Vehicle advancing direction determination method and device, equipment, storage medium and vehicle

Abstract

The invention relates to a vehicle advancing direction determination method and device, equipment, a storage medium and a vehicle, and the method comprises the steps: obtaining the current vehicle speed, driving torque and other state information of the vehicle at the current moment, calculating the difference value between the driving torque and the resistance torque corresponding to the current vehicle speed, and obtaining the shaft end driving torque sum at the current moment; predicting a first target vehicle speed difference between the predicted vehicle speed of the vehicle at the target moment and the current vehicle speed; acquiring a target vehicle speed of the vehicle at the target moment, and calculating a second target vehicle speed difference between the target vehicle speed and the current vehicle speed; and if the first target vehicle speed difference and the second target vehicle speed difference are both positive values or negative values, determining that the advancing direction of the vehicle is the same as the shaft end driving torque and the corresponding reference direction, otherwise, determining that the advancing direction is opposite to the reference direction. The driving direction of the vehicle is determined by using more reliable information such as the vehicle speed and the motor torque, direction information is not needed, and the accuracy of determining the driving direction can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle safety, and particularly to a method, device, equipment, storage medium and vehicle for determining the traveling direction of a vehicle. Background Art

[0002] Determining the traveling direction of a vehicle is an important part of vehicle safety monitoring. Traditional methods for determining the traveling direction often use direction information such as wheel speed direction and effective drive motor speed direction for determination. However, the direction information not only needs to be obtained through additional sensors, but also has low accuracy and reliability, resulting in difficulty in guaranteeing the accuracy of the finally determined traveling direction of the vehicle. Therefore, how to improve the accuracy of the determined traveling direction of the vehicle is a problem to be solved. Summary of the Invention

[0003] To solve the above technical problems, the present disclosure provides a method, device, equipment, storage medium and vehicle for determining the traveling direction of a vehicle.

[0004] The first aspect of the embodiments of the present disclosure provides a method for determining the traveling direction of a vehicle, the method including:

[0005] Obtain the state information of the vehicle at the current moment, where the state information includes the current vehicle speed and the driving torque;

[0006] According to the pre-obtained correspondence between the vehicle speed and the resistance torque, determine the resistance torque corresponding to the current vehicle speed, and calculate the difference between the driving torque and the resistance torque corresponding to the current vehicle speed to obtain the sum of the axle-end driving torques of the vehicle at the current moment;

[0007] Use the current vehicle speed of the vehicle and the sum of the axle-end driving torques at the current moment to predict the first target vehicle speed difference of the predicted vehicle speed of the vehicle at the target moment relative to the current vehicle speed;

[0008] Obtain the target vehicle speed of the vehicle at the target moment, and calculate the second target vehicle speed difference between the target vehicle speed and the current vehicle speed;

[0009] If both the first target vehicle speed difference and the second target vehicle speed difference are positive values, or both the first target vehicle speed difference and the second target vehicle speed difference are negative values, then determine that the traveling direction of the vehicle is the same as the reference direction, otherwise determine that the traveling direction of the vehicle is opposite to the reference direction, where the reference direction is the traveling direction of the vehicle indicated by the sum of the axle-end driving torques.

[0010] The second aspect of the embodiments of the present disclosure provides a device for determining the traveling direction of a vehicle, the device including:

[0011] A first acquisition module, configured to acquire the state information of the vehicle at the current moment, where the state information includes the current vehicle speed and the driving torque;

[0012] A first calculation module, configured to determine the resistance torque corresponding to the current vehicle speed according to the pre-acquired correspondence between the vehicle speed and the resistance torque, and calculate the difference between the driving torque and the resistance torque corresponding to the current vehicle speed, so as to obtain the sum of the axle-end driving torques of the vehicle at the current moment;

[0013] A prediction module, configured to use the current vehicle speed of the vehicle and the sum of the axle-end driving torques at the current moment to predict a first target vehicle speed difference of the predicted vehicle speed of the vehicle at the target moment relative to the current vehicle speed;

[0014] A second acquisition module, configured to acquire the target vehicle speed of the vehicle at the target moment, and calculate a second target vehicle speed difference between the target vehicle speed and the current vehicle speed;

[0015] A determination module, configured to determine that the traveling direction of the vehicle is the same as the reference direction if both the first target vehicle speed difference and the second target vehicle speed difference are positive values, or both the first target vehicle speed difference and the second target vehicle speed difference are negative values; otherwise, determine that the traveling direction of the vehicle is opposite to the reference direction, where the reference direction is the traveling direction of the vehicle indicated by the sum of the axle-end driving torques.

[0016] A third aspect of the embodiments of the present disclosure provides a computer device, including a memory, a processor, and a computer program, where the computer program is stored in the memory, and when the computer program is executed by the processor, the vehicle traveling direction determination method as described in the first aspect above is implemented.

[0017] A fourth aspect of the embodiments of the present disclosure provides a computer-readable storage medium, where a computer program is stored in the storage medium, and when the computer program is executed by the processor, the vehicle traveling direction determination method as described in the first aspect above is implemented.

[0018] A fifth aspect of the embodiments of the present disclosure provides a vehicle, including a memory, a processor, and a computer program, where the computer program is stored in the memory, and when the computer program is executed by the processor, the vehicle traveling direction determination method as described in the first aspect above is implemented.

[0019] The technical solution provided by the embodiments of the present disclosure has the following advantages compared with the prior art:

[0020] In the method, apparatus, device, storage medium and vehicle for determining the traveling direction of a vehicle provided by the embodiments of the present disclosure, by obtaining the state information of the vehicle at the current moment, where the state information includes the current vehicle speed and the driving torque, according to the pre-obtained correspondence between the vehicle speed and the resistance torque, determining the resistance torque corresponding to the current vehicle speed, and calculating the difference between the driving torque and the resistance torque corresponding to the current vehicle speed to obtain the sum of the axle-end driving torques of the vehicle at the current moment, using the current vehicle speed and the sum of the axle-end driving torques of the vehicle at the current moment to predict the first target vehicle speed difference of the predicted vehicle speed of the vehicle at the target moment relative to the current vehicle speed, obtaining the target vehicle speed of the vehicle at the target moment, calculating the second target vehicle speed difference between the target vehicle speed and the current vehicle speed, if both the first target vehicle speed difference and the second target vehicle speed difference are positive values, or both the first target vehicle speed difference and the second target vehicle speed difference are negative values, then determining that the traveling direction of the vehicle is the same as the reference direction, otherwise determining that the traveling direction of the vehicle is opposite to the reference direction, where the reference direction is the traveling direction of the vehicle indicated by the sum of the axle-end driving torques, it is possible to determine the traveling direction of the vehicle by using more reliable state information such as the current vehicle speed and the driving torque, as well as the target vehicle speed at the target moment, without relying on the wheel speed information and the motor rotation direction information, improving the accuracy of the finally determined traveling direction of the vehicle, facilitating the subsequent implementation of vehicle safety-related functions based on this traveling direction, and improving the driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0023] Figure 1 is a flowchart of a method for determining the traveling direction of a vehicle provided by an embodiment of the present disclosure;

[0024] Figure 2 is a flowchart of a method for determining the current vehicle speed and the target vehicle speed provided by an embodiment of the present disclosure;

[0025] Figure 3 is a flowchart of a method for calculating the sum of the axle-end driving torques provided by an embodiment of the present disclosure;

[0026] Figure 4 is a flowchart of a method for calculating the first target vehicle speed difference provided by an embodiment of the present disclosure;

[0027] Figure 5It is a flowchart of a method for determining a first vehicle speed at a first moment provided by an embodiment of the present disclosure;

[0028] Figure 6 It is a flowchart of a method for determining a predicted vehicle speed at a target moment provided by an embodiment of the present disclosure;

[0029] Figure 7 It is a schematic structural diagram of a vehicle traveling direction determination device provided by an embodiment of the present disclosure;

[0030] Figure 8 It is a schematic structural diagram of a computer device provided by an embodiment of the present disclosure. Detailed implementation manners

[0031] In order to be able to more clearly understand the above-mentioned objects, features, and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0032] Many specific details are set forth in the following description in order to fully understand the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all the embodiments.

[0033] It should be understood that the various steps recorded in the method implementation manners of the present disclosure may be executed in different orders and / or in parallel. In addition, the method implementation manners may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0034] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0035] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0036] Figure 1 This is a flowchart of a method for determining the traveling direction of a vehicle provided by an embodiment of the present disclosure. This method can be executed by a device for determining the traveling direction of a vehicle. As Figure 1 shown, the method for determining the traveling direction of a vehicle provided in this embodiment includes the following steps:

[0037] S101. Obtain the state information of the vehicle at the current moment. The state information includes the current vehicle speed and the driving torque.

[0038] The current vehicle speed in the embodiment of the present disclosure can be understood as the actual vehicle speed of the vehicle at the current moment. The current vehicle speed is a non - negative value, that is, when the vehicle is moving forward and backward at the same speed, the vehicle speed is the same. The driving torque can be understood as the output torque of the driving motor. The driving torque can be positive or negative. Optionally, the current vehicle speed can include the front - axle vehicle speed and the rear - axle vehicle speed at the current moment, and the driving torque can include the torque of the front - drive motor and the torque of the rear - drive motor.

[0039] The state information in the embodiment of the present disclosure can be understood as the information characterizing the state of the vehicle at the current moment. For example, in addition to the current vehicle speed and the driving torque, the state information can also include the current rotational speed of the driving motor, the total transmission ratio of the drive system, the tire radius, the actual torque of the driving motor, the vehicle model information, the curb weight, the ramp angle, the steering wheel angle, and the equivalent moment of inertia, etc., which are not limited herein.

[0040] In the embodiment of the present disclosure, when the device for determining the traveling direction of a vehicle needs to determine the traveling direction of the vehicle, it can obtain the state information of the vehicle at the current moment, including the current vehicle speed and the driving torque at the current moment.

[0041] In an exemplary implementation manner of the embodiment of the present disclosure, the device for determining the traveling direction of a vehicle can obtain the state information transmitted by the vehicle bus (Controller Area Network, CAN) through the vehicle's electronic control unit (ECU).

[0042] S102. According to the pre - obtained correspondence relationship between the vehicle speed and the resistance torque, determine the resistance torque corresponding to the current vehicle speed, and calculate the difference between the driving torque and the resistance torque corresponding to the current vehicle speed to obtain the sum of the axle - end driving torques of the vehicle at the current moment.

[0043] The sum of the axle - end driving torques in the embodiment of the present disclosure can be understood as the sum of various torques during the vehicle's driving process.

[0044] In the embodiments of the present disclosure, after obtaining the state information of the vehicle at the current moment, the vehicle traveling direction determination device may acquire the correspondence between the vehicle speed and the resistance torque, and according to this correspondence, find the resistance torque corresponding to the current vehicle speed in the state information, and calculate the difference between the driving torque and the resistance torque in the state information to obtain the sum of the shaft-end driving torques of the vehicle at the current moment.

[0045] S103. Use the current vehicle speed of the vehicle and the sum of the shaft-end driving torques at the current moment to predict the first target vehicle speed difference between the predicted vehicle speed of the vehicle at the target moment and the current vehicle speed.

[0046] The target moment in the embodiments of the present disclosure may be understood as a certain moment after the current moment. The time elapsed from the current moment to the target moment may be a preset time, which may be summarized and determined by the staff from multiple experiments according to the dynamic response time domain characteristics and data filtering logic of the vehicle, and is not limited herein.

[0047] The predicted vehicle speed in the embodiments of the present disclosure may be understood as the possible vehicle speed of the vehicle at the target moment predicted according to the state information of the vehicle at the current moment. The first target vehicle speed difference is the difference between the predicted vehicle speed and the current vehicle speed.

[0048] In the embodiments of the present disclosure, the vehicle traveling direction determination device may predict the first target vehicle speed difference between the predicted vehicle speed of the vehicle at the target moment and the current vehicle speed according to the current vehicle speed of the vehicle and the sum of the shaft-end driving torques at the current moment.

[0049] In an exemplary implementation manner of the embodiments of the present disclosure, after determining the current vehicle speed and the sum of the shaft-end driving torques of the vehicle, the vehicle traveling direction determination device may input the current vehicle speed and the sum of the shaft-end driving torques into a pre-trained prediction model to obtain the first target vehicle speed difference between the predicted vehicle speed of the vehicle at the target moment and the current vehicle speed output by the prediction model. Among them, when training the prediction model, the vehicle speed and the sum of the shaft-end driving torques at a certain moment of the vehicle, and the difference between the vehicle speed at a preset time after a certain moment of the vehicle and the vehicle speed at a certain moment may be used as training data, so that the model can predict the first target vehicle speed difference between the predicted vehicle speed of the vehicle at the target moment and the current vehicle speed according to the current vehicle speed and the sum of the shaft-end driving torques at the current moment.

[0050] S104. Obtain the target vehicle speed of the vehicle at the target moment, and calculate the second target vehicle speed difference between the target vehicle speed and the current vehicle speed.

[0051] The target moment in the embodiments of the present disclosure may be understood as the actual vehicle speed of the vehicle at the target moment, and the target vehicle speed is also non-negative. The second target vehicle speed difference is the vehicle speed difference between the target vehicle speed and the current vehicle speed.

[0052] In an embodiment of the present disclosure, when the vehicle reaches the target moment, the vehicle traveling direction determination device may obtain the target vehicle speed at the target moment, and calculate the difference between the target vehicle speed and the current vehicle speed in combination with the current vehicle speed to obtain the second target vehicle speed difference.

[0053] S105. If both the first target vehicle speed difference and the second target vehicle speed difference are positive values, or both the first target vehicle speed difference and the second target vehicle speed difference are negative values, it is determined that the traveling direction of the vehicle is the same as the reference direction; otherwise, it is determined that the traveling direction of the vehicle is opposite to the reference direction. The reference direction is the shaft end drive torque and the indicated vehicle traveling direction.

[0054] The reference direction in the embodiment of the present disclosure can be understood as the shaft end drive torque and the indicated vehicle traveling direction. For example, when the shaft end drive torque sum is a positive value, the reference direction indicated by the shaft end drive torque sum is the front of the vehicle; when the shaft end drive torque sum is a negative value, the reference direction indicated by the shaft end drive torque sum is the rear of the vehicle.

[0055] In an embodiment of the present disclosure, after determining the first target vehicle speed difference and the second target vehicle speed difference, the vehicle traveling direction determination device may determine the reference direction according to the shaft end drive torque sum, and determine the traveling direction according to the specific values of the first target vehicle speed difference and the second target vehicle speed difference. If both the first target vehicle speed difference and the second target vehicle speed difference are positive values, or both the first target vehicle speed difference and the second target vehicle speed difference are negative values, it is determined that the traveling direction of the vehicle is the same as the reference direction; otherwise, it is determined that the traveling direction of the vehicle is opposite to the reference direction.

[0056] In an exemplary implementation manner of the embodiment of the present disclosure, after determining the first target vehicle speed difference and the second target vehicle speed difference, the vehicle traveling direction determination device may calculate the first absolute value and the second absolute value corresponding to the first target vehicle speed difference and the second target vehicle speed difference respectively. If both the first absolute value and the second absolute value are greater than or equal to a preset threshold, the traveling direction of the vehicle is judged in combination with the reference direction according to the positive and negative of the first target vehicle speed difference and the second target vehicle speed difference. If there is at least one value less than the preset threshold among the first absolute value and the second absolute value, it is determined that the vehicle speed at the current moment is close to the predicted vehicle speed or the target vehicle speed. At this time, the traveling direction of the vehicle cannot be determined according to the state information at the current moment, and the user can be reminded that the determination of the vehicle traveling direction cannot be performed.

[0057] In an embodiment of the present disclosure, by obtaining the state information of the vehicle at the current moment, where the state information includes the current vehicle speed and the driving torque, according to the pre-obtained correspondence between the vehicle speed and the resistance torque, determining the resistance torque corresponding to the current vehicle speed, and calculating the difference between the driving torque and the resistance torque corresponding to the current vehicle speed to obtain the sum of the axle-end driving torques of the vehicle at the current moment, using the current vehicle speed and the sum of the axle-end driving torques of the vehicle at the current moment to predict the first target vehicle speed difference of the predicted vehicle speed of the vehicle at the target moment relative to the current vehicle speed, obtaining the target vehicle speed of the vehicle at the target moment, calculating the second target vehicle speed difference between the target vehicle speed and the current vehicle speed, if both the first target vehicle speed difference and the second target vehicle speed difference are positive values, or both the first target vehicle speed difference and the second target vehicle speed difference are negative values, then determining that the traveling direction of the vehicle is the same as the reference direction, otherwise determining that the traveling direction of the vehicle is opposite to the reference direction, where the reference direction is the traveling direction of the vehicle indicated by the sum of the axle-end driving torques, it is possible to determine the traveling direction of the vehicle by using the state information at the current moment with higher reliability such as the current vehicle speed and the driving torque, and the target vehicle speed at the target moment, without relying on the wheel speed information and the motor rotation direction information, improving the accuracy of the finally determined traveling direction of the vehicle, facilitating the subsequent realization of vehicle safety-related functions based on this traveling direction, and improving the driving safety.

[0058] Figure 2 is a flowchart of a method for determining the current vehicle speed and the target vehicle speed provided by an embodiment of the present disclosure. As Figure 2 shown, based on the above embodiment, the current vehicle speed and the target vehicle speed can be determined by the following method, where the state information includes the current rotation speed of the driving motor, the total transmission ratio of the driving system, and the tire radius.

[0059] S201. Obtain the current rotation speed of the driving motor, the total transmission ratio of the driving system, and the tire radius.

[0060] The current rotation speed of the driving motor in the embodiment of the present disclosure may include the current rotation speed of the front driving motor and the current rotation speed of the rear driving motor. The total transmission ratio of the driving system may include the total transmission ratio of the front driving system and the total transmission ratio of the rear driving system. The tire radius can be understood as the dynamic radius of the tire. Due to reasons such as different vehicle models, different tires, and different wear conditions, the dynamic radii of the tires of different vehicles are also different. The tire radius in the embodiment of the present disclosure can be pre-determined.

[0061] In the embodiment of the present disclosure, when the vehicle traveling direction determining device needs to obtain the current vehicle speed of the vehicle at the current moment, it may first obtain the current rotation speed of the driving motor, the total transmission ratio of the driving system, and the tire radius in the state information.

[0062] In an exemplary implementation of the embodiments of the present disclosure, the vehicle traveling direction determination device may obtain the current rotational speed of the front drive motor, the current rotational speed of the rear drive motor, the total transmission ratio of the front drive system, the total transmission ratio of the rear drive system, and the tire radius of the current vehicle measured in advance at the current moment.

[0063] S202. Calculate the current rotational speed of the drive motor, the total transmission ratio of the drive system, and the tire radius to obtain the current vehicle speed.

[0064] In the embodiments of the present disclosure, the vehicle traveling direction determination device may calculate the current rotational speed of the drive motor, the total transmission ratio of the drive system, and the tire radius based on a preset vehicle speed calculation formula to obtain the current vehicle speed.

[0065] In an exemplary implementation of the embodiments of the present disclosure, when the current rotational speed of the drive motor includes the current rotational speed of the front drive motor and the current rotational speed of the rear drive motor, and the total transmission ratio of the drive system includes the total transmission ratio of the front drive system and the total transmission ratio of the rear drive system, the vehicle traveling direction determination device may calculate the current vehicle speed of the front axle and the current vehicle speed of the rear axle, and then perform weighted averaging on the current vehicle speed of the front axle and the current vehicle speed of the rear axle to obtain the current vehicle speed of the vehicle.

[0066] Wherein, the current vehicle speed of the front axle = the current rotational speed of the front drive motor ÷ the total transmission ratio of the front drive system × 2π × tire radius × 60 ÷ 1000, the current vehicle speed of the rear axle = the current rotational speed of the rear drive motor ÷ the total transmission ratio of the rear drive system × 2π × tire radius × 60 ÷ 1000, the current vehicle speed = the current vehicle speed of the front axle × the front axle weight + the current vehicle speed of the rear axle × the rear axle weight, and the sum of the front axle weight and the rear axle weight is 1, and the specific values can be set according to actual situations.

[0067] S203. Obtain the target rotational speed of the drive motor of the vehicle at the target moment.

[0068] The target rotational speed in the embodiments of the present disclosure can be understood as the actual rotational speed of the drive motor at the target moment, and the target rotational speed may include the target rotational speed of the front drive motor and the target rotational speed of the rear drive motor.

[0069] In the embodiments of the present disclosure, when the vehicle traveling direction determination device needs to obtain the target vehicle speed of the vehicle at the target moment, it may obtain the target rotational speed of the drive motor of the vehicle at the target moment.

[0070] In an exemplary implementation of the embodiments of the present disclosure, the vehicle traveling direction determination device may obtain the target rotational speed of the front drive motor and the target rotational speed of the rear drive motor of the vehicle at the target moment.

[0071] S204. Calculate the target rotational speed of the drive motor, the total transmission ratio of the drive system, and the tire radius to obtain the target vehicle speed of the vehicle.

[0072] In the embodiments of the present disclosure, the vehicle traveling direction determination device may calculate the target vehicle speed based on a preset vehicle speed calculation formula for the target speed of the drive motor, the overall drive system reduction ratio, and the tire radius. The specific calculation method is similar to that of S202 and will not be elaborated here.

[0073] In the embodiments of the present disclosure, by obtaining the current speed of the drive motor, the overall drive system reduction ratio, and the tire radius, calculating the current speed of the drive motor, the overall drive system reduction ratio, and the tire radius to obtain the current vehicle speed, obtaining the target speed of the drive motor at the target moment, and calculating the target speed of the drive motor, the overall drive system reduction ratio, and the tire radius to obtain the target vehicle speed, it is possible to obtain the accurate vehicle speeds at the current moment and the target moment based on the speed of the drive motor, which is convenient for subsequently determining the traveling direction of the vehicle based on the current vehicle speed and the target vehicle speed.

[0074] Figure 3 is a flowchart of a method for calculating the sum of shaft end drive torques provided by the embodiments of the present disclosure. As Figure 3 shown, based on the above embodiments, the sum of shaft end drive torques can be calculated by the following method. Among them, the status information further includes the actual torque of the drive motor, vehicle model information, curb weight, and ramp angle.

[0075] S301. Obtain the actual torque of the drive motor.

[0076] The actual torque of the drive motor in the embodiments of the present disclosure may include the actual torque of the front drive motor and the actual torque of the rear drive motor.

[0077] In the embodiments of the present disclosure, when the vehicle traveling direction determination device needs to determine the drive torque of the vehicle at the current moment, it may first obtain the actual torque of the drive motor in the status information, specifically, the actual torque of the front drive motor and the actual torque of the rear drive motor.

[0078] S302. Calculate the product of the actual torque of the drive motor and the overall drive system reduction ratio to obtain the drive torque.

[0079] In the embodiments of the present disclosure, after obtaining the actual torque of the drive motor, the vehicle traveling direction determination device may calculate the product of the actual torque of the drive motor and the overall drive system reduction ratio, and determine the product as the drive torque.

[0080] In an exemplary implementation manner of the embodiments of the present disclosure, when the actual torque of the driving motor includes the actual torque of the front driving motor and the actual torque of the rear driving motor, and the total transmission ratio of the driving system includes the total transmission ratio of the front driving system and the total transmission ratio of the rear driving system, the vehicle traveling direction determining device may calculate the product of the actual torque of the front driving motor and the total transmission ratio of the front driving system to obtain the front driving torque, calculate the product of the actual torque of the rear driving motor and the total transmission ratio of the rear driving system to obtain the rear driving torque, and then calculate the sum of the front driving torque and the rear driving torque to obtain the driving torque.

[0081] S303. In the preset friction torque table and air resistance torque table, respectively look up the friction torque and air resistance torque corresponding to the vehicle model information, current vehicle speed, and the corresponding current moment.

[0082] In the embodiments of the present disclosure, the resistance torque may specifically include the friction torque and the air resistance torque. After determining the vehicle model information and the current vehicle speed, the vehicle traveling direction determining device may look up the friction torque corresponding to the vehicle model information and the current vehicle speed in the preset friction torque table, and look up the air resistance torque corresponding to the vehicle model information and the current vehicle speed in the preset air resistance torque table.

[0083] S304. Calculate the curb weight, ramp angle, tire radius, and gravitational acceleration to obtain the ramp torque of the vehicle.

[0084] In the embodiments of the present disclosure, after determining the curb weight, ramp angle, and tire radius of the vehicle, the vehicle traveling direction determining device may calculate the curb weight, ramp angle, tire radius, and gravitational acceleration according to the preset ramp torque calculation formula to obtain the ramp torque of the vehicle.

[0085] Wherein, the ramp torque = curb weight × gravitational acceleration × sine value corresponding to the ramp angle × tire radius.

[0086] S305. Calculate the difference between the driving torque and the friction torque, air resistance torque, and ramp torque at the current moment to obtain the sum of the axle-end driving torques of the vehicle at the current moment.

[0087] In the embodiments of the present disclosure, after determining the driving torque, friction torque, air resistance torque, and ramp torque at the current moment, the vehicle traveling direction determining device may calculate the difference between the driving torque and the friction torque, air resistance torque, and ramp torque, and determine the calculation result as the sum of the axle-end driving torques of the vehicle at the current moment.

[0088] In the embodiments of the present disclosure, the actual torque of the drive motor is obtained, the product of the actual torque of the drive motor and the total transmission ratio of the drive system is calculated to obtain the drive torque. In the preset friction torque table and air resistance torque table, the friction torque and air resistance torque corresponding to the vehicle model information, the current vehicle speed, and the current moment are respectively searched. The curb weight, ramp angle, tire radius, and gravitational acceleration are calculated to obtain the ramp torque of the vehicle. The difference between the drive torque and the friction torque, air resistance torque, and ramp torque at the current moment is calculated to obtain the sum of the axle-end drive torques of the vehicle at the current moment, which can determine the torques related to various resistances according to the current vehicle speed, vehicle model information, curb weight, and ramp angle of the vehicle, and then determine the accurate sum of the axle-end drive torques in combination with the drive torque, further improving the accuracy of determining the traveling direction of the vehicle.

[0089] Figure 4 is a flowchart of a method for calculating a first target vehicle speed difference provided by the embodiments of the present disclosure. As Figure 4 shown, based on the above embodiments, the first target vehicle speed difference can be calculated by the following method.

[0090] S401. Using the current vehicle speed of the vehicle and the sum of the axle-end drive torques at the current moment, predict the first vehicle speed difference between the first moment and the current moment of the vehicle, and the first vehicle speed of the vehicle at the first moment, where the first moment is the next moment of the current moment.

[0091] The time duration between adjacent moments in the embodiments of the present disclosure is fixed. If there are N fixed time durations between the current moment and the target moment, there are N - 1 sampling moments between the current moment and the target moment. The first moment is the next sampling moment after the current moment. The first vehicle speed difference is the vehicle speed change amount within the time duration from the current moment to the first moment, and the first vehicle speed is the vehicle speed of the vehicle at the first moment determined according to the current vehicle speed and the first vehicle speed difference.

[0092] In the embodiments of the present disclosure, the vehicle traveling direction determination device can calculate the current vehicle speed and the sum of the axle-end drive torques at the current moment according to a preset vehicle speed difference prediction formula, and determine the calculation result as the first vehicle speed difference between the first moment and the current moment of the vehicle. Combining the current vehicle speed of the vehicle, calculate the first vehicle speed of the vehicle at the first moment.

[0093] S402. Using the first vehicle speed and the drive torque, calculate the sum of the axle-end drive torques of the vehicle at the first moment, and continue to execute the steps of predicting the vehicle speed difference and vehicle speed at the next moment, and calculating the sum of the axle-end drive torques of the vehicle at the next moment until the second vehicle speed difference at the target moment of the vehicle is predicted.

[0094] In the embodiments of the present disclosure, since the time interval between the current moment and the target moment is short, it can be considered that the actual torque of the front drive motor, the actual torque of the rear drive motor, the total transmission ratio of the front drive system, and the total transmission ratio of the rear drive system are all fixed from the current moment to the target moment, resulting in the drive torque also being fixed from the current moment to the target moment.

[0095] In the embodiments of the present disclosure, the vehicle traveling direction determination device can, after determining the first vehicle speed at the first moment and the drive torque of the vehicle, calculate the sum of various torques received by the vehicle at the first moment, that is, the sum of the shaft end drive torques at the first moment, based on the first vehicle speed and the drive torque, and so on. Then, based on the sum of the shaft end drive torques at the first moment and the first vehicle speed, predict the vehicle speed difference between the next moment of the first moment and the first moment, and the vehicle speed at the next moment of the first moment. Using the vehicle speed at the next moment of the first moment and the fixed drive torque, continue to calculate the sum of the shaft end drive torques at the next moment of the first moment, and repeat the above process until the vehicle speed at the second moment, which is the moment before the target moment, and the sum of the shaft end drive torques at the second moment of the vehicle are used to predict the second vehicle speed difference between the target moment and the second moment. Among them, the specific calculation method for calculating the sum of the shaft end drive torques at each moment of the vehicle according to the vehicle speed and the drive torque at each moment is similar to the method for calculating the sum of the shaft end drive torques at the current moment in S301 - S304, and will not be elaborated here.

[0096] S403. Use the vehicle speed differences at each moment from the first moment to the target moment and the first weights respectively corresponding to the vehicle speed differences to calculate the sum of the weighted products of the vehicle speed differences at each moment, and determine the sum of the weighted products of the vehicle speed differences as the first target vehicle speed difference.

[0097] The vehicle speed difference at each moment in the embodiments of the present disclosure can be understood as the vehicle speed difference between the vehicle speed at each moment and the vehicle speed at the previous moment. The first weight can be understood as the weight corresponding to the vehicle speed difference at each moment set in advance. For example, the first weights corresponding to the vehicle speed differences from the first moment to the target moment gradually decrease, and when there are M sampling moments between the current moment and the target moment, the sum of the first weights corresponding to the vehicle speed differences from the first moment to the target moment is equal to M + 1.

[0098] In the embodiments of the present disclosure, after calculating the vehicle speed differences at each moment from the first moment to the target moment, the vehicle traveling direction determination device can calculate the product of the vehicle speed difference at each moment and the first weight according to the first weight corresponding to the vehicle speed difference at each moment set in advance, then sum the products corresponding to each moment to obtain the sum of the weighted products of the vehicle speed differences, and determine the sum of the weighted products of the vehicle speed differences as the first target vehicle speed difference.

[0099] In an embodiment of the present disclosure, by using the current vehicle speed and the sum of the axle-end driving torques at the current moment, the first vehicle speed difference between the first moment and the current moment of the vehicle is predicted, and the first vehicle speed of the vehicle at the first moment is obtained. The first moment is the next moment of the current moment. By using the first vehicle speed and the driving torque, the sum of the axle-end driving torques of the vehicle at the first moment is calculated. Then, the steps of predicting the vehicle speed difference and vehicle speed at the next moment and calculating the sum of the axle-end driving torques of the vehicle at the next moment are continued until the second vehicle speed difference at the target moment of the vehicle is predicted. By using the vehicle speed differences at each moment from the first moment to the target moment and the first weights corresponding to the vehicle speed differences respectively, the sum of the weighted products of the vehicle speed differences corresponding to each moment is calculated, and the sum of the weighted products of the vehicle speed differences is determined as the first target vehicle speed difference. It is possible to comprehensively consider the vehicle speed differences between each moment and the previous moment from the current moment to the target moment, determine the first target vehicle speed difference between the target moment and the current moment, improve the accuracy of determining the first target vehicle speed difference, and thus improve the accuracy of determining the traveling direction of the vehicle.

[0100] Figure 5 is a flowchart of a method for determining the first vehicle speed at the first moment provided by an embodiment of the present disclosure. As Figure 5 shown, on the basis of the above embodiment, the first vehicle speed at the first moment can be determined by the following method. Among them, the state information further includes the steering wheel angle and the equivalent moment of inertia.

[0101] S501: Based on the pre-acquired correspondence relationship between the vehicle speed, the steering wheel angle and the equivalent steering compensation, determine the equivalent steering compensation corresponding to the current vehicle speed and the steering wheel angle of the vehicle at the current moment.

[0102] The equivalent steering compensation in the embodiment of the present disclosure can be understood as a parameter set for compensating the influence of the steering behavior of the vehicle on the longitudinal acceleration.

[0103] In the embodiment of the present disclosure, the vehicle traveling direction determination device can search for the equivalent steering compensation corresponding to the current vehicle speed of the vehicle and the steering wheel angle at the current moment in the pre-acquired correspondence relationship between the vehicle speed, the steering wheel angle and the equivalent steering compensation.

[0104] S502: Calculate the current moment's sum of axle-end driving torques, equivalent moment of inertia, tire radius, and equivalent steering compensation to obtain the instantaneous longitudinal acceleration of the vehicle at the current moment.

[0105] The equivalent moment of inertia in the embodiment of the present disclosure can be understood as a measure parameter related to the vehicle type information for measuring the inertia when the vehicle rotates around the axis.

[0106] In an embodiment of the present disclosure, after determining the vehicle type information, the vehicle traveling direction determining device may determine the corresponding equivalent moment of inertia according to the vehicle type information, and then combine the shaft end driving torque sum, tire radius, and equivalent steering compensation at the current moment, and calculate the instantaneous longitudinal acceleration of the vehicle at the current moment according to a preset instantaneous longitudinal acceleration formula.

[0107] Among them, the instantaneous longitudinal acceleration = shaft end driving torque sum ÷ equivalent moment of inertia × tire radius × equivalent steering compensation.

[0108] S503. Calculate the product of the instantaneous longitudinal acceleration of the vehicle at the current moment and the sampling period to obtain the first vehicle speed difference.

[0109] In an embodiment of the present disclosure, after calculating the instantaneous longitudinal acceleration of the vehicle at the current moment, the vehicle traveling direction determining device may calculate the product of the instantaneous longitudinal acceleration and the sampling period to obtain the first vehicle speed difference between the first moment and the current moment of the vehicle.

[0110] S504. Calculate the sum of the current vehicle speed and the first vehicle speed difference to obtain the first vehicle speed.

[0111] In an embodiment of the present disclosure, after calculating the first vehicle speed difference, the vehicle traveling direction determining device may calculate the sum of the current vehicle speed and the first vehicle speed difference to obtain the first vehicle speed of the vehicle at the first moment.

[0112] In an exemplary implementation manner of the embodiment of the present disclosure, the vehicle traveling direction determining device may calculate the equivalent steering compensation at each moment from the first moment to the target moment in a manner similar to S501 - S504, so as to obtain the instantaneous longitudinal acceleration and the first vehicle speed difference at each moment, and further determine the vehicle speed at each moment.

[0113] In the embodiment of the present disclosure, by determining the equivalent steering compensation corresponding to the current vehicle speed and the steering wheel angle of the vehicle at the current moment based on the pre - obtained correspondence between the vehicle speed, steering wheel angle, and equivalent steering compensation, calculating the shaft end driving torque sum, equivalent moment of inertia, tire radius, and equivalent steering compensation at the current moment, obtaining the instantaneous longitudinal acceleration of the vehicle at the current moment, calculating the product of the instantaneous longitudinal acceleration of the vehicle at the current moment and the sampling period to obtain the first vehicle speed difference, and calculating the sum of the current vehicle speed and the first vehicle speed difference to obtain the first vehicle speed, it is possible to consider the influence of steering on vehicle acceleration, determine a more accurate instantaneous acceleration of the vehicle, and further improve the accuracy of determining the vehicle traveling direction based on this more accurate instantaneous acceleration of the vehicle.

[0114] Figure 6 is a flowchart of a method for determining the predicted vehicle speed at the target moment provided by the embodiment of the present disclosure, as Figure 6As shown in the figure, on the basis of the above embodiments, the predicted vehicle speed at the target time can be determined by the following method.

[0115] S601. Calculate the sum of the vehicle speed at the second time and the second vehicle speed difference to obtain the second vehicle speed of the vehicle at the target time, where the second time is the previous time of the target time.

[0116] In the embodiments of the present disclosure, after iteratively obtaining the vehicle speed at the second time and the second vehicle speed difference between the target time and the second time, the vehicle travel direction determination device can calculate the sum of the vehicle speed at the second time and the second vehicle speed difference, and determine the second vehicle speed of the vehicle at the target time through iteration.

[0117] S602. Use the vehicle speeds at each time from the first time to the target time and the corresponding second weights of the vehicle speeds to calculate the sum of the weighted products of the vehicle speeds corresponding to each time, and determine the sum of the weighted products of the vehicle speeds as the predicted vehicle speed.

[0118] The second weight in the embodiments of the present disclosure can be understood as the weight corresponding to the vehicle speeds at each time set in advance. For example, the second weights corresponding to the vehicle speeds from the first time to the target time gradually decrease, and the sum of the second weights corresponding to the vehicle speeds from the first time to the target time is equal to 1.

[0119] In the embodiments of the present disclosure, after calculating the vehicle speeds at each time from the first time to the target time, the vehicle travel direction determination device can calculate the product of the vehicle speed corresponding to each time and the second weight according to the second weight corresponding to the vehicle speed at each time set in advance, then sum the products of each time to obtain the sum of the weighted products of the vehicle speeds, and determine the sum of the weighted products of the vehicle speeds as the predicted vehicle speed of the vehicle at the target time.

[0120] S603. Determine whether the predicted vehicle speed and the target vehicle speed are within the preset vehicle speed range.

[0121] The preset vehicle speed range in the embodiments of the present disclosure can be understood as the vehicle speed range set in advance. The preset vehicle speed range does not include the case where the vehicle speed is 0. For example, the preset vehicle speed range can correspond to a vehicle speed threshold, and the vehicle speeds in the preset vehicle speed range are greater than or equal to the vehicle speed threshold.

[0122] In the embodiments of the present disclosure, after determining the predicted vehicle speed and the target vehicle speed, the vehicle travel direction determination device can determine whether both the predicted vehicle speed and the target vehicle speed are within the preset vehicle speed range.

[0123] S604. If so, perform the step of calculating the second target vehicle speed difference between the target vehicle speed and the current vehicle speed.

[0124] In the embodiments of the present disclosure, when it is determined that both the predicted vehicle speed and the target vehicle speed are within a preset vehicle speed range, that is, neither the predicted vehicle speed nor the target vehicle speed is close to 0, it can be determined that the acquired data is relatively stable. The step of calculating the second target vehicle speed difference between the target vehicle speed and the current vehicle speed in S104 can be executed, and then the step of determining the traveling direction of the vehicle in S105 can be executed. Otherwise, the user is reminded that the determination of the traveling direction of the vehicle cannot be performed.

[0125] In the embodiments of the present disclosure, the second vehicle speed at the target moment of the vehicle is obtained by calculating the sum of the vehicle speed at the second moment and the second vehicle speed difference. The second moment is the previous moment of the target moment. The predicted vehicle speed is calculated by using the vehicle speed at each moment from the first moment to the target moment and the second weight corresponding to each vehicle speed, and the sum of the weighted products of the vehicle speeds corresponding to each moment is determined as the predicted vehicle speed. It is judged whether the predicted vehicle speed and the target vehicle speed are within the preset vehicle speed range. If so, the step of calculating the second target vehicle speed difference between the target vehicle speed and the current vehicle speed is executed. It is possible to combine the predicted vehicle speed at the target moment and the actual target vehicle speed to judge whether the method in the embodiments of the present disclosure can be used to determine the traveling direction in the current situation, avoiding obtaining wrong results and having an adverse impact on driving safety.

[0126] Figure 7 It is a schematic structural diagram of a vehicle traveling direction determination device provided by the embodiments of the present disclosure, as Figure 7 shown. The vehicle traveling direction determination device 700 includes: a first acquisition module 710, a first calculation module 720, a prediction module 730, a second acquisition module 740, and a determination module 750. Among them, the first acquisition module 710 is used to acquire the state information of the vehicle at the current moment, and the state information includes the current vehicle speed and the driving torque; the first calculation module 720 is used to determine the resistance torque corresponding to the current vehicle speed according to the pre-acquired corresponding relationship between the vehicle speed and the resistance torque, and calculate the difference between the driving torque and the resistance torque corresponding to the current vehicle speed to obtain the sum of the axle-end driving torques of the vehicle at the current moment; the prediction module 730 is used to predict the first target vehicle speed difference of the predicted vehicle speed of the vehicle at the target moment relative to the current vehicle speed by using the current vehicle speed of the vehicle and the sum of the axle-end driving torques at the current moment; the second acquisition module 740 is used to acquire the target vehicle speed of the vehicle at the target moment and calculate the second target vehicle speed difference between the target vehicle speed and the current vehicle speed; the determination module 750 is used to determine that the traveling direction of the vehicle is the same as the reference direction if both the first target vehicle speed difference and the second target vehicle speed difference are positive values, or both the first target vehicle speed difference and the second target vehicle speed difference are negative values, otherwise it is determined that the traveling direction of the vehicle is opposite to the reference direction, and the reference direction is the vehicle traveling direction indicated by the sum of the axle-end driving torques.

[0127] Optionally, the status information includes the current rotational speed of the drive motor, the overall transmission ratio of the drive system, and the tire radius. The first acquisition module 710 includes: a first acquisition unit configured to acquire the current rotational speed of the drive motor, the overall transmission ratio of the drive system, and the tire radius; a first calculation unit configured to calculate the current rotational speed of the drive motor, the overall transmission ratio of the drive system, and the tire radius to obtain the current vehicle speed. The second acquisition module 740 includes: a second acquisition unit configured to acquire the target rotational speed of the drive motor of the vehicle at the target moment; a second calculation unit configured to calculate the target rotational speed of the drive motor, the overall transmission ratio of the drive system, and the tire radius to obtain the target vehicle speed.

[0128] Optionally, the status information further includes the actual torque of the drive motor, the vehicle model information, the curb weight, and the ramp angle. The first acquisition module 710 includes: a third acquisition unit configured to acquire the actual torque of the drive motor; a third calculation unit configured to calculate the product of the actual torque of the drive motor and the overall transmission ratio of the drive system to obtain the drive torque. The first calculation module 720 includes: a lookup unit configured to respectively look up the friction torque and the air resistance torque corresponding to the vehicle model information, the current vehicle speed, and the current moment in a preset friction torque table and an air resistance torque table; a fourth calculation unit configured to calculate the ramp torque of the vehicle by calculating the curb weight, the ramp angle, the tire radius, and the gravitational acceleration; a fifth calculation unit configured to calculate the difference between the drive torque and the friction torque, the air resistance torque, and the ramp torque at the current moment to obtain the sum of the axle-end drive torques of the vehicle at the current moment.

[0129] Optionally, the prediction module 730 includes: a prediction unit configured to predict, using the current vehicle speed of the vehicle and the sum of the axle-end drive torques at the current moment, the first vehicle speed difference between the first moment and the current moment of the vehicle, and the first vehicle speed of the vehicle at the first moment, where the first moment is the next moment of the current moment; a sixth calculation unit configured to calculate, using the first vehicle speed and the drive torque, the sum of the axle-end drive torques of the vehicle at the first moment, and continue to perform the steps of predicting the vehicle speed difference and vehicle speed at the next moment, and calculating the sum of the axle-end drive torques of the vehicle at the next moment until the second vehicle speed difference at the target moment of the vehicle is predicted; a seventh calculation unit configured to calculate the sum of the weighted products of the vehicle speed differences corresponding to each moment from the first moment to the target moment, and the first weights corresponding to the vehicle speed differences, and determine the sum of the weighted products of the vehicle speed differences as the first target vehicle speed difference.

[0130] Optionally, the status information further includes the steering wheel angle and the equivalent moment of inertia. The prediction unit includes: a determination subunit, configured to determine an equivalent steering compensation corresponding to the current vehicle speed and the steering wheel angle of the vehicle at the current moment based on a pre-acquired correspondence between the vehicle speed, the steering wheel angle, and the equivalent steering compensation; a first calculation subunit, configured to calculate the equivalent moment of inertia, the tire radius, and the equivalent steering compensation for the shaft-end driving torque at the current moment to obtain the instantaneous longitudinal acceleration of the vehicle at the current moment; a second calculation subunit, configured to calculate a product of the instantaneous longitudinal acceleration of the vehicle at the current moment and the sampling period to obtain the first vehicle speed difference; and a third calculation subunit, configured to calculate a sum of the current vehicle speed and the first vehicle speed difference to obtain the first vehicle speed.

[0131] Optionally, the vehicle traveling direction determination device 700 further includes: a second calculation module, configured to calculate a sum of the vehicle speed at the second moment of the vehicle and the second vehicle speed difference to obtain a second vehicle speed of the vehicle at the target moment, where the second moment is the previous moment of the target moment; a third calculation module, configured to calculate a sum of weighted products of the vehicle speeds at each moment from the first moment to the target moment and the second weights corresponding to the vehicle speeds respectively, and determine the sum of the weighted products of the vehicle speeds as the predicted vehicle speed; a judgment module, configured to judge whether the predicted vehicle speed and the target vehicle speed are within a preset vehicle speed range; and an execution module, configured to, if so, execute the step of calculating a second target vehicle speed difference between the target vehicle speed and the current vehicle speed.

[0132] The vehicle traveling direction determination device provided in this embodiment can execute the method described in any of the above embodiments, and its execution manner and beneficial effects are similar, which will not be elaborated here.

[0133] Figure 8 It is a schematic structural diagram of a computer device provided in an embodiment of the present disclosure.

[0134] As Figure 8 shown, the computer device may include a processor 810 and a memory 820 storing computer program instructions.

[0135] Specifically, the above-mentioned processor 810 may include 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.

[0136] The memory 820 may include a mass storage for information or instructions. By way of example and not limitation, the memory 820 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In a suitable case, the memory 820 may include removable or non-removable (or fixed) media. In a suitable case, the memory 820 may be inside or outside the integrated gateway device. In a particular embodiment, the memory 820 is a non-volatile solid-state memory. In a particular embodiment, the memory 820 includes a read-only memory (ROM). In a suitable case, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0137] The processor 810 reads and executes the computer program instructions stored in the memory 820 to perform the steps of the vehicle traveling direction determination method provided by the embodiments of the present disclosure.

[0138] In one example, the computer device may further include a transceiver 830 and a bus 840. Among them, as Figure 8 shown, the processor 810, the memory 820, and the transceiver 830 are connected through the bus 840 and complete communication with each other.

[0139] The bus 840 includes hardware, software, or both. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side BUS (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable bus or a combination of two or more of these. Where appropriate, the bus 840 may include one or more buses. Although embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0140] Embodiments of the present disclosure also provide a computer-readable storage medium that may store a computer program, which, when executed by a processor, causes the processor to implement the vehicle traveling direction determination method provided by the embodiments of the present disclosure.

[0141] The above storage medium may include, for example, a memory 820 storing computer program instructions, and the above instructions may be executed by a processor 810 of the vehicle traveling direction determination device to complete the vehicle traveling direction determination method provided by the embodiments of the present disclosure. Optionally, the storage medium may be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device, etc. The above computer program may be written in any combination of one or more programming languages to write program code for performing the operations of the embodiments of the present disclosure. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0142] The embodiments of the present disclosure further provide a vehicle, which includes a memory, a processor, and a computer program. Among them, the computer program is stored in the memory, and when the computer program is executed by the processor, the various processes and effects in the above embodiments of the present disclosure can be realized, and details are not described herein again.

[0143] The above description is only the specific implementation manners of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining the traveling direction of a vehicle, characterized in that, The method includes: Obtaining the state information of the vehicle at the current moment, where the state information includes the current vehicle speed and the driving torque; Determining the resistance torque corresponding to the current vehicle speed according to the pre-obtained correspondence between the vehicle speed and the resistance torque, and calculating the difference between the driving torque and the resistance torque corresponding to the current vehicle speed to obtain the sum of the axle-end driving torques of the vehicle at the current moment; Using the current vehicle speed of the vehicle and the sum of the axle-end driving torques at the current moment to predict the first target vehicle speed difference of the predicted vehicle speed of the vehicle at the target moment relative to the current vehicle speed; Obtaining the target vehicle speed of the vehicle at the target moment, and calculating the second target vehicle speed difference between the target vehicle speed and the current vehicle speed; If both the first target vehicle speed difference and the second target vehicle speed difference are positive values, or both the first target vehicle speed difference and the second target vehicle speed difference are negative values, it is determined that the traveling direction of the vehicle is the same as the reference direction, otherwise it is determined that the traveling direction of the vehicle is opposite to the reference direction, and the reference direction is the traveling direction of the vehicle indicated by the sum of the axle-end driving torques; 2. The method according to claim 1, wherein The state information includes the current speed of the drive motor, the total transmission ratio of the drive system, and the tire radius; Obtaining the current vehicle speed in the state information of the vehicle at the current moment includes: Obtaining the current speed of the drive motor, the total transmission ratio of the drive system, and the tire radius; Calculating the current vehicle speed of the vehicle by calculating the current speed of the drive motor, the total transmission ratio of the drive system, and the tire radius; The obtaining the target vehicle speed of the vehicle at the target moment includes: Obtaining the target speed of the drive motor of the vehicle at the target moment; Calculating the target vehicle speed of the vehicle by calculating the target speed of the drive motor, the total transmission ratio of the drive system, and the tire radius.

3. The method according to claim 2, wherein The state information further includes the actual torque of the drive motor, the vehicle model information, the curb weight, and the ramp angle; Obtaining the driving torque in the state information of the vehicle at the current moment includes: Obtaining the actual torque of the drive motor; Calculating the product of the actual torque of the drive motor and the total transmission ratio of the drive system to obtain the driving torque; The determining the resistance torque corresponding to the current vehicle speed according to the pre-obtained correspondence between the vehicle speed and the resistance torque, and calculating the difference between the driving torque and the resistance torque corresponding to the current vehicle speed to obtain the sum of the axle-end driving torques of the vehicle at the current moment includes: Searching for the friction torque and the wind resistance torque at the current moment corresponding to the vehicle model information and the current vehicle speed in the preset friction torque table and wind resistance torque table respectively; Calculating the ramp torque of the vehicle by calculating the curb weight, the ramp angle, the tire radius, and the gravitational acceleration; Calculating the difference between the driving torque and the friction torque, the wind resistance torque, and the ramp torque at the current moment to obtain the sum of the axle-end driving torques of the vehicle at the current moment.

4. The method according to claim 2, characterized in that, The using the current vehicle speed of the vehicle and the sum of the axle-end driving torques at the current moment to predict the first target vehicle speed difference of the predicted vehicle speed of the vehicle at the target moment relative to the current vehicle speed includes: Using the current vehicle speed and the sum of axle-end drive torques at the current moment of the vehicle, predict the first vehicle speed difference between the first moment and the current moment of the vehicle, and the first vehicle speed of the vehicle at the first moment, where the first moment is the next moment of the current moment; Using the first vehicle speed and the drive torque, calculate the sum of axle-end drive torques of the vehicle at the first moment, and continue to execute the steps of predicting the vehicle speed difference and vehicle speed at the next moment, and calculating the sum of axle-end drive torques of the vehicle at the next moment, until the second vehicle speed difference at the target moment of the vehicle is predicted; Using the vehicle speed differences at each moment from the first moment to the target moment, and the first weights respectively corresponding to the vehicle speed differences, calculate the sum of the weighted products of the vehicle speed differences corresponding to each moment, and determine the sum of the weighted products of the vehicle speed differences as the first target vehicle speed difference; 5. The method according to claim 4, characterized in that, The state information further includes a steering wheel angle and an equivalent moment of inertia; The step of using the current vehicle speed and the sum of axle-end drive torques at the current moment of the vehicle to predict the first vehicle speed difference between the first moment and the current moment of the vehicle, and the first vehicle speed of the vehicle at the first moment, includes: Based on the pre-acquired correspondence between vehicle speed, steering wheel angle and equivalent steering compensation, determine the equivalent steering compensation corresponding to the current vehicle speed and the steering wheel angle of the vehicle at the current moment; Calculate the instantaneous longitudinal acceleration of the vehicle at the current moment based on the sum of axle-end drive torques at the current moment, the equivalent moment of inertia, the tire radius and the equivalent steering compensation; Calculate the product of the instantaneous longitudinal acceleration of the vehicle at the current moment and the sampling period to obtain the first vehicle speed difference; Calculate the sum of the current vehicle speed and the first vehicle speed difference to obtain the first vehicle speed; 6. The method according to claim 4, characterized in that After predicting the second vehicle speed difference at the target moment of the vehicle, the method further includes: Calculate the sum of the vehicle speed at the second moment of the vehicle and the second vehicle speed difference to obtain the second vehicle speed of the vehicle at the target moment, where the second moment is the moment before the target moment; Using the vehicle speeds at each moment from the first moment to the target moment, and the second weights respectively corresponding to the vehicle speeds, calculate the sum of the weighted products of the vehicle speeds corresponding to each moment, and determine the sum of the weighted products of the vehicle speeds as the predicted vehicle speed; Determine whether the predicted vehicle speed and the target vehicle speed are within a preset vehicle speed range; If so, execute the step of calculating the second target vehicle speed difference between the target vehicle speed and the current vehicle speed; 7. A vehicle traveling direction determination device, characterized in that, The device includes: A first acquisition module, configured to acquire the state information of the vehicle at the current moment, where the state information includes the current vehicle speed and the drive torque; A first calculation module, configured to determine the resistance torque corresponding to the current vehicle speed according to the pre-acquired correspondence between vehicle speed and resistance torque, and calculate the difference between the drive torque and the resistance torque corresponding to the current vehicle speed to obtain the sum of axle-end drive torques of the vehicle at the current moment; A prediction module, configured to predict a first target vehicle speed difference between a predicted vehicle speed of the vehicle at a target moment and the current vehicle speed by using the current vehicle speed of the vehicle and the sum of the axle end drive torques at the current moment. A second acquisition module, configured to acquire the target vehicle speed of the vehicle at the target moment and calculate a second target vehicle speed difference between the target vehicle speed and the current vehicle speed. A determination module, configured to determine that the traveling direction of the vehicle is the same as the reference direction if both the first target vehicle speed difference and the second target vehicle speed difference are positive values, or both the first target vehicle speed difference and the second target vehicle speed difference are negative values; otherwise, determine that the traveling direction of the vehicle is opposite to the reference direction, where the reference direction is the traveling direction of the vehicle indicated by the sum of the axle end drive torques.

8. A computer device, characterized in that, Comprising: A memory; A processor; And a computer program, wherein the computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, A computer program is stored in the storage medium, and when the computer program is executed by a processor, the method according to any one of claims 1-6 is implemented.

10. A vehicle, characterized in that, Comprising: A memory, a processor, and a computer program, wherein the computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1-6.

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