Vehicle road spectrum acquisition method and system based on real-time working condition

Abstract

The invention belongs to the technical field of vehicle road spectrum acquisition, and particularly relates to a vehicle road spectrum acquisition method and system based on a real-time working condition, and the method comprises the steps: obtaining real-time driving working condition data and inertial navigation data of a vehicle, the obtained real-time driving working condition data at least comprising an accelerator pedal opening degree, a brake pedal opening degree and a vehicle speed; correcting the vehicle speed in the obtained real-time driving condition data; comparing the corrected vehicle speed with the vehicle speed in the inertial navigation data, and if a vehicle speed difference value does not exceed a vehicle speed threshold value, directly exporting vehicle driving road condition data based on the obtained vehicle real-time driving working condition data; if the vehicle speed difference value exceeds the vehicle speed threshold value, the operation state of the vehicle is judged by combining the opening degree of an accelerator pedal and the opening degree of a brake pedal, when the vehicle is in an urgent acceleration or urgent deceleration or bumpy road section, real-time driving working condition data compensation is conducted by combining the operation state of the vehicle, and vehicle driving road condition data are exported by combining the real-time working condition of the vehicle; otherwise, directly exporting vehicle driving road condition data based on the obtained vehicle real-time driving condition data; and completing vehicle road spectrum acquisition based on real-time working conditions according to the exported vehicle driving road condition data.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle road spectrum collection, and specifically relates to a vehicle road spectrum collection method and system based on real-time working conditions. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The operating scenarios of vehicles are diverse, such as rugged mountainous areas, congested urban areas, and bumpy country roads. The design and manufacture of vehicles will be customized according to the operating scenarios of the vehicles after leaving the factory. Targeted design and manufacturing will be carried out by collecting driving condition road spectrum data of the operating scenarios after leaving the factory. The vehicle bench test will be carried out based on the collected road spectrum to verify whether the vehicle meets the power and economy requirements of the operating conditions.

[0004] At present, the vehicle's driving condition road spectrum is mainly collected through data acquisition systems, GPS systems and inertial navigation systems; however, when the vehicle is driving on bumpy roads for a long time, the collected data will be lost and distorted, resulting in certain deviations in the vehicle design and inaccurate bench test results. Summary of the Invention

[0005] To solve the above problems, the present invention proposes a vehicle road spectrum collection method and system based on real-time operating conditions. Taking into account the real-time operating conditions of the vehicle, when the collected data is lost or distorted, the lost or distorted data is supplemented by the vehicle's own data information, thereby improving the validity and reliability of the collected data.

[0006] According to some embodiments, a first solution of the present invention provides a vehicle road spectrum acquisition method based on real-time working conditions, which adopts the following technical solutions: A vehicle road spectrum collection method based on real-time working conditions, comprising: Acquiring real-time driving condition data and inertial navigation data of the vehicle, wherein the acquired real-time driving condition data includes at least accelerator pedal opening, brake pedal opening, and vehicle speed; Correcting the vehicle speed in the obtained real-time driving condition data; Comparing the corrected vehicle speed with the vehicle speed in the inertial navigation data; if the speed difference does not exceed the speed threshold, directly deriving the vehicle driving road condition data based on the acquired vehicle real-time driving condition data; if the speed difference exceeds the speed threshold, judging the vehicle's operating state based on the accelerator pedal opening and the brake pedal opening; when the vehicle is in a state of rapid acceleration, rapid deceleration, or bumpy road, compensating the real-time driving condition data based on the vehicle's operating state, and deriving the vehicle driving road condition data based on the vehicle's real-time driving condition; otherwise, directly deriving the vehicle driving road condition data based on the acquired vehicle real-time driving condition data; The vehicle road spectrum collection based on real-time working conditions is completed according to the exported vehicle driving road condition data.

[0007] As a further technical limitation, the process of completing the vehicle road spectrum collection based on real-time working conditions according to the derived vehicle driving road condition data is as follows: Classify and segment the derived vehicle driving and road condition data according to the vehicle operating environment and road condition characteristics; Calculate the data characteristic value of each segmented road condition, and perform correlation analysis on the obtained data characteristic value and the derived vehicle driving road condition data characteristic value; According to the correlation analysis results, the actual vehicle driving condition road spectrum is constructed in each vehicle driving condition section; Combined with the vehicle test bench analysis and the vehicle actual driving condition road spectrum built, the vehicle actual driving condition spectrum data that fails the vehicle test bench is reclassified and segmented, the eigenvalue analysis is performed, and the vehicle actual driving condition road spectrum is rebuilt until the vehicle test bench verification is passed. The vehicle's actual driving condition road spectrum is output to complete the vehicle road spectrum collection based on real-time conditions.

[0008] As a further technical limitation, the operating states of the vehicle include rapid acceleration, rapid deceleration and driving on bumpy roads; when the accelerator pedal opening stroke increases sharply, the vehicle is in a rapid acceleration state; when the brake pedal opening stroke increases sharply, the vehicle is in a rapid deceleration state; when the accelerator pedal opening stroke fluctuates, the vehicle is in a driving on bumpy roads.

[0009] As a further technical limitation, whether the vehicle driving condition data is complete is determined based on the obtained vehicle operating status and real-time driving condition data. If it is incomplete, there is data missing or distortion. When there is data missing or data distorted, the real-time driving condition data is compensated by combining the vehicle operating status, real-time driving condition data and inertial navigation data.

[0010] As a further technical limitation, in the process of correcting the vehicle speed in the obtained real-time driving condition data, the obtained vehicle speed is corrected in real time based on the vehicle convergence condition, and the vehicle convergence condition is set by the vehicle speed fluctuation range to obtain the corrected vehicle speed.

[0011] As a further technical limitation, the acquired inertial navigation data also includes the vehicle's position, altitude, acceleration, roll angle, and pitch angle.

[0012] According to some embodiments, a second solution of the present invention provides a vehicle road spectrum acquisition system based on real-time working conditions, which adopts the following technical solutions: A vehicle road spectrum acquisition system based on real-time working conditions, comprising: a data acquisition module configured to acquire real-time driving condition data and inertial navigation data of the vehicle, wherein the acquired real-time driving condition data includes at least accelerator pedal opening, brake pedal opening, and vehicle speed; a vehicle speed correction module configured to correct the vehicle speed in the obtained real-time driving condition data; a data export module configured to compare the corrected vehicle speed with the vehicle speed in the inertial navigation data; if the speed difference does not exceed a speed threshold, directly derive vehicle driving condition data based on the acquired real-time vehicle driving condition data; if the speed difference exceeds the speed threshold, determine the vehicle's operating state based on the accelerator pedal opening and the brake pedal opening; when the vehicle is in a state of rapid acceleration, rapid deceleration, or bumpy road, compensate the real-time driving condition data based on the vehicle's operating state, and derive the vehicle driving condition data based on the vehicle's real-time driving condition; otherwise, derive the vehicle driving condition data directly based on the acquired real-time vehicle driving condition data; The road spectrum acquisition module is configured to complete the vehicle road spectrum acquisition based on real-time working conditions according to the derived vehicle driving road condition data.

[0013] According to some embodiments, a third solution of the present invention provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps of the vehicle road spectrum acquisition method based on real-time working conditions as described in the first embodiment of the present invention.

[0014] According to some embodiments, a fourth solution of the present invention provides an electronic device, which adopts the following technical solution: An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps in the vehicle road spectrum acquisition method based on real-time working conditions as described in the first embodiment of the present invention.

[0015] According to some embodiments, a fifth solution of the present invention provides a computer program product, which adopts the following technical solution: A computer program product includes software code, wherein the program in the software code executes the steps in the vehicle road spectrum acquisition method based on real-time working conditions as described in the first embodiment of the present invention.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention adds throttle and brake action sensors and connects them to the vehicle controller. When the collected data is lost or distorted, the vehicle speed information of the vehicle controller and the throttle and brake action sensors can be used to determine whether the problem data is distorted. The lost and distorted data can be referenced and supplemented by the vehicle controller data, thereby improving the validity and reliability of the collected data. During the vehicle bench verification stage, it can provide a reference for the throttle and brake pedal actions during the test process, thereby improving the credibility of the bench verification test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the specification of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments and descriptions of this embodiment are used to explain this embodiment and do not constitute an improper limitation on this embodiment.

[0018] Figure 1 This is a flow chart of a vehicle road spectrum acquisition method based on real-time working conditions in Example 1 of the present invention; Figure 2 This is a structural diagram of vehicle road spectrum collection based on real-time working conditions in Example 1 of the present invention; Figure 3 This is a flow chart of analyzing and processing the difference between the vehicle speed signal and the actual vehicle speed of the vehicle controller in the first embodiment of the present invention; Figure 4 Detailed steps of the vehicle road spectrum acquisition method based on real-time working conditions in the first embodiment of the present invention; Figure 5 This is a flowchart of extracting the actual vehicle driving condition road spectrum in Example 1 of the present invention; Figure 6 This is a structural block diagram of a vehicle road spectrum acquisition system based on real-time working conditions in the second embodiment of the present invention; Among them, 1. Data acquisition system; 2. Throttle and brake action sensors; 3. Throttle and brake action sensors; 4. Inertial navigation system; 5. Vehicle controller. DETAILED DESCRIPTION

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0021] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0022] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention, and should not be understood as limiting the present invention.

[0023] In the present invention, terms such as "fixed connection," "connected," and "connection" should be interpreted broadly to mean a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediary. Relevant researchers or technicians in this field may determine the specific meanings of these terms in the present invention based on specific circumstances, and they should not be construed as limitations of the present invention.

[0024] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0025] Example 1 The first embodiment of the present invention introduces a vehicle road spectrum collection method based on real-time working conditions.

[0026] like Figure 1 A vehicle road spectrum acquisition method based on real-time working conditions is shown, comprising: Acquiring real-time driving condition data and inertial navigation data of the vehicle, wherein the acquired real-time driving condition data includes at least accelerator pedal opening, brake pedal opening, and vehicle speed; Correcting the vehicle speed in the obtained real-time driving condition data; Comparing the corrected vehicle speed with the vehicle speed in the inertial navigation data; if the speed difference does not exceed the speed threshold, directly deriving the vehicle driving road condition data based on the acquired vehicle real-time driving condition data; if the speed difference exceeds the speed threshold, judging the vehicle's operating state based on the accelerator pedal opening and the brake pedal opening; when the vehicle is in a state of rapid acceleration, rapid deceleration, or bumpy road, compensating the real-time driving condition data based on the vehicle's operating state, and deriving the vehicle driving road condition data based on the vehicle's real-time driving condition; otherwise, directly deriving the vehicle driving road condition data based on the acquired vehicle real-time driving condition data; The vehicle road spectrum collection based on real-time working conditions is completed according to the exported vehicle driving road condition data.

[0027] Below, this embodiment describes in detail the vehicle road spectrum collection method: The vehicle road spectrum acquisition method based on real-time working conditions in this embodiment adopts the following method: Figure 2 The vehicle road spectrum acquisition structure based on real-time working conditions shown in the figure includes a data acquisition system 1, an accelerator and brake action sensor 2, a GPS system 3, an inertial navigation system 4 and a vehicle controller 5; wherein, the data acquisition system 1 is connected to the accelerator and brake action sensor 2, the GPS system 3, the inertial navigation system 4 and the vehicle controller 5 respectively, and the data acquisition system 1 can obtain the vehicle's driving condition data from the accelerator and brake action sensor 2, the GPS system 3, the inertial navigation system 4 and the vehicle controller 5; the accelerator and brake action sensor 2 is responsible for collecting the opening size change data of the vehicle's accelerator pedal and brake pedal; the GPS system 3 is responsible for collecting the vehicle's position and altitude data; the inertial navigation system 4 is responsible for collecting the vehicle's speed, acceleration, roll angle and pitch angle data; the vehicle controller 5 can send the vehicle's accelerator pedal and brake pedal opening size change, position, altitude, speed, acceleration, roll angle and pitch angle data collected by the vehicle's own system to the data acquisition system 1.

[0028] It should be noted that, in this embodiment, the GPS system 3 and the inertial navigation system 4 are fixedly installed at the geometric center of the vehicle in the vehicle compartment.

[0029] After obtaining the vehicle speed, this embodiment needs to analyze and process the vehicle speed. The specific process is as follows: Figure 3 As shown in the figure, a 500-meter test road section with good GPS signal coverage and smooth traffic is selected, and the speed signals of the GPS system 3 and the inertial navigation system 4 are collected by the data acquisition system 1, and the speed signal output by the vehicle controller 5 is collected; the speed signals of the GPS system 3 and the inertial navigation system 4 collected by the data acquisition system 1 and the speed signal output by the vehicle controller 5 are filtered; the speed signals of the GPS system 3 and the inertial navigation system 4 collected by the data acquisition system 1 and the speed signal output by the vehicle controller 5 are compared and analyzed; and the speed signal correction logic output by the vehicle controller 5 is formed.

[0030] Specifically, this embodiment adopts Figure 4 The vehicle road spectrum acquisition method based on real-time working conditions is shown to judge and process abnormal data in the vehicle actual driving working condition road acquisition system; specifically: Plan the vehicle's driving route, select local drivers to drive the vehicle according to the planned vehicle driving route, and use the data acquisition system 1 to collect the vehicle's driving condition data (including the vehicle's accelerator pedal and brake pedal opening size change, position, altitude, speed, acceleration, roll angle and pitch angle data) from the throttle and brake action sensors 2, GPS system 3, inertial navigation system 4 and vehicle controller 5; filter the vehicle driving condition data collected by the data acquisition system 1; use the vehicle controller 5 speed signal correction logic obtained by the vehicle controller speed signal processing method to process the vehicle controller 5 speed signal collected by the data acquisition system 1; compare it with the speed signals collected by the GPS system 3 and inertial navigation system 4 to determine whether the two directions are correct. The vehicle speed signal obtained by the formula is used to obtain the time period when the speed difference exceeds the vehicle speed threshold (the vehicle speed threshold is 3 km / h in this embodiment); the throttle and brake action sensor 2 collected by the data acquisition system 1 is used to analyze the vehicle operation status to determine whether the vehicle is rapidly accelerating, rapidly decelerating, or the vehicle is passing through a bumpy road; it is determined whether the GPS system 3 and the inertial navigation system 4 signals collected by the data acquisition system 1 are distorted; the data collected by the vehicle controller 5 collected by the data acquisition system 1 is used to supplement the data collected by the throttle and brake action sensor 2, the GPS system 3, and the inertial navigation system 4; and the vehicle driving road condition data is derived, including: the opening size change of the vehicle's accelerator pedal and brake pedal, position, altitude, speed, acceleration, roll angle, and pitch angle data.

[0031] It should be noted that the throttle and brake action sensors are used to determine whether the vehicle is in a sudden acceleration or deceleration state or passing through bumpy roads. When the vehicle is in a sudden acceleration, the vehicle's throttle action sensor will show a sharp increase in the throttle pedal stroke. If the vehicle is in a sudden deceleration, the vehicle's pedal action sensor will also show a sharp increase in the brake pedal stroke. When passing through a bumpy road, the driver cannot control the throttle pedal stroke well due to the influence of the bumpy road surface, and the collected throttle action sensor signal will show obvious fluctuations. That is, the signals collected by the throttle and pedal action sensors can be used to determine whether the vehicle is in a sudden acceleration or deceleration state or passing through a bumpy road.

[0032] It should be noted that, in the process of correcting the vehicle speed in the real-time driving condition data obtained in this embodiment, the obtained vehicle speed is corrected in real time based on the vehicle convergence condition, and the vehicle convergence condition is set through the vehicle speed fluctuation range to obtain the corrected vehicle speed; for example: based on the vehicle convergence condition, the vehicle speed of 96 to 104 km / h is corrected to 100 km / h.

[0033] like Figure 5 As shown, the process of completing the vehicle road spectrum collection based on real-time working conditions according to the derived vehicle driving road condition data in this embodiment is as follows: Classify and segment the derived vehicle driving and road condition data according to the vehicle operating environment and road condition characteristics; Calculate the data characteristic value of each segmented road condition, and perform correlation analysis on the obtained data characteristic value and the derived vehicle driving road condition data characteristic value; According to the correlation analysis results, the actual vehicle driving condition road spectrum is constructed in each vehicle driving condition section; Combined with the vehicle test bench analysis and the vehicle actual driving condition road spectrum built, the vehicle actual driving condition spectrum data that fails the vehicle test bench is reclassified and segmented, the eigenvalue analysis is performed, and the vehicle actual driving condition road spectrum is rebuilt until the vehicle test bench verification is passed. The vehicle's actual driving condition road spectrum is output to complete the vehicle road spectrum collection based on real-time conditions.

[0034] It should be noted that, in the process of correlation analysis, this embodiment adopts the short-stroke construction method, that is, the working conditions are divided into urban, expressway, and highway conditions. Due to the influence of vehicle congestion, the same road sections as those in the urban area will also appear in the high-speed working condition. The low-speed kinematic segments that appear in the high-speed working condition are summarized together, and the characteristic value analysis of the kinematic segments is performed; in the process of correlation analysis, the characteristic values ​​include the distance of the kinematic driving segment, the running time of the kinematic driving segment, the acceleration time, the uniform speed time, the deceleration time, the idling time, the maximum vehicle speed, the average speed, the maximum acceleration, the maximum deceleration, the stop-start ratio, etc. The proportion of idling time, acceleration time, constant speed time, deceleration time, 0-10 km / h speed range, and 10-20 km / h speed range were calculated for all kinematic segments. The kinematic driving segments were divided into idling, constant speed, high-speed, and medium-speed sections. The sum and maximum eigenvalue values ​​corresponding to the kinematic segments were calculated and compared with the eigenvalues ​​of the collected road speed curves. Correlation was determined using a 2% limit. The same kinematic judgments were attributed to a specific type of road condition, and the contribution of multiple eigenvalue variables for multiple groups of kinematic segments was calculated. The kinematic segments were then superimposed according to their contribution to form the final driving condition spectrum.

[0035] In this embodiment, the generated driving condition spectrum is imported into a test bench, and the test bench is used to simulate the vehicle's driving state according to the driving condition spectrum. The energy consumption of the vehicle in a complete driving condition is measured and simulated, and compared with the energy consumption of the vehicle during the collected driving condition. If the difference between the two divided by the energy consumption of the vehicle during the collected driving condition is less than or equal to 2%, the verification is passed.

[0036] This embodiment adds throttle and brake action sensors and connects them to the vehicle controller. When the collected data is lost or distorted, the vehicle speed information and throttle and brake action sensors of the vehicle controller can be used to determine whether the problem data is distorted. The lost and distorted data can be referenced and supplemented by the vehicle controller data, thereby improving the validity and reliability of the collected data. During the vehicle bench verification stage, it can provide a reference for the throttle and brake pedal actions during the test, thereby improving the credibility of the bench verification test results.

[0037] Example 2 The second embodiment of the present invention introduces a vehicle road spectrum acquisition system based on real-time working conditions.

[0038] like Figure 6 A vehicle road spectrum acquisition system based on real-time working conditions is shown, comprising: a data acquisition module configured to acquire real-time driving condition data and inertial navigation data of the vehicle, wherein the acquired real-time driving condition data includes at least accelerator pedal opening, brake pedal opening, and vehicle speed; a vehicle speed correction module configured to correct the vehicle speed in the obtained real-time driving condition data; a data export module configured to compare the corrected vehicle speed with the vehicle speed in the inertial navigation data; if the speed difference does not exceed a speed threshold, directly derive vehicle driving condition data based on the acquired real-time vehicle driving condition data; if the speed difference exceeds the speed threshold, determine the vehicle's operating state based on the accelerator pedal opening and the brake pedal opening; when the vehicle is in a state of rapid acceleration, rapid deceleration, or bumpy road, compensate the real-time driving condition data based on the vehicle's operating state, and derive the vehicle driving condition data based on the vehicle's real-time driving condition; otherwise, derive the vehicle driving condition data directly based on the acquired real-time vehicle driving condition data; The road spectrum acquisition module is configured to complete the vehicle road spectrum acquisition based on real-time working conditions according to the derived vehicle driving road condition data.

[0039] The detailed steps are the same as those of the vehicle road spectrum collection method based on real-time working conditions provided in Example 1, and will not be repeated here.

[0040] Example 3 A third embodiment of the present invention provides a computer-readable storage medium.

[0041] A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps of the vehicle road spectrum acquisition method based on real-time working conditions as described in the first embodiment of the present invention.

[0042] The detailed steps are the same as those of the vehicle road spectrum collection method based on real-time working conditions provided in Example 1, and will not be repeated here.

[0043] Example 4 A fourth embodiment of the present invention provides an electronic device.

[0044] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the vehicle road spectrum acquisition method based on real-time working conditions as described in Example 1 of the present invention are implemented.

[0045] The detailed steps are the same as those of the vehicle road spectrum collection method based on real-time working conditions provided in Example 1, and will not be repeated here.

[0046] Example 5 A fifth embodiment of the present invention provides a computer program product.

[0047] A computer program product includes software code, wherein the program in the software code executes the steps of the vehicle road spectrum acquisition method based on real-time working conditions as described in Example 1 of the present invention.

[0048] The detailed steps are the same as those of the vehicle road spectrum collection method based on real-time working conditions provided in Example 1, and will not be repeated here.

[0049] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk drives, CD-ROMs, optical storage devices, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention may be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0050] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0051] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0052] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0053] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0054] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

[0055] The above description is merely a preferred embodiment of this embodiment and is not intended to limit this embodiment. Those skilled in the art will readily appreciate that this embodiment may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this embodiment shall be within the scope of protection of this embodiment.

Claims

1. A vehicle road spectrum acquisition method based on real-time working conditions, characterized in that: include: Acquiring real-time driving condition data and inertial navigation data of the vehicle, wherein the acquired real-time driving condition data includes at least accelerator pedal opening, brake pedal opening, and vehicle speed; Correcting the vehicle speed in the obtained real-time driving condition data; Comparing the corrected vehicle speed with the vehicle speed in the inertial navigation data, and if the speed difference does not exceed the speed threshold, deriving the vehicle driving condition data directly based on the acquired real-time vehicle driving condition data; If the speed difference exceeds the speed threshold, the vehicle's operating state is determined based on the accelerator pedal opening and the brake pedal opening. When the vehicle is in a state of rapid acceleration, rapid deceleration, or bumpy road, the real-time driving condition data is compensated based on the vehicle's operating state, and the vehicle's driving and road condition data is derived based on the vehicle's real-time driving condition. Otherwise, the vehicle's driving and road condition data is derived directly based on the acquired real-time driving condition data. The vehicle road spectrum collection based on real-time working conditions is completed according to the exported vehicle driving road condition data.

2. A vehicle road spectrum collection method based on real-time working conditions as described in claim 1, characterized in that: The process of completing the vehicle road spectrum collection based on real-time working conditions according to the derived vehicle driving road condition data is as follows: Classify and segment the derived vehicle driving and road condition data according to the vehicle operating environment and road condition characteristics; Calculate the data characteristic value of each segmented road condition, and perform correlation analysis on the obtained data characteristic value and the derived vehicle driving road condition data characteristic value; According to the correlation analysis results, the actual vehicle driving condition road spectrum is constructed in each vehicle driving condition section; Combined with the vehicle test bench analysis and the vehicle actual driving condition road spectrum built, the vehicle actual driving condition spectrum data that fails the vehicle test bench is reclassified and segmented, the eigenvalue analysis is performed, and the vehicle actual driving condition road spectrum is rebuilt until the vehicle test bench verification is passed. The vehicle's actual driving condition road spectrum is output to complete the vehicle road spectrum collection based on real-time conditions.

3. A vehicle road spectrum acquisition method based on real-time working conditions as described in claim 1, characterized in that: The vehicle's operating state includes a sudden acceleration state, a sudden deceleration state, and a bumpy road driving state; When the accelerator pedal opening travel increases sharply, the vehicle is in a state of rapid acceleration; when the brake pedal opening travel increases sharply, the vehicle is in a state of rapid deceleration; when the accelerator pedal opening travel fluctuates, the vehicle is in a state of driving on a bumpy road.

4. A vehicle road spectrum acquisition method based on real-time working conditions as described in claim 1, characterized in that: The vehicle operating status and real-time driving condition data obtained are used to determine whether the vehicle driving condition data is complete. If incomplete, data is missing or distorted. When data is missing or distorted, the real-time driving condition data is compensated by combining the vehicle operating status, real-time driving condition data, and inertial navigation data.

5. The vehicle road spectrum collection method based on real-time working conditions as described in claim 1, characterized in that: In the process of correcting the vehicle speed in the obtained real-time driving condition data, the obtained vehicle speed is corrected in real time based on the vehicle convergence condition, and the vehicle convergence condition is set by the vehicle speed fluctuation range to obtain the corrected vehicle speed.

6. The vehicle road spectrum collection method based on real-time working conditions as described in claim 1, characterized in that: The acquired inertial navigation data also includes the vehicle's position, altitude, acceleration, roll angle, and pitch angle.

7. A vehicle road spectrum acquisition system based on real-time working conditions, characterized in that: include: a data acquisition module configured to acquire real-time driving condition data and inertial navigation data of the vehicle, wherein the acquired real-time driving condition data includes at least accelerator pedal opening, brake pedal opening, and vehicle speed; a vehicle speed correction module configured to correct the vehicle speed in the obtained real-time driving condition data; a data export module configured to compare the corrected vehicle speed with the vehicle speed in the inertial navigation data, and if the speed difference does not exceed a speed threshold, directly export the vehicle driving condition data based on the acquired real-time vehicle driving condition data; If the speed difference exceeds the speed threshold, the vehicle's operating state is determined based on the accelerator pedal opening and the brake pedal opening. When the vehicle is in a state of rapid acceleration, rapid deceleration, or bumpy road, the real-time driving condition data is compensated based on the vehicle's operating state, and the vehicle's driving and road condition data is derived based on the vehicle's real-time driving condition. Otherwise, the vehicle's driving and road condition data is derived directly based on the acquired real-time driving condition data. The road spectrum acquisition module is configured to complete the vehicle road spectrum acquisition based on real-time working conditions according to the derived vehicle driving road condition data.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle road spectrum acquisition method based on real-time working conditions as described in any one of claims 1 to 6 are implemented.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the vehicle road spectrum collection method based on real-time working conditions as described in any one of claims 1-6 are implemented.

10. A computer program product comprising software code, characterized in that The program in the software code executes the steps of the vehicle road spectrum acquisition method based on real-time working conditions as described in any one of claims 1-6.

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