A vehicle road spectrum acquisition method and system based on real-time working conditions

Abstract

The present application belongs to the technical field of vehicle road spectrum acquisition, and particularly relates to a vehicle road spectrum acquisition method and system based on real-time working conditions, comprising: acquiring real-time driving working condition data and inertial navigation data of a vehicle, wherein the acquired real-time driving working condition data at least includes throttle pedal opening, brake pedal opening and vehicle speed; correcting the vehicle speed in the obtained real-time driving working condition data; comparing the corrected vehicle speed with the vehicle speed in the inertial navigation data, if the vehicle speed difference does not exceed a vehicle speed threshold, directly deriving vehicle driving road condition data based on the acquired real-time driving working condition data of the vehicle; if the vehicle speed difference exceeds the vehicle speed threshold, judging the running state of the vehicle in combination with the throttle pedal opening and the brake pedal opening, when the vehicle is in an emergency acceleration, emergency deceleration or bumpy road section, compensating the real-time driving working condition data in combination with the running state of the vehicle, deriving the vehicle driving road condition data in combination with the real-time working condition of the vehicle, otherwise directly deriving the vehicle driving road condition data based on the acquired real-time driving working condition data of the vehicle; and completing the vehicle road spectrum acquisition based on real-time working conditions according to the derived vehicle driving road condition data.

Description

Technical Field

[0001] This invention belongs to the field of vehicle road spectrum acquisition technology, specifically relating to a vehicle road spectrum acquisition method and system based on real-time operating conditions. Background Technology

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

[0003] The vehicles operate in diverse scenarios, such as rugged mountainous areas, congested urban areas, and bumpy country roads. The design and manufacturing of the vehicles are customized according to the usage scenarios after the vehicles leave the factory. Targeted design and manufacturing are carried out by collecting road spectrum data of the driving conditions in the usage scenarios after the vehicles leave the factory. The bench tests of the vehicles are carried out in combination with the collected road spectrum data to verify whether the vehicles meet the power and economic requirements of the operating conditions.

[0004] Currently, vehicle driving condition road spectrum data is mainly collected through data acquisition systems, GPS systems, and inertial navigation systems. However, when vehicles travel on bumpy roads for extended periods, the collected data may be lost or distorted, leading to certain deviations in vehicle design and consequently, inaccurate bench test results. Summary of the Invention

[0005] To address the aforementioned issues, this invention proposes a vehicle road spectrum acquisition method and system based on real-time operating conditions. Taking into account the real-time operating conditions of the vehicle, when data loss or distortion occurs in the acquired data, the lost or distorted data is supplemented using the vehicle's own data information, thereby improving the effectiveness and reliability of the acquired data.

[0006] According to some embodiments, the first solution of the present invention provides a vehicle road spectrum acquisition method based on real-time operating conditions, which adopts the following technical solution: A method for acquiring vehicle road spectrum based on real-time operating conditions, comprising: Acquire real-time driving condition data and inertial navigation data of the vehicle. The real-time driving condition data acquired includes at least the accelerator pedal opening, brake pedal opening, and vehicle speed. Correct the vehicle speed in the obtained real-time driving condition data; The corrected vehicle speed is compared with the vehicle speed in the inertial navigation data. If the speed difference does not exceed the speed threshold, the vehicle driving road condition data is directly exported based on the acquired real-time vehicle driving condition data. If the speed difference exceeds the speed threshold, the vehicle's operating status is judged by combining the accelerator pedal opening and brake pedal opening. When the vehicle is in a rapid acceleration, rapid deceleration or bumpy road section, the real-time driving condition data is compensated based on the vehicle's operating status, and the vehicle driving road condition data is exported based on the real-time vehicle driving condition data. Otherwise, the vehicle driving road condition data is directly exported based on the acquired real-time vehicle driving condition data. Based on the exported vehicle driving condition data, complete the vehicle road spectrum collection based on real-time operating conditions.

[0007] As a further technical limitation, the process of collecting vehicle road spectrum based on real-time operating conditions using the exported vehicle driving road condition data is as follows: Based on the vehicle operating environment and road conditions, the exported vehicle driving road condition data is classified and segmented. Calculate the data feature value of each segment of road condition after segmentation, and perform correlation analysis between the obtained data feature value and the derived vehicle driving road condition data feature value; Based on the correlation analysis results, a road spectrum of actual vehicle driving conditions was constructed for each vehicle driving condition segment. By combining the actual driving condition road spectrum of the vehicle built by the vehicle test bench analysis, the actual driving condition road spectrum data of the vehicle that fails the vehicle test bench is reclassified, segmented, and analyzed for feature values, and the actual driving condition road spectrum of the vehicle is built again until the vehicle test bench verification is passed. The actual driving condition road spectrum of the vehicle is then output, and the vehicle road spectrum based on real-time operating conditions is completed.

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

[0009] As a further technical limitation, the completeness of the vehicle driving condition data 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 distortion, 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. 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, the second aspect of the present invention provides a vehicle road spectrum acquisition system based on real-time operating conditions, employing the following technical solution: A vehicle road spectrum acquisition system based on real-time operating conditions includes: The data acquisition module is configured to acquire real-time driving condition data and inertial navigation data of the vehicle. The acquired real-time driving condition data includes at least the accelerator pedal opening, brake pedal opening, and vehicle speed. The vehicle speed correction module is configured to correct the vehicle speed in the obtained real-time driving condition data. The data export module is configured to compare the corrected vehicle speed with the vehicle speed in the inertial navigation data. If the speed difference does not exceed the speed threshold, the vehicle driving road condition data is directly exported based on the acquired real-time vehicle driving condition data. If the speed difference exceeds the speed threshold, the vehicle's operating status is determined by combining the accelerator pedal opening and brake pedal opening. When the vehicle is in a rapid acceleration, rapid deceleration, or bumpy road section, the real-time driving condition data is compensated based on the vehicle's operating status, and the vehicle driving road condition data is exported based on the real-time vehicle driving condition data. Otherwise, the vehicle driving road condition data is directly exported 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 operating conditions according to the exported vehicle driving road condition data.

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

[0014] According to some embodiments, the fourth aspect 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 operating conditions as described in the first aspect of the present invention.

[0015] According to some embodiments, the fifth aspect 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 performs the steps of the vehicle road spectrum acquisition method based on real-time operating conditions as described in the first aspect of the present invention.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This 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 from the vehicle controller and the throttle and brake action sensors can be used to determine whether the data is distorted. The lost and distorted data can be referenced and supplemented using the vehicle controller data, improving the effectiveness 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, improving the credibility of the bench verification test results. Attached Figure Description

[0017] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0018] Figure 1 This is a flowchart of the vehicle road spectrum acquisition method based on real-time operating conditions in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the vehicle road spectrum acquisition based on real-time operating conditions in Embodiment 1 of the present invention; Figure 3 This is a flowchart illustrating the analysis and processing of the difference between the vehicle speed signal and the actual vehicle speed in the vehicle controller according to Embodiment 1 of the present invention. Figure 4 This is a detailed schematic diagram illustrating the steps of the vehicle road spectrum acquisition method based on real-time operating conditions in Embodiment 1 of the present invention; Figure 5 This is a flowchart of extracting the road spectrum of actual vehicle driving conditions in Embodiment 1 of the present invention; Figure 6 This is a structural block diagram of the vehicle road spectrum acquisition system based on real-time operating conditions in Embodiment 2 of the present invention; The system includes: 1. Data acquisition system; 2. Throttle and brake action sensors; 3. Throttle and brake action sensors; 4. Inertial navigation system; and 5. Vehicle controller. Detailed Implementation

[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 illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

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

[0022] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0023] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0024] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0025] Example 1 Embodiment 1 of this invention introduces a method for collecting vehicle road spectrum based on real-time operating conditions.

[0026] like Figure 1 The method for acquiring vehicle road spectrum based on real-time operating conditions, as shown, includes: Acquire real-time driving condition data and inertial navigation data of the vehicle. The real-time driving condition data acquired includes at least the accelerator pedal opening, brake pedal opening, and vehicle speed. Correct the vehicle speed in the obtained real-time driving condition data; The corrected vehicle speed is compared with the vehicle speed in the inertial navigation data. If the speed difference does not exceed the speed threshold, the vehicle driving road condition data is directly exported based on the acquired real-time vehicle driving condition data. If the speed difference exceeds the speed threshold, the vehicle's operating status is judged by combining the accelerator pedal opening and brake pedal opening. When the vehicle is in a rapid acceleration, rapid deceleration or bumpy road section, the real-time driving condition data is compensated based on the vehicle's operating status, and the vehicle driving road condition data is exported based on the real-time vehicle driving condition data. Otherwise, the vehicle driving road condition data is directly exported based on the acquired real-time vehicle driving condition data. Based on the exported vehicle driving condition data, complete the vehicle road spectrum collection based on real-time operating conditions.

[0027] The following is a detailed description of the vehicle road spectrum acquisition method in this embodiment: The vehicle road spectrum acquisition method based on real-time operating conditions in this embodiment adopts the following approach: Figure 2 The vehicle road spectrum acquisition structure based on real-time operating conditions shown includes a data acquisition system 1, throttle and brake action sensors 2, a GPS system 3, an inertial navigation system 4, and a vehicle controller 5. The data acquisition system 1 is connected to the throttle and brake action sensors 2, GPS system 3, inertial navigation system 4, and vehicle controller 5, respectively. The data acquisition system 1 can acquire vehicle driving condition data from these components. The throttle and brake action sensors 2 are responsible for collecting data on the changes in the opening size of the throttle and brake pedals. 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 data on the changes in the opening size of the throttle and brake pedals, position, altitude, speed, acceleration, roll angle, and pitch angle collected by the vehicle's own systems 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 inside the passenger compartment.

[0029] In this embodiment, after obtaining the vehicle speed, the speed needs to be analyzed and processed. The specific process is as follows: Figure 3 As shown; a 500m test section with good GPS signal coverage and smooth traffic was selected. Speed ​​signals from GPS system 3 and inertial navigation system 4 were collected using data acquisition system 1, and the speed signal output by vehicle controller 5 was also collected. The speed signals from GPS system 3 and inertial navigation system 4 collected by data acquisition system 1 and the speed signal output by vehicle controller 5 were filtered. The speed signals from GPS system 3 and inertial navigation system 4 collected by data acquisition system 1 and the speed signal output by vehicle controller 5 were compared and analyzed. A correction logic for the speed signal output by vehicle controller 5 was then formed.

[0030] Specifically, this embodiment adopts the following... Figure 4 The method for acquiring vehicle road spectrum based on real-time driving conditions, as shown, is used to identify and process abnormal data in the road acquisition system for actual vehicle driving conditions; specifically: The system plans the vehicle's driving route and selects local drivers to drive the vehicle along the planned route. Simultaneously, it uses data acquisition system 1 to collect vehicle driving condition data (including changes in accelerator and brake pedal opening, position, altitude, speed, acceleration, roll angle, and pitch angle data) from accelerator and brake pedal sensors 2, GPS system 3, inertial navigation system 4, and vehicle controller 5. The driving condition data collected by data acquisition system 1 is filtered, and the vehicle controller 5 speed signal correction logic obtained using the vehicle controller speed signal processing method is used to process the speed signal collected by data acquisition system 1. This data is then compared with the speed signals collected by GPS system 3 and inertial navigation system 4 to determine the difference between the two methods. The vehicle speed signal obtained by the formula is used to identify the time period when the speed difference exceeds the vehicle speed threshold (3 km / h in this embodiment); the vehicle operating status is analyzed using the throttle and brake action sensors 2 collected by the data acquisition system 1 to determine whether the vehicle is accelerating or decelerating rapidly or is traveling on a bumpy road; the GPS system 3 and inertial navigation system 4 signals collected by the data acquisition system 1 are determined to be distorted; the data from the vehicle controller 5 collected by the data acquisition system 1 is used to supplement the data collected from the throttle and brake action sensors 2, GPS system 3, and inertial navigation system 4; and the vehicle driving road condition data is exported, including: changes in the opening size, position, altitude, speed, acceleration, roll angle, and pitch angle data of the vehicle's throttle and brake pedals.

[0031] It should be noted that the accelerator and brake action sensors determine whether the vehicle is in a state of rapid acceleration or deceleration or is driving over a bumpy road. When the vehicle is accelerating rapidly, the accelerator action sensor will show a sharp increase in the accelerator pedal travel. Similarly, when the vehicle is decelerating rapidly, the brake pedal action sensor will show a sharp increase in the brake pedal travel. When driving over a bumpy road, the driver cannot control the accelerator pedal travel well due to the influence of the bumpy road surface, and the collected accelerator action sensor signal will show obvious fluctuations. In other words, the signals collected by the accelerator and brake pedal action sensors can determine whether the vehicle is in a state of rapid acceleration or deceleration or is driving over a bumpy road.

[0032] It should be noted that in the process of correcting the vehicle speed in the obtained real-time driving condition data in this embodiment, the obtained vehicle speed is corrected in real time based on the vehicle convergence condition. The vehicle convergence condition is set by 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 collecting vehicle road spectrum data based on real-time operating conditions in this embodiment is as follows: Based on the vehicle operating environment and road conditions, the exported vehicle driving road condition data is classified and segmented. Calculate the data feature value of each segment of road condition after segmentation, and perform correlation analysis between the obtained data feature value and the derived vehicle driving road condition data feature value; Based on the correlation analysis results, a road spectrum of actual vehicle driving conditions was constructed for each vehicle driving condition segment. By combining the actual driving condition road spectrum of the vehicle built by the vehicle test bench analysis, the actual driving condition road spectrum data of the vehicle that fails the vehicle test bench is reclassified, segmented, and analyzed for feature values, and the actual driving condition road spectrum of the vehicle is built again until the vehicle test bench verification is passed. The actual driving condition road spectrum of the vehicle is then output, and the vehicle road spectrum based on real-time operating conditions is completed.

[0034] It should be noted that in the correlation analysis process of this embodiment, the short-stroke construction condition method is adopted, that is, the conditions are divided into urban, expressway and highway conditions. Due to the influence of traffic congestion, the same road segments as those in the urban area will also appear in the expressway condition. The low-speed kinematic segments appearing in the expressway condition are summarized together and the kinematic segments are subjected to eigenvalue analysis. In the correlation analysis process, the eigenvalues ​​include the distance of the kinematic travel segment, the running time of the kinematic travel segment, the acceleration time, the constant speed time, the deceleration time, the idling time, the maximum speed, the average speed, the maximum acceleration, the maximum deceleration, the stop-start ratio, etc. The kinematic driving segments are divided into idling, constant speed, high speed, and medium speed segments by calculating the proportions of idling time, acceleration time, constant speed time, deceleration time, 0-10 km / h speed range, and 10-20 km / h speed range. The sum of the corresponding eigenvalues ​​and the maximum value of each eigenvalue segment are calculated, and these are compared with the eigenvalues ​​from collected road condition speed curves. A 2% limit condition is used to determine their correlation. Similar kinematic judgments are grouped into a specific road condition category for the vehicle. The contribution of multiple sets of eigenvalue variables across multiple kinematic segments is calculated, and the kinematic segments are superimposed according to their contribution to form the final driving condition spectrum.

[0035] In this embodiment, the generated driving condition spectrum is imported into the test bench. The test bench is used to simulate the vehicle's driving state according to the driving condition spectrum, and the energy consumption of the vehicle under a complete driving condition is measured and compared with the energy consumption of the vehicle under the collected driving condition. If the difference between the two is less than or equal to 2% of the energy consumption of the vehicle under the collected driving condition, then 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 from the vehicle controller and the throttle and brake action sensors can be used to determine whether the data is distorted. The lost and distorted data can be referenced and supplemented using the vehicle controller data, improving the effectiveness 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, improving the credibility of the bench verification test results.

[0037] Example 2 Embodiment 2 of the present invention introduces a vehicle road spectrum acquisition system based on real-time operating conditions.

[0038] like Figure 6 The vehicle road spectrum acquisition system shown includes: The data acquisition module is configured to acquire real-time driving condition data and inertial navigation data of the vehicle. The acquired real-time driving condition data includes at least the accelerator pedal opening, brake pedal opening, and vehicle speed. The vehicle speed correction module is configured to correct the vehicle speed in the obtained real-time driving condition data. The data export module is configured to compare the corrected vehicle speed with the vehicle speed in the inertial navigation data. If the speed difference does not exceed the speed threshold, the vehicle driving road condition data is directly exported based on the acquired real-time vehicle driving condition data. If the speed difference exceeds the speed threshold, the vehicle's operating status is determined by combining the accelerator pedal opening and brake pedal opening. When the vehicle is in a rapid acceleration, rapid deceleration, or bumpy road section, the real-time driving condition data is compensated based on the vehicle's operating status, and the vehicle driving road condition data is exported based on the real-time vehicle driving condition data. Otherwise, the vehicle driving road condition data is directly exported 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 operating conditions according to the exported vehicle driving road condition data.

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

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

[0041] A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in the vehicle road spectrum acquisition method based on real-time operating conditions as described in Embodiment 1 of the present invention.

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

[0043] Example 4 Embodiment 4 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, it implements the steps in the vehicle road spectrum acquisition method based on real-time operating conditions as described in Embodiment 1 of the present invention.

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

[0046] Example 5 Embodiment 5 of the present invention provides a computer program product.

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

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

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

[0050] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0051] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0052] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0053] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0054] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0055] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A method for acquiring vehicle road spectrum based on real-time operating conditions, characterized in that, include: Acquire real-time driving condition data and inertial navigation data of the vehicle. The real-time driving condition data acquired includes at least the accelerator pedal opening, brake pedal opening, and vehicle speed. Correct the vehicle speed in the obtained real-time driving condition data; Compare the corrected vehicle speed with the vehicle speed in the inertial navigation data. If the difference in vehicle speed does not exceed the vehicle speed threshold, then directly export the vehicle driving road condition data based on the acquired real-time vehicle driving condition data. If the speed difference exceeds the speed threshold, the vehicle's operating status is determined by combining the accelerator pedal opening and the brake pedal opening. When the vehicle is in a rapid acceleration, rapid deceleration or bumpy road section, the real-time driving condition data is compensated based on the vehicle's operating status, and the vehicle's driving road condition data is exported based on the real-time driving condition data. Otherwise, the vehicle's driving road condition data is directly exported based on the acquired real-time driving condition data. Complete the vehicle road spectrum collection based on real-time operating conditions based on the exported vehicle driving road condition data; The completeness of the vehicle's operating status and real-time driving condition data is determined based on the obtained vehicle operating status and real-time driving condition data. If the data is incomplete, there is a lack of data or data distortion. When there is a lack of data or data distortion, the real-time driving condition data is compensated by combining the vehicle operating status, real-time driving condition data and inertial navigation data.

2. The vehicle road spectrum acquisition method based on real-time operating conditions as described in claim 1, characterized in that, The process of collecting vehicle road spectrum data based on real-time operating conditions using the exported vehicle driving road condition data is as follows: Based on the vehicle operating environment and road conditions, the exported vehicle driving road condition data is classified and segmented. Calculate the data feature value of each segment of road condition after segmentation, and perform correlation analysis between the obtained data feature value and the derived vehicle driving road condition data feature value; Based on the correlation analysis results, a road spectrum of actual vehicle driving conditions was constructed for each vehicle driving condition segment. By combining the actual driving condition road spectrum of the vehicle built by the vehicle test bench analysis, the actual driving condition road spectrum data of the vehicle that fails the vehicle test bench is reclassified, segmented, and analyzed for feature values, and the actual driving condition road spectrum of the vehicle is built again until the vehicle test bench verification is passed. The actual driving condition road spectrum of the vehicle is then output, and the vehicle road spectrum based on real-time operating conditions is completed.

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

4. The vehicle road spectrum acquisition method based on real-time operating 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. The vehicle convergence condition is set by the vehicle speed fluctuation range to obtain the corrected vehicle speed.

5. The vehicle road spectrum acquisition method based on real-time operating 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.

6. A vehicle road spectrum acquisition system based on real-time operating conditions, characterized in that, include: The data acquisition module is configured to acquire real-time driving condition data and inertial navigation data of the vehicle. The acquired real-time driving condition data includes at least the accelerator pedal opening, brake pedal opening, and vehicle speed. The vehicle speed correction module is configured to correct the vehicle speed in the obtained real-time driving condition data. The data export module is configured to compare the corrected vehicle speed with the vehicle speed in the inertial navigation data. If the speed difference does not exceed the vehicle speed threshold, the vehicle driving road condition data is directly exported based on the acquired real-time vehicle driving condition data. If the speed difference exceeds the speed threshold, the vehicle's operating status is determined by combining the accelerator pedal opening and the brake pedal opening. When the vehicle is in a rapid acceleration, rapid deceleration or bumpy road section, the real-time driving condition data is compensated based on the vehicle's operating status, and the vehicle's driving road condition data is exported based on the real-time driving condition data. Otherwise, the vehicle's driving road condition data is directly exported based on the acquired real-time driving condition data. The road spectrum acquisition module is configured to complete vehicle road spectrum acquisition based on real-time operating conditions based on the exported vehicle driving road condition data. The completeness of the vehicle's operating status and real-time driving condition data is determined based on the obtained vehicle operating status and real-time driving condition data. If the data is incomplete, there is a lack of data or data distortion. When there is a lack of data or data distortion, the real-time driving condition data is compensated by combining the vehicle operating status, real-time driving condition data and inertial navigation data.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the vehicle road spectrum acquisition method based on real-time operating conditions as described in any one of claims 1-5.

8. 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, it implements the steps of the vehicle road spectrum acquisition method based on real-time operating conditions as described in any one of claims 1-5.

9. 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 operating conditions as described in any one of claims 1-5.

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