal state information includes the accelerator pedal stroke, the brake pedal stroke, and the single pedal stroke; wherein if the vehicle speed is greater than a preset first vehicle speed threshold, the vehicle is in high-speed mode; if the vehicle speed is less than a preset second vehicle speed threshold, the vehicle is in low-speed mode; or if the accelerator pedal stroke is greater than the accelerator pedal threshold, the vehicle is in high-speed mode; if the brake pedal stroke is greater than the brake pedal threshold, the vehicle is in low-speed mode; or if the single pedal stroke is greater than the single pedal acceleration stroke threshold, the vehicle is in high-speed mode; if the single pedal stroke is less than the single pedal deceleration stroke threshold, the vehicle is in low-speed mode.

[0025] With this technical solution, the vehicle is divided into high-speed mode and low-speed mode according to the speed and pedal status information of the vehicle; wherein, the mode division of the vehicle using the accelerator pedal stroke and the brake pedal stroke is applicable to the type of vehicle that controls the vehicle with two pedals, and the mode division of the vehicle using the single pedal stroke is applicable to the type of vehicle that controls the vehicle with one pedal. The speed mode of the vehicle can be divided using both the speed and the pedal information of the vehicle itself, making the division types more comprehensive and applicable to any different types of vehicles.

[0026] According to another specific embodiment of the present invention, in the method for calculating the wheel speed of a vehicle disclosed in the embodiment of the present invention, a preset first vehicle speed threshold is in the range of 17km / h to 25km / h; a preset second vehicle speed threshold is in the range of 4km / h to 17km / h; or, an accelerator pedal threshold is 0.7 to 0.8 times the maximum stroke of the accelerator pedal of the vehicle; a brake pedal threshold is 0.7 to 0.8 times the maximum stroke of the brake pedal of the vehicle; or, a single-pedal acceleration stroke threshold is 0.7 to 0.8 times the maximum stroke of the single pedal of the vehicle; and a single-pedal deceleration stroke threshold is 0.2 to 0.3 times the minimum stroke of the single pedal of the vehicle.

[0027] By adopting this technical solution, the vehicle's speed mode can be divided by using both the speed and the vehicle's own pedal information, and the vehicle's speed and the vehicle's pedal information must meet certain threshold conditions, making the division method more detailed and the vehicle's working condition more specific. This speed mode division method can be applied to any different types of vehicles.

[0028] An embodiment of the present invention discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for calculating the wheel speed of a vehicle as described in any of the above embodiments is implemented.

[0029] An embodiment of the present invention discloses a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the method for calculating the wheel speed of a vehicle as described in any of the above embodiments is implemented.

[0030] The beneficial effects of the present invention are:

[0031] The wheel speed calculation method of the vehicle provided by the present application determines the vehicle speed mode as a low speed mode and a high speed mode according to the driving state information of the vehicle. When the vehicle is in the low speed mode, the wheel state information, the first wheel speed pulse, the phase information and the angle information of each wheel of the vehicle at the current detection time are obtained. The wheel state information, the first wheel speed pulse, the phase information and the angle information can also be accurately detected when the vehicle is driving at a lower speed. Under the low speed condition, the accuracy of the wheel speed calculated by using these more accurate data is also higher; when the vehicle is in the high speed mode, the wheel state information, the first wheel speed pulse and the second wheel speed pulse of each wheel of the vehicle at the current detection time are obtained, and the wheel speed is calculated based on this information. Since only the wheel state information, the first wheel speed pulse and the second wheel speed pulse of the wheel are used when calculating the wheel speed when the vehicle is in the high speed mode, therefore, when the vehicle is in the high speed mode, less data is required to calculate the wheel speed, so that the calculation process is faster and the calculation efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic flow chart of a method for calculating wheel speed of a wheel provided in an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of a flow chart of calculating the wheel speed of a vehicle in a low speed mode provided by an embodiment of the present invention;

[0034] Figure 3 It is a schematic diagram of a flow chart of calculating the wheel speed of a vehicle in a high-speed mode provided by an embodiment of the present invention;

[0035] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0036] Description of reference numerals:

[0037] 121. transceiver; 122. processor; 123. memory. DETAILED DESCRIPTION

[0038] Embodiment 1:

[0039] In order to solve the problem of low calculation accuracy of the wheel speed of a vehicle in the prior art, an embodiment of the present invention discloses a method for calculating the wheel speed of a vehicle. It should be noted that each wheel of the vehicle is respectively provided with a pulse gear that rotates synchronously with the wheel, and the pulse gear is connected to a counting device, and the counting device obtains pulse information generated by the rotation of the pulse gear at a predetermined time interval.

[0040] Specifically, a pulse gear is arranged inside each wheel of the vehicle, and the pulse gear rotates with the wheel. The pulse gear is connected to a counting device, and the counting device can measure the number of pulses generated when the pulse gear rotates. Specifically, the pulse gear is connected to the counting device by a communication connection or a wire connection. The counting device can be a logic circuit composed of a series of various triggers with the function of storing information. In addition, the counting device obtains the pulse information generated by the rotation of the pulse gear at a predetermined time interval, wherein the predetermined time interval can be any time interval, for example, every 2 seconds is a time interval. The pulse information obtained by the counting device connected to the pulse gear is completely consistent with the pulse information generated by the rotation of the wheel itself, and it is more convenient to collect the pulse information of the vehicle through the pulse gear. In addition, obtaining vehicle information within a predetermined time interval, rather than collecting vehicle information in real time at every moment, can reduce the number of times vehicle information is obtained and reduce vehicle power consumption.

[0041] And, if Figure 1 As shown, the calculation method includes:

[0042] S1: obtaining vehicle driving state information in the current detection cycle, and using the vehicle driving state information to determine the vehicle speed mode in the current detection cycle, wherein the vehicle speed mode includes a low speed mode and a high speed mode;

[0043] If the vehicle is in low speed mode, then execute step S2; if the vehicle is in high speed mode, then execute step S3;

[0044] S2: determining the first wheel speed pulse generated by the designated wheel rolling one circle and the second wheel speed pulse of the designated wheel in the current detection cycle according to the pulse information, obtaining the wheel state information of each wheel of the vehicle in the current detection cycle, the phase information of the pulse gear corresponding to each wheel, and the angle information of the pulse gear corresponding to each wheel in real time, and determining the wheel speed corresponding to the designated wheel in the current detection cycle by using the wheel state information, the first wheel speed pulse, the second wheel speed pulse, the phase information and the angle information of each wheel;

[0045] S3: acquiring the wheel status information of each wheel of the vehicle in the current detection cycle in real time, and determining the wheel speed corresponding to the designated wheel in the current detection cycle using the wheel status information of each wheel, the first wheel speed pulse, and the second wheel speed pulse.

[0046] Specifically, the pulse gear is connected to a phase sensor, and the phase sensor is used to measure the phase information of the pulse gear corresponding to each wheel. The pulse gear is connected to an angle sensor, and the angle sensor is used to measure the angle information of the pulse gear corresponding to each wheel. The pulse gear is connected to the phase sensor and the angle sensor by communication connection or wire connection. The phase sensor and the angle sensor are arranged on the inner side of each wheel of the vehicle together with the pulse gear. The counting device, phase sensor, and angle sensor on the pulse gear are all connected to the vehicle controller, and the data of the pulse information, phase information, and angle information collected from each wheel are sent to the vehicle controller, so that the information measured by the counting device, phase sensor, and angle sensor on the pulse gear can be read in the vehicle controller. It should be noted that the wheel status information includes the rolling radius of the vehicle wheel. The rolling radius of the wheel is set before the vehicle leaves the factory and is pre-stored in the vehicle controller.

[0047] The method has the following steps: determining the vehicle speed mode as a low-speed mode and a high-speed mode according to the vehicle's driving state information; when the vehicle is in the low-speed mode, obtaining the wheel state information, the first wheel speed pulse, the phase information and the angle information of each wheel at the current detection time of the vehicle; the wheel state information, the first wheel speed pulse, the phase information and the angle information can be accurately detected when the vehicle is driving at a lower speed; at a low speed, the wheel speed calculated using these more accurate data is more accurate; when the vehicle is in the high-speed mode, obtaining the wheel state information, the first wheel speed pulse and the second wheel speed pulse of each wheel at the current detection time of the vehicle, and calculating the wheel speed based on these information. Since only the wheel state information, the first wheel speed pulse and the second wheel speed pulse of the wheel are used to calculate the wheel speed when the vehicle is in the high-speed mode, less data is required to calculate the wheel speed when the vehicle is in the high-speed mode, making the calculation process faster and more efficient.

[0048] Further, in the wheel speed calculation method of the vehicle according to the present invention, as Figure 2 As shown, in step S2, the wheel status information includes the wheel rolling radius; the first wheel speed pulse is the number of pulses generated by the pulse gear corresponding to one circle of the specified wheel rolling; the second wheel speed pulse is the number of pulses newly added by the specified wheel in the current detection cycle; the phase information includes the phase of the pulse gear at the current moment; the angle information includes the angle corresponding to one tooth of the pulse gear.

[0049] Specifically, the wheel state information is the rolling radius of the specified wheel; the phase information is the phase of the pulse gear corresponding to the specified wheel at the current moment; and the angle information is the angle corresponding to one tooth of the pulse gear corresponding to the specified wheel.

[0050] In step S2, the wheel state information, the first wheel speed pulse, the second wheel speed pulse, the phase information and the angle information of each wheel are used to determine the wheel speed corresponding to the specified wheel in the current detection cycle, including: judging the pulse measurement working condition of the vehicle in the current detection cycle when in the low speed mode according to the second wheel speed pulse, wherein the pulse measurement working condition includes: a first working condition in which the number of second wheel speed pulses corresponding to some wheels is not zero, and a second working condition in which the number of second wheel speed pulses corresponding to all wheels is zero;

[0051] S21: When the vehicle is in the first working condition, determine whether the designated wheel in the current detection cycle can detect the second wheel speed pulse; if so, determine the phase difference between the designated wheel and the adjacent wheel according to the phase information of the designated wheel and the phase information of the adjacent wheel, and calculate the wheel speed of the designated wheel in the current detection cycle according to the phase difference, the wheel state information of the designated wheel, the first wheel speed pulse, and the angle information; if not, obtain the wheel speed corresponding to the pulse gear corresponding to the adjacent wheel at the moment when the latest pulse is generated, as the wheel speed of the designated wheel in the current detection cycle;

[0052] S22: When the vehicle is in the second operating condition, it is determined that the wheel speed of each wheel in the current detection cycle is 0.

[0053] Specifically, when the vehicle is in the low-speed mode, the pulse measurement working condition of the vehicle in the current detection cycle in the low-speed mode is determined according to the second wheel speed pulse. When the vehicle is in the first working condition in which the number of second wheel speed pulses corresponding to some wheels is not zero, when the designated wheel detects the second wheel speed pulse, the wheel speed of the designated wheel in the current detection moment is calculated according to the acquired state information of the designated wheel, the first wheel speed pulse, the phase difference and the angle information; when the designated wheel does not detect the second wheel speed pulse, the wheel speed corresponding to the pulse gear corresponding to the adjacent wheel at the moment of the latest pulse generation is obtained as the wheel speed of the designated wheel in the current detection cycle. When the vehicle is in the second working condition in which the number of second wheel speed pulses corresponding to all wheels is zero, it means that the current vehicle is in a stationary state, and it is determined that the wheel speed of each wheel in the current detection cycle is 0, and there is no need to repeatedly calculate the wheel speed under the current working condition, so that the calculation efficiency is higher. The working condition of the vehicle is judged according to whether the second wheel speed pulse can be detected, and different methods are used to calculate the wheel speed of the vehicle in the current detection cycle when the vehicle is in different working conditions, so that the calculation efficiency is higher. When the vehicle is in the first operating condition, if the designated wheel does not detect the second wheel speed pulse, the wheel speed corresponding to the pulse gear corresponding to the adjacent wheel at the moment when the latest pulse is generated will be obtained as the wheel speed of the designated wheel in the current detection cycle. In the low-speed mode, the speed of the adjacent wheels is closer to that of the designated wheel, and the wheel speed corresponding to the pulse gear corresponding to the adjacent wheels at the moment when the latest pulse is generated is very close to the wheel speed of the designated wheel in the current detection cycle, and there is no need to calculate the wheel speed of the current designated wheel again, which makes the wheel speed calculation more efficient and saves calculation time.

[0054] Further, in the wheel speed calculation method of the vehicle according to the present invention, in step S21, when the designated wheel detects the second wheel speed pulse, the wheel speed at the current detection moment is calculated according to the following formula:

[0055]

[0056] Among them, V1 is the wheel speed of the specified wheel in the current detection cycle, in meters per second (m / s); t1 is the time corresponding to the specified wheel obtaining the current wheel speed pulse information in the current detection cycle, in seconds (s); t2 is the time corresponding to the adjacent wheel obtaining the latest wheel speed pulse information in the current detection cycle, in seconds (s); R is the rolling radius of the specified wheel, in meters (m); N is the first wheel speed pulse, in pieces; Δω is the phase difference between the pulse gear corresponding to the adjacent wheel and the pulse gear of the specified wheel, in degrees (°); W is the angle corresponding to one tooth of the pulse gear corresponding to the specified wheel, in degrees (°).

[0057] By adopting this technical solution, when the vehicle is in low-speed mode, the wheel status information, the first wheel speed pulse, the phase difference and the angle information of each wheel at the current detection moment of the vehicle are obtained, and the wheel status information, the first wheel speed pulse, the phase difference and the angle information can also be accurately detected when the vehicle is traveling at a lower speed. The wheel speed calculated using these more accurate data is also more accurate. In addition, in low-speed mode, only some wheels detect the newly added wheel speed pulses, and the total number of pulses in the detection cycle is not used in the calculation formula, thereby improving the detection accuracy.

[0058] Further, in the wheel speed calculation method of the vehicle according to the present invention, the adjacent wheels compare the phase information of the designated wheel with the phase information of other wheels, and select the wheel whose corresponding pulse gear in the other wheels is in an adjacent phase to the pulse gear corresponding to the designated wheel.

[0059] Specifically, the pulse gears of the wheels pass through the predetermined phase positions in sequence, and the phase of the pulse gear of the designated wheel is compared with the phase of the pulse gears of other wheels, and the wheel with the closest phase information and passing the predetermined phase position before the designated wheel is taken as the previous adjacent phase wheel (i.e., the adjacent wheel). If the phase information of the adjacent wheel is closest to the phase information of the designated wheel, the phase difference between the phase information of the adjacent wheel and the designated wheel is substituted into the calculation formula, so that the accuracy of the wheel calculation result is higher.

[0060] Further, in the wheel speed calculation method of the vehicle according to the present invention, the number of teeth of the pulse gear corresponding to each wheel of the vehicle is the same, and the number of teeth of each pulse gear is in the range of 30 to 60; and the angle corresponding to one tooth of the pulse gear is calculated according to the following formula:

[0061]

[0062] Wherein, W is the angle corresponding to one tooth of the pulse gear, in degrees (°); M is the number of teeth of the pulse gear, in pieces.

[0063] Specifically, the number of teeth of the pulse gear is determined according to the pulse gear installed on the wheel during the measurement process. Substituting the number of teeth of the vehicle pulse gear into the above formula can calculate the angle corresponding to one tooth of the pulse gear.

[0064] Further, in the wheel speed calculation method of the vehicle according to the present invention, as Figure 3 As shown, in step S3, the wheel speed in the current detection cycle is calculated according to the following formula:

[0065]

[0066] Among them, V2 is the wheel speed of the specified wheel in the current detection cycle, in meters per second (m / s); T is the time length between two detection cycles, in seconds (s); R is the rolling radius of the specified wheel, in meters (m); P is the second wheel speed pulse, in pieces; N is the first wheel speed pulse, in pieces.

[0067] Specifically, P is the number of wheel speed pulses newly added by the specified wheel within the time T; N is the number of pulses generated by the specified wheel rolling one circle.

[0068] With this technical solution, when the vehicle is in high-speed mode, the wheel state information, the first wheel speed pulse and the second wheel speed pulse of each wheel at the current detection moment of the vehicle are obtained, and the wheel speed is calculated based on this information. Since only the wheel state information and the first wheel speed pulse and the second wheel speed pulse of the wheel are used to calculate the wheel speed when the vehicle is in high-speed mode, less data is required to calculate the wheel speed when the vehicle is in high-speed mode, making the calculation process faster and more efficient.

[0069] Further, in the wheel speed calculation method of the vehicle according to the present invention, in step S1, the vehicle driving state information includes the vehicle speed of the vehicle during the detection period and the pedal state information of the vehicle; and the pedal state information includes the accelerator pedal stroke, the brake pedal stroke, and the single pedal stroke; wherein if the vehicle speed is greater than a preset first vehicle speed threshold, the vehicle is in high-speed mode; if the vehicle speed is less than a preset second vehicle speed threshold, the vehicle is in low-speed mode; or if the accelerator pedal stroke is greater than the accelerator pedal threshold, the vehicle is in high-speed mode; if the brake pedal stroke is greater than the brake pedal threshold, the vehicle is in low-speed mode; or if the single pedal stroke is greater than the single pedal acceleration stroke threshold, the vehicle is in high-speed mode; if the single pedal stroke is less than the single pedal deceleration stroke threshold, the vehicle is in low-speed mode.

[0070] Specifically, the speed of the vehicle is measured by a speed sensor, the accelerator pedal stroke is measured by an accelerator pedal sensor, the brake pedal stroke is measured by a brake pedal sensor, and the single pedal stroke is measured by a single pedal sensor. The speed sensor, accelerator pedal sensor, brake pedal sensor, and single pedal sensor are all connected to the vehicle controller, so that the vehicle controller can read the pedal status information of the speed sensor, accelerator pedal sensor, brake pedal sensor, and single pedal. It should be noted that the accelerator pedal threshold, brake pedal threshold, or single pedal threshold is set by the developer based on factors such as the actual pedal sensitivity of the vehicle, and is pre-stored in the vehicle controller.

[0071] Further, in the wheel speed calculation method of the vehicle according to the present invention, the preset first vehicle speed threshold is in the range of 17km / h to 25km / h; the preset second vehicle speed threshold is in the range of 4km / h to 17km / h; or, the accelerator pedal threshold is 0.7 times to 0.8 times the maximum stroke of the vehicle's accelerator pedal; the brake pedal threshold is 0.7 times to 0.8 times the maximum stroke of the vehicle's brake pedal; or, the single-pedal acceleration stroke threshold is 0.7 times to 0.8 times the maximum stroke of the vehicle's single pedal; the single-pedal deceleration stroke threshold is 0.2 times to 0.3 times the minimum stroke of the vehicle's single pedal.

[0072] Specifically, the vehicle is divided into high-speed mode and low-speed mode according to the speed and the pedal status information of the vehicle; wherein, the mode division of the vehicle using the accelerator pedal stroke and the brake pedal stroke is applicable to the type of vehicle that controls the vehicle with two pedals, and the mode division of the vehicle using the single pedal stroke is applicable to the type of vehicle that controls the vehicle with one pedal. In this way, the speed mode of the vehicle can be divided by using both the speed and the pedal information of the vehicle itself, and the speed of the vehicle and the pedal information of the vehicle must meet certain threshold conditions. This division method is more detailed, making the working condition of the vehicle more specific, and this speed mode division method can be applied to any different types of vehicles.

[0073] Next, a four-wheel vehicle is taken as an example to describe a specific method for calculating the wheel speed of the vehicle.

[0074] When the vehicle is traveling on the road, the speed sensor is used to obtain the speed of the vehicle in the current detection cycle (for example, every 2 seconds is a detection cycle). Assuming that the current vehicle speed is 15km / h, within the range of 4km / h to 17km / h, the vehicle is determined to be in low-speed mode in the current detection cycle. Assuming that the vehicle speed is 20km / h, within the range of 17km / h to 25km / h, the vehicle is determined to be in high-speed mode in the current detection cycle. Alternatively, the brake pedal stroke is measured using a brake pedal sensor, assuming that the current vehicle brake pedal threshold is 0.75 times the maximum stroke of the vehicle's brake pedal, within the range of 0.7 times to 0.8 times the maximum stroke of the brake pedal, the vehicle is determined to be in low-speed mode in the current detection cycle, and the accelerator pedal stroke is measured using an accelerator pedal sensor, assuming that the current vehicle accelerator pedal threshold is 0.75 times the maximum stroke of the vehicle's accelerator pedal, within the range of 0.7 times to 0.8 times the maximum stroke of the accelerator pedal, the vehicle is determined to be in high-speed mode in the current detection cycle. speed mode; or, using the single-pedal sensor to measure the single-pedal stroke during the current detection moment, assuming that the current vehicle single-pedal deceleration stroke threshold is 0.25 times the vehicle's single-pedal minimum stroke, and is within the range of 0.2 times to 0.3 times the vehicle's single-pedal minimum stroke, then it is determined that the vehicle is in low-speed mode during the current detection cycle; assuming that the current vehicle single-pedal acceleration stroke threshold is 0.75 times the vehicle's single-pedal maximum stroke, and is within the range of 0.7 times to 0.8 times the single-pedal maximum stroke, then it is determined that the vehicle is in high-speed mode during the current detection cycle.

[0075] 1. When the vehicle is in low speed mode

[0076] A counting device connected to the pulse gear is used to obtain the pulse information generated by the rotation of the pulse gear corresponding to each wheel during driving at a predetermined time interval (for example, a detection cycle is every 2 seconds), and a phase sensor is used to obtain the phase information of the pulse gear corresponding to each wheel. An angle sensor is used to obtain the angle information of the pulse gear corresponding to each wheel, as well as the rolling radius of each wheel.

[0077] The pulse measurement condition of the vehicle in low-speed mode in the current detection cycle is determined based on the detected newly added wheel speed pulses. The pulse measurement conditions include: a first condition in which the number of second wheel speed pulses corresponding to some wheels is not zero, and a second condition in which the number of second wheel speed pulses corresponding to all wheels is zero.

[0078] (1) When the vehicle is in the first working condition, determining whether the specified wheel in the current detection cycle can detect the newly added wheel speed pulse;

[0079] Assume that the detection result is: currently only the left front wheel and the right rear wheel detect the newly added wheel speed pulse, and the left rear wheel and the right front wheel do not detect the newly added wheel speed pulse. In addition, the right front wheel and the left front wheel pass through the predetermined phase position in sequence, and the right front wheel passes through the predetermined phase position before the left front wheel, that is, the left front wheel and the right front wheel are adjacent in sequence, and the right front wheel is the previous adjacent phase wheel of the left front wheel.

[0080] In the current detection cycle, the last adjacent phase wheel of the left front wheel is the right front wheel. The phase difference between the pulse gear of the left front wheel and the pulse gear of the right front wheel is obtained, and the phase difference between the pulse gear of the left front wheel and the pulse gear of the right front wheel, the wheel state information of the left front wheel (rolling radius of the left front wheel), the first wheel speed pulse (the number of pulses generated by one rotation of the left front wheel), and the angle information (the angle corresponding to one pulse gear of the left front wheel) are calculated. These information are substituted into the following formula to calculate the wheel speed of the left front wheel at the current detection moment:

[0081]

[0082] Among them, V1 is the wheel speed of the left front wheel in the current detection cycle, in meters per second (m / s); t1 is the moment when the left front wheel obtains the current wheel speed pulse, in seconds (s); t2 is the moment corresponding to the latest pulse of the right front wheel, R is the rolling radius of the left front wheel, in meters (m); N is the number of wheel speed pulses generated by the pulse gear corresponding to the left front wheel as the specified wheel rolls one circle, in pieces; Δω is the phase difference between the pulse gear corresponding to the right front wheel and the pulse gear of the left front wheel, in degrees (°); W is the angle corresponding to one tooth of the pulse gear corresponding to the left front wheel, in degrees (°).

[0083] Among them, the angle corresponding to one tooth of the pulse gear corresponding to the left front wheel is calculated according to the following formula:

[0084]

[0085] W is the angle corresponding to one tooth of the left front wheel pulse gear, in degrees (°); M is the number of teeth of the pulse gear corresponding to the left front wheel, in pieces.

[0086] The wheel speed of the right rear wheel in the current detection cycle is calculated similarly.

[0087] In the current detection cycle, no wheel speed pulse is detected on the left rear wheel, the left front wheel and the left rear wheel pass through the predetermined phase position in sequence, and the left front wheel passes through the predetermined phase position before the left rear wheel, that is, the left rear wheel and the left front wheel are adjacent in sequence, and the previous adjacent phase wheel of the left rear wheel is the left front wheel, then the wheel speed corresponding to the left front wheel at the latest pulse moment is obtained, and the wheel speed corresponding to the left front wheel at the latest pulse moment is used as the wheel speed of the left rear wheel in the current detection cycle.

[0088] The wheel speed of the right front wheel in the current detection cycle is calculated similarly.

[0089] (2) When the vehicle is in the second operating condition

[0090] Assuming that no wheel speed pulse is detected on the four wheels, it is determined that the wheel speeds of the four wheels in the current detection cycle are all 0.

[0091] 2. When the vehicle is in high speed mode

[0092] The counting device connected by the pulse gear is used to obtain the pulse information generated by the rotation of the corresponding pulse gear of each wheel during driving, as well as the rolling radius of each wheel at predetermined time intervals (for example, every 2 seconds is a detection cycle).

[0093] Assuming that wheel speed pulses are detected on all four wheels, the wheel speed of any wheel can be calculated using the following formula:

[0094] The wheel speed of any wheel at the current detection moment is calculated according to the following formula:

[0095]

[0096] Among them, V2 is the wheel speed of the specified wheel in the current detection cycle, in meters per second (m / s); T is the time length between two wheel speed pulse detections, in seconds (s); R is the rolling radius of the specified wheel, in meters (m); P is the total number of wheel speed pulses added by the pulse gear corresponding to the specified wheel within the time length, in pieces; N is the number of wheel speed pulses generated by the pulse gear corresponding to the specified wheel as the specified wheel rolls one circle, in pieces.

[0097] Embodiment 2:

[0098] Based on the above-mentioned method for calculating the wheel speed of a vehicle, this embodiment provides an electronic device. Figure 4 The electronic device may include: a transceiver 121, a processor 122, and a memory 123.

[0099] The processor 122 executes the computer execution instructions stored in the memory, so that the processor 122 executes the scheme in the above embodiment. The processor 122 can be a general-purpose processor, including a central processing unit CPU, a network processor (network processor, NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0100] The memory 123 is connected to the processor 122 via a system bus and completes communication between them. The memory 123 is used to store computer program instructions.

[0101] The transceiver 121 may be used to obtain tasks to be executed and configuration information of the tasks to be executed.

[0102] The system bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The transceiver is used to realize the communication between the database access device and other computers (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM) and may also include non-volatile memory.

[0103] The electronic device provided in the embodiments of the present application may be a terminal device such as a computer or a host computer.

[0104] An embodiment of the present application also provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed on a computer, the computer executes the technical solution of the method for calculating the wheel speed of the vehicle described in the above embodiment.

[0105] Embodiment 3:

[0106] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, it can implement the technical solution of the method for calculating the wheel speed of the vehicle described in the above embodiment.

[0107] Although the present invention has been illustrated and described with reference to certain preferred embodiments of the present invention, it should be understood by those skilled in the art that the above is a further detailed description of the present invention in conjunction with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A method for calculating the wheel speed of a vehicle, It is characterized in that Each wheel of the vehicle is provided with a pulse gear which rotates synchronously with the wheel, and the pulse gear is connected to a counting device, and the counting device obtains pulse information generated by the rotation of the pulse gear at a predetermined time interval; Furthermore, the method for calculating the wheel speed of the vehicle includes: S1: Acquire vehicle driving state information in a current detection cycle, and use the vehicle driving state information to determine a vehicle speed mode in the current detection cycle, wherein the vehicle speed mode includes a low speed mode and a high speed mode; If the vehicle is in the low speed mode, executing step S2; If the vehicle is in the high speed mode, executing step S3; S2: determining the first wheel speed pulse generated by the designated wheel rolling one circle and the second wheel speed pulse of the designated wheel in the current detection cycle according to the pulse information, acquiring in real time the wheel state information of each wheel of the vehicle in the current detection cycle, the phase information of the pulse gear corresponding to each wheel, and the angle information of the pulse gear corresponding to each wheel, and determining the wheel speed corresponding to the designated wheel in the current detection cycle by using the wheel state information of each wheel, the first wheel speed pulse, the second wheel speed pulse, the phase information and the angle information; S3: acquiring the wheel status information of each wheel of the vehicle in the current detection cycle in real time, and determining the wheel speed corresponding to the designated wheel in the current detection cycle using the wheel status information of each wheel, the first wheel speed pulse, and the second wheel speed pulse.

2. The method for calculating the wheel speed of a vehicle according to claim 1, It is characterized in that The wheel status information includes the wheel rolling radius; the first wheel speed pulse is the number of pulses generated by the pulse gear corresponding to one rotation of the designated wheel; the second wheel speed pulse is the number of pulses newly added by the designated wheel in the current detection cycle; the phase information includes the phase of the pulse gear at the current moment; the angle information includes the angle corresponding to one tooth of the pulse gear; In the step S2, the wheel state information of each wheel, the first wheel speed pulse, the second wheel speed pulse, the phase information and the angle information are used to determine the wheel speed corresponding to the designated wheel in the current detection cycle, including: Determining the pulse measurement operating condition of the vehicle in the current detection cycle in the low-speed mode according to the second wheel speed pulses, wherein the pulse measurement operating condition includes: a first operating condition in which the number of the second wheel speed pulses corresponding to some wheels is not zero, and a second operating condition in which the number of the second wheel speed pulses corresponding to all wheels is zero; S21: when the vehicle is in the first working condition, determining whether the designated wheel can detect the second wheel speed pulse in the current detection cycle; If yes, determine the phase difference between the designated wheel and the adjacent wheel according to the phase information of the designated wheel and the phase information of the adjacent wheel, and calculate the wheel speed of the designated wheel in the current detection cycle according to the phase difference, the wheel state information of the designated wheel, the first wheel speed pulse, and the angle information; If not, obtaining the wheel speed corresponding to the pulse gear corresponding to the adjacent wheel at the moment of the latest pulse generation, as the wheel speed of the designated wheel in the current detection cycle; S22: When the vehicle is in the second operating condition, it is determined that the wheel speed of each wheel in the current detection cycle is 0.

3. The method for calculating the wheel speed of a vehicle according to claim 2, It is characterized in that In step S21, when the designated wheel detects the second wheel speed pulse, the wheel speed in the current detection cycle is calculated according to the following formula: Among them, V1 is the wheel speed of the designated wheel in the current detection cycle, t1 is the moment corresponding to the acquisition of the current pulse information by the designated wheel in the current detection cycle, t2 is the moment corresponding to the acquisition of the latest pulse information by the adjacent wheel in the current detection cycle, R is the rolling radius of the designated wheel, N is the first wheel speed pulse, Δω is the phase difference between the pulse gear corresponding to the adjacent wheel and the pulse gear of the designated wheel, and W is the angle corresponding to one tooth of the pulse gear corresponding to the designated wheel.

4. The method for calculating the wheel speed of a vehicle according to claim 3, It is characterized in that in The adjacent wheels compare the phase information of the designated wheel with the phase information of other wheels, and select wheels whose corresponding pulse gears in other wheels are in phases adjacent to the pulse gear corresponding to the designated wheel.

5. The method for calculating the wheel speed of a vehicle according to claim 4, It is characterized in that The number of teeth of the pulse gear corresponding to each wheel of the vehicle is the same, and the number of teeth of each pulse gear is in the range of 30 to 60; and The angle corresponding to one tooth of the pulse gear is calculated according to the following formula: Wherein, W is the angle corresponding to one tooth of the pulse gear, and M is the number of teeth of the pulse gear.

6. The method for calculating the wheel speed of a vehicle according to claim 2, It is characterized in that In step S3, the wheel speed in the current detection cycle is calculated according to the following formula: Among them, V2 is the wheel speed of the designated wheel in the current detection cycle, T is the time length between two detection cycles, R is the rolling radius of the designated wheel, P is the second wheel speed pulse, and N is the first wheel speed pulse.

7. The method for calculating the wheel speed of a vehicle according to any one of claims 1 to 6, It is characterized in that In step S1, the vehicle driving state information includes the vehicle speed and the vehicle pedal state information within the detection period; and the pedal state information includes the accelerator pedal stroke, the brake pedal stroke, and the single pedal stroke; in If the vehicle speed is greater than a preset first vehicle speed threshold, the vehicle is in high-speed mode; If the vehicle speed is less than a preset second vehicle speed threshold, the vehicle is in a low speed mode; or If the accelerator pedal travel is greater than the accelerator pedal threshold, the vehicle is in high-speed mode; If the brake pedal travel is greater than the brake pedal threshold, the vehicle is in low speed mode; or If the single pedal travel is greater than the single pedal acceleration travel threshold, the vehicle is in high speed mode; If the single-pedal travel is less than the single-pedal deceleration travel threshold, the vehicle is in low-speed mode.

8. The method for calculating the wheel speed of a vehicle according to claim 7, It is characterized in that The preset first vehicle speed threshold is in the range of 17km / h to 25km / h; The preset second vehicle speed threshold is in the range of 4km / h to 17km / h; The accelerator pedal threshold is 0.7 to 0.8 times the maximum travel of the accelerator pedal of the vehicle; The brake pedal threshold is 0.7 to 0.8 times the maximum travel of the brake pedal of the vehicle; The single-pedal acceleration travel threshold is 0.7 to 0.8 times the vehicle's single-pedal maximum travel; The single-pedal deceleration travel threshold is 0.2 to 0.3 times the vehicle's single-pedal minimum travel.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the program, the method for calculating the wheel speed of the vehicle according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the program is executed by a processor, the method for calculating the wheel speed of a vehicle as claimed in any one of claims 1 to 8 is implemented.

Images