Vehicle comprehensive slip rate calculation method and device, equipment and storage medium

Abstract

The invention discloses a vehicle comprehensive slip rate calculation method, device and equipment and a storage medium. The method comprises the following steps: obtaining a relative slip rate sum and an actual slip rate sum based on an Ackerman steering model, a yaw velocity, a GPS and video shooting data; calculating an actual slip rate relative difference according to the sum of the relative slip rates and the sum of the actual slip rates, and calculating an actual slip rate proportion according to the actual slip rate relative difference; obtaining a final actual slip rate according to the average value of the sum of the actual slip rates and the actual slip rate proportion; according to the method, four slip rate states can be adopted for comprehensive processing, corresponding to the slip rate with large deviation, the proportion of the slip rate is reduced through an index model, and finally, the accurate slip rate can be obtained through an average value processing mode, so that the calculation precision of the slip rate of the vehicle is improved, the driving anti-slip effect is improved, and the driving safety of the vehicle is improved; the life and property safety of a driver and passengers is ensured, and the speed and efficiency of calculating the comprehensive slip rate of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the field of electric vehicle control technology, and in particular to a method, device, equipment and storage medium for calculating a vehicle's comprehensive slip rate. Background Art

[0002] The safety of a car is the most important dimension of the car, and the driving anti-skid function reflects the importance of car safety.

[0003] Drive anti-skid means that when wheel slip is detected, the torque of the slipping wheel is controlled to prevent it from excessive slipping and ensure the safe driving of the vehicle.

[0004] Vehicle slip is identified by the slip rate, but the randomness of the vehicle's motion state leads to low slip rate calculation accuracy, poor driving anti-skid effect, and easy to cause the vehicle's anti-skid or anti-lock braking system to malfunction, seriously threatening the life safety of the driver and passengers. Summary of the Invention

[0005] The main purpose of the present invention is to provide a method, device, equipment and storage medium for calculating the comprehensive slip rate of a vehicle, aiming to solve the technical problems in the prior art such as low slip rate calculation accuracy and poor anti-skid effect caused by the randomness of the vehicle's motion state, which can easily lead to malfunction of the vehicle's anti-skid or anti-lock braking system, seriously threatening the life safety of the driver and passengers.

[0006] In a first aspect, the present invention provides a method for calculating a vehicle's integrated slip rate, the method comprising the following steps: Obtain the sum of relative slip rates and actual slip rates based on the Ackerman steering model, yaw rate, GPS, and video camera data; Calculating an actual slip rate relative difference based on the relative slip rate sum and the actual slip rate sum, and calculating an actual slip rate proportion based on the actual slip rate relative difference; A final actual slip rate is obtained according to an average value of the sum of the actual slip rates and the actual slip rate ratio.

[0007] Optionally, obtaining the sum of relative slip rates and actual slip rates based on the Ackerman steering model, yaw angular velocity, GPS, and video camera data includes: Obtain actual slip rate based on Ackermann steering model, yaw rate, GPS and video camera data; Calculating a total actual slip rate based on the actual slip rate based on the Ackerman steering model, yaw rate, GPS, and video camera data; Calculating an actual slip rate relative coefficient according to the actual slip rate based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the sum of the actual slip rates; The total relative slip rate is obtained by calculating the actual slip rate based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the actual slip rate relative coefficient.

[0008] Optionally, the calculating the total actual slip rate according to the actual slip rate based on the Ackerman steering model, the yaw angular velocity, the GPS and the video camera data includes: The actual slip rate sum is calculated based on the Ackerman steering model, yaw rate, GPS and video camera data using the following formula:

[0009] in, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the sum of the fourth actual slip ratio; Accordingly,

[0010] in, is the speed at the center of the vehicle, is the turning radius at the wheel, is the turning radius at the center of the vehicle, is the actual rotation speed of the wheel, is the vehicle's yaw rate, is the wheelbase, The wheel angle minus the angle between the line connecting the center of the vehicle and the wheel and the body, is the travel arc length, is the time corresponding to the arc length, is the wheel translation speed.

[0011] Optionally, the calculating the actual slip rate relative coefficient according to the actual slip rate based on the Ackerman steering model, the yaw angular velocity, the GPS and the video camera data and the sum of the actual slip rates includes: The actual slip rate relative coefficient is obtained by calculating the actual slip rate based on the Ackerman steering model, yaw angular velocity, GPS and video camera data and the sum of the actual slip rates using the following formula:

[0012] in, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum.

[0013] Optionally, the calculating the total relative slip rate according to the actual slip rate based on the Ackerman steering model, the yaw angular velocity, the GPS and the video camera data and the actual slip rate relative coefficient includes: The total relative slip rate is calculated by the following formula according to the actual slip rate based on the Ackerman steering model, yaw angular velocity, GPS and video camera data and the actual slip rate relative coefficient:

[0014] in, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data.

[0015] Optionally, calculating the actual slip rate relative difference based on the relative slip rate sum and the actual slip rate sum, and obtaining the actual slip rate proportion based on the actual slip rate relative difference, includes: The actual slip rate relative difference is calculated based on the sum of the relative slip rates and the sum of the actual slip rates using the following formula:

[0016] in, The first type of actual slip rate is relatively poor. is the second relative difference in actual slip rate, The third type of actual slip rate is relatively poor. is the fourth relative difference of actual slip rate, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate; The actual slip ratio is calculated according to the actual slip ratio relative difference using the following formula:

[0017] in, is the first actual slip ratio, is the second actual slip ratio, is the third actual slip ratio, is the fourth actual slip ratio, The first type of actual slip rate is relatively poor. is the second relative difference in actual slip rate, The third type of actual slip rate is relatively poor. is the fourth relative difference of actual slip rate, is a natural number.

[0018] Optionally, obtaining a final actual slip rate according to an average value of the sum of the actual slip rates and the actual slip rate proportion includes: The final actual slip rate is obtained by calculating the average value of the total actual slip rate and the actual slip rate ratio using the following formula:

[0019] in, is the final actual slip rate, is the average value of the sum of the first actual slip rates, is the average value of the second actual slip ratio, is the average value of the third actual slip ratio, is the average value of the sum of the fourth actual slip rates, is the first actual slip ratio, is the second actual slip ratio, is the third actual slip ratio, is the fourth actual slip ratio; Accordingly,

[0020] in, is the average value of the sum of the first actual slip rates, is the average value of the second actual slip ratio, is the average value of the third actual slip ratio, is the average value of the sum of the fourth actual slip rates, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum.

[0021] In a second aspect, to achieve the above-mentioned object, the present invention further provides a vehicle comprehensive slip rate calculation device, the vehicle comprehensive slip rate calculation device comprising: A slip rate sum calculation module is used to obtain the relative slip rate sum and the actual slip rate sum based on the Ackerman steering model, yaw rate, GPS and video camera data; a slip ratio calculation module, configured to calculate a relative difference in actual slip ratios based on the sum of the relative slip ratios and the sum of the actual slip ratios, and to obtain an actual slip ratio based on the relative difference in actual slip ratios; The final slip rate calculation module is configured to obtain a final actual slip rate according to an average value of the total actual slip rates and the actual slip rate ratio.

[0022] In a third aspect, in order to achieve the above-mentioned purpose, the present invention also proposes a vehicle comprehensive slip rate calculation device, which includes: a memory, a processor, and a vehicle comprehensive slip rate calculation program stored in the memory and executable on the processor, wherein the vehicle comprehensive slip rate calculation program is configured to implement the steps of the vehicle comprehensive slip rate calculation method as described above.

[0023] Fourthly, in order to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle comprehensive slip rate calculation program is stored. When the vehicle comprehensive slip rate calculation program is executed by a processor, the steps of the vehicle comprehensive slip rate calculation method as described above are implemented.

[0024] The method for calculating the comprehensive vehicle slip rate proposed by the present invention obtains the sum of relative slip rates and the sum of actual slip rates based on an Ackerman steering model, yaw angular velocity, GPS, and video camera data; calculates the relative difference of actual slip rates based on the sum of relative slip rates and the sum of actual slip rates, and calculates the actual slip rate percentage based on the relative difference of actual slip rates; and obtains the final actual slip rate based on the average value of the sum of actual slip rates and the actual slip rate percentage. The method can perform comprehensive processing using four slip rate states, reduce the percentage of slip rates with large deviations using an exponential model, and finally obtain an accurate slip rate through average value processing, thereby improving the calculation accuracy of the vehicle slip rate, enhancing the driving anti-skid effect, improving the safety of vehicle driving, ensuring the life and property safety of the driver and passengers, and improving the speed and efficiency of calculating the comprehensive vehicle slip rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention; Figure 2 1. A schematic flow chart of a first embodiment of a method for calculating a vehicle's comprehensive slip rate according to the present invention; Figure 3 This is a flow chart of a second embodiment of a method for calculating a vehicle's comprehensive slip rate according to the present invention; Figure 4 This is a functional module diagram of the first embodiment of the vehicle comprehensive slip rate calculation device of the present invention.

[0026] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0027] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] The solution of the embodiment of the present invention mainly comprises the following steps: obtaining the sum of relative slip rates and the sum of actual slip rates based on an Ackerman steering model, yaw angular velocity, GPS, and video camera data; calculating the relative difference in actual slip rates based on the sum of relative slip rates and the sum of actual slip rates, and calculating the actual slip rate percentage based on the relative difference in actual slip rates; and obtaining a final actual slip rate based on the average of the sum of actual slip rates and the actual slip rate percentage. The embodiment of the present invention can perform comprehensive processing based on four slip rate states, reduce the percentage of slip rates with large deviations using an exponential model, and finally obtain an accurate slip rate through average processing. This improves the calculation accuracy of the vehicle slip rate, enhances the anti-skid effect, improves vehicle driving safety, ensures the life and property safety of the driver and passengers, and increases the speed and efficiency of the vehicle's comprehensive slip rate calculation. This solves the technical problem in the prior art of low slip rate calculation accuracy and poor anti-skid effect due to the randomness of the vehicle's motion state, which can easily lead to malfunction of the vehicle's anti-skid or anti-lock braking system, seriously threatening the life and property of the driver and passengers.

[0029] Reference Figure 1 , Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0030] like Figure 1 As shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory, such as a disk storage. The memory 1005 may also be a storage device independent of the processor 1001.

[0031] Those skilled in the art will understand that Figure 1 The device structure shown in the figure does not constitute a limitation of the device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0032] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating device, a network communication module, a user interface module, and a vehicle comprehensive slip rate calculation program.

[0033] The device of the present invention calls the vehicle comprehensive slip rate calculation program stored in the memory 1005 through the processor 1001 and performs the following operations: Obtain the sum of relative slip rates and actual slip rates based on the Ackerman steering model, yaw rate, GPS, and video camera data; Calculating an actual slip rate relative difference based on the relative slip rate sum and the actual slip rate sum, and calculating an actual slip rate proportion based on the actual slip rate relative difference; A final actual slip rate is obtained according to an average value of the sum of the actual slip rates and the actual slip rate ratio.

[0034] The device of the present invention calls the vehicle comprehensive slip rate calculation program stored in the memory 1005 through the processor 1001, and further performs the following operations: Obtain actual slip rate based on Ackermann steering model, yaw rate, GPS and video camera data; Calculating a total actual slip rate based on the actual slip rate based on the Ackerman steering model, yaw rate, GPS, and video camera data; Calculating an actual slip rate relative coefficient according to the actual slip rate based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the sum of the actual slip rates; The total relative slip rate is obtained by calculating the actual slip rate based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the actual slip rate relative coefficient.

[0035] The device of the present invention calls the vehicle comprehensive slip rate calculation program stored in the memory 1005 through the processor 1001, and further performs the following operations: The actual slip rate sum is calculated based on the Ackerman steering model, yaw rate, GPS and video camera data using the following formula:

[0036] in, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the sum of the fourth actual slip ratio; Accordingly,

[0037] in, is the speed at the center of the vehicle, is the turning radius at the wheel, is the turning radius at the center of the vehicle, is the actual rotation speed of the wheel, is the vehicle's yaw rate, is the wheelbase, The wheel angle minus the angle between the line connecting the center of the vehicle and the wheel and the body, is the travel arc length, is the time corresponding to the arc length, is the wheel translation speed.

[0038] The device of the present invention calls the vehicle comprehensive slip rate calculation program stored in the memory 1005 through the processor 1001, and further performs the following operations: The actual slip rate relative coefficient is obtained by calculating the actual slip rate based on the Ackerman steering model, yaw angular velocity, GPS and video camera data and the sum of the actual slip rates using the following formula:

[0039] in, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum.

[0040] The device of the present invention calls the vehicle comprehensive slip rate calculation program stored in the memory 1005 through the processor 1001, and further performs the following operations: The total relative slip rate is calculated by the following formula according to the actual slip rate based on the Ackerman steering model, yaw angular velocity, GPS and video camera data and the actual slip rate relative coefficient:

[0041] in, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data.

[0042] The device of the present invention calls the vehicle comprehensive slip rate calculation program stored in the memory 1005 through the processor 1001, and further performs the following operations: The total relative slip rate is calculated by the following formula according to the actual slip rate based on the Ackerman steering model, yaw angular velocity, GPS and video camera data and the actual slip rate relative coefficient:

[0043] in, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data.

[0044] The device of the present invention calls the vehicle comprehensive slip rate calculation program stored in the memory 1005 through the processor 1001, and further performs the following operations: According to the average value of the actual slip ratio sum and the actual slip ratio proportion, a final actual slip ratio is obtained by the following formula:

[0045] wherein, is the final actual slip ratio, is the average value of the first actual slip ratio sum, is the average value of the second actual slip ratio sum, is the average value of the third actual slip ratio sum, is the average value of the fourth actual slip ratio sum, is the first actual slip ratio proportion, is the second actual slip ratio proportion, is the third actual slip ratio proportion, is the fourth actual slip ratio proportion. Correspondingly,

[0046] wherein, is the average value of the first actual slip ratio sum, is the average value of the second actual slip ratio sum, is the average value of the third actual slip ratio sum, is the average value of the fourth actual slip ratio sum, is the first actual slip ratio sum, is the second actual slip ratio sum, is the third actual slip ratio sum, is the fourth actual slip ratio sum.

[0047] According to the above scheme, the relative slip ratio sum and the actual slip ratio sum based on the Ackerman steering model, the yaw rate, the GPS and the video camera data are obtained; the actual slip ratio relative difference is calculated according to the relative slip ratio sum and the actual slip ratio sum, and the actual slip ratio proportion is calculated according to the actual slip ratio relative difference; the final actual slip ratio is obtained according to the average value of the actual slip ratio sum and the actual slip ratio proportion; four slip ratio states can be comprehensively processed, the proportion of the slip ratio with large deviation is reduced through the exponential model, and finally the accurate slip ratio can be obtained through the average value processing mode, the calculation precision of the vehicle slip ratio is improved, the driving anti-slip effect is improved, the safety of vehicle driving is improved, the life and property safety of the driver and the passenger is ensured, and the speed and efficiency of the vehicle comprehensive slip ratio calculation are improved.

[0048] Based on the above hardware structure, the vehicle comprehensive slip ratio calculation method embodiment of the present application is proposed.

[0049] Reference Figure 2 , Figure 2 FIG. 1 is a flow chart of a first embodiment of a method for calculating a vehicle's comprehensive slip rate according to the present invention.

[0050] In a first embodiment, the method for calculating the vehicle comprehensive slip rate includes the following steps: Step S10: Obtaining the sum of relative slip rates and the sum of actual slip rates based on the Ackerman steering model, yaw angular velocity, GPS, and video camera data.

[0051] It should be noted that the corresponding actual slip rate can be calculated based on the Ackerman steering model, yaw angular velocity, GPS and video camera data.

[0052] Step S20: Calculate the actual slip rate relative difference based on the relative slip rate sum and the actual slip rate sum, and calculate the actual slip rate proportion based on the actual slip rate relative difference.

[0053] It should be understood that the relative difference in actual slip rates between the sum of the relative slip rates and the sum of the actual slip rates can be calculated, and the actual slip rate ratio can be calculated based on the relative difference in actual slip rates.

[0054] Step S30: Obtain a final actual slip rate according to an average value of the sum of the actual slip rates and the actual slip rate proportion.

[0055] It can be understood that the final actual slip rate can be obtained by calculation according to the average value of the total actual slip rates and the actual slip rate ratio.

[0056] This embodiment, through the above-mentioned solution, obtains the sum of relative slip rates and the sum of actual slip rates based on the Ackerman steering model, yaw angular velocity, GPS, and video camera data; calculates the relative difference of actual slip rates based on the sum of relative slip rates and the sum of actual slip rates, and obtains the actual slip rate percentage based on the actual slip rate relative difference; obtains the final actual slip rate based on the average value of the sum of actual slip rates and the actual slip rate percentage; and can use four slip rate states for comprehensive processing. For slip rates with large deviations, their percentages are reduced using an exponential model, and finally, an accurate slip rate is obtained through average value processing. This improves the calculation accuracy of the vehicle slip rate, enhances the driving anti-skid effect, improves the vehicle driving safety, ensures the life and property safety of the driver and passengers, and improves the speed and efficiency of the vehicle comprehensive slip rate calculation.

[0057] Furthermore, Figure 3 FIG. 1 is a flow chart of a second embodiment of a method for calculating a vehicle's comprehensive slip rate according to the present invention. Figure 3As shown, the second embodiment of the vehicle comprehensive slip ratio calculation method is proposed based on the first embodiment, and in this embodiment, the step S10 specifically includes the following steps: Step S11, obtaining the actual slip ratio based on the Ackermann steering model, the yaw rate, the GPS and the video camera data.

[0058] It should be noted that the corresponding actual slip ratio can be calculated based on the Ackermann steering model, the corresponding actual slip ratio can be calculated based on the yaw rate, the corresponding actual slip ratio can be calculated based on the Global Positioning System (GPS), and the corresponding actual slip ratio can be calculated based on the video camera data.

[0059] Step S12, calculating the actual slip ratio sum according to the actual slip ratio based on the Ackermann steering model, the yaw rate, the GPS and the video camera data.

[0060] It can be understood that the actual slip ratio sum can be calculated according to the actual slip ratio based on the Ackermann steering model, the yaw rate, the GPS and the video camera data.

[0061] Further, the step S12 specifically includes the following steps: The actual slip ratio sum is calculated according to the actual slip ratio based on the Ackermann steering model, the yaw rate, the GPS and the video camera data by the following formula:

[0062] Among them, is the actual slip ratio calculated based on the Ackermann steering model, is the actual slip ratio calculated based on the yaw rate, is the actual slip ratio calculated based on the GPS, is the actual slip ratio calculated based on the camera data, is the first actual slip ratio sum, is the second actual slip ratio sum, is the third actual slip ratio sum, is the fourth actual slip ratio sum; Correspondingly,

[0063] Among them, is the vehicle speed at the vehicle center, is the turning radius at the wheel, is the turning radius at the vehicle center, is the actual rotation speed of the wheel, a yaw rate of the vehicle, a wheel base, a wheel angle minus an angle between a line connecting the vehicle center and the wheel and the vehicle body, a travel arc length, a time corresponding to the travel arc length, a wheel translation speed.

[0064] It should be noted that the four kinds of actual slip rates are calculated by summing up four kinds of slip rates; the sum of various actual slip rates is equal to the sum of the remaining three kinds of slip rates after excluding one kind of slip rate from the four kinds of slip rates; the first actual slip rate sum is the sum of the actual slip rates calculated based on the Ackermann steering model; the second actual slip rate sum is the actual slip rate calculated based on the yaw rate; the third actual slip rate sum is the actual slip rate calculated based on the GPS; and the fourth actual slip rate sum is the actual slip rate calculated based on the video camera data.

[0065] It can be understood that the vehicle speed at the vehicle center is obtained by a vehicle speed sensor, the turning radius at the wheel is calculated by combining the wheel angle with the Ackermann steering model; the turning radius at the vehicle center is calculated by combining the wheel angle with the Ackermann steering model; the actual rotation speed of the wheel is obtained by a vehicle speed sensor; the yaw rate of the vehicle is calculated by the yaw rate; the wheel base is the distance between the wheels on both sides of the vehicle, which is obtained by professional equipment detection; the wheel angle minus the angle between the line connecting the vehicle center and the wheel and the vehicle body; the travel arc length obtained by the GPS; the time corresponding to the travel arc length obtained by the GPS; and the wheel translation speed identified by the camera.

[0066] In step S13, an actual slip rate relative coefficient is calculated according to the actual slip rates based on the Ackermann steering model, the yaw rate, the GPS and the video camera data and the actual slip rate sum.

[0067] It should be understood that the actual slip rate relative coefficient can be obtained by calculating the actual slip rate based on the Ackermann steering model, the yaw rate, the GPS and the video camera data and the actual slip rate sum.

[0068] Further, the step S13 specifically includes the following steps: The actual slip rate relative coefficient is calculated according to the actual slip rates based on the Ackermann steering model, the yaw rate, the GPS and the video camera data and the actual slip rate sum by the following formula:

[0069] wherein, the first actual slip rate relative coefficient is the second actual slip rate relative coefficient is is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum.

[0070] It should be noted that four actual slip relative coefficients are calculated based on the sum of four actual slip rates, the actual slip rate calculated based on the Ackerman steering model, the actual slip rate calculated based on the yaw angular velocity, the actual slip rate calculated based on GPS, and the actual slip rate calculated based on video camera data. Each actual slip relative coefficient is equal to the sum of its actual slip rates divided by its corresponding eliminated actual slip rate. Each actual slip relative coefficient represents the multiple relationship between the sum of its actual slip rates and its corresponding eliminated actual slip rate.

[0071] Step S14: Calculate the total relative slip rate according to the actual slip rate based on the Ackerman steering model, the yaw angular velocity, the GPS and the video camera data and the actual slip rate relative coefficient.

[0072] It can be understood that the total relative slip rate can be obtained by calculation according to the actual slip rate based on the Ackerman steering model, yaw rate, GPS and video camera data and the actual slip rate relative coefficient.

[0073] Furthermore, the step S14 specifically includes the following steps: The total relative slip rate is calculated by the following formula based on the actual slip rate based on the Ackerman steering model, yaw rate, GPS and video camera data and the actual slip rate relative coefficient:

[0074] in, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data.

[0075] It should be noted that the sum of four relative slip rates is calculated based on four actual slip rate relative coefficients, the actual slip rate calculated based on the Ackermann steering model, the actual slip rate calculated based on the yaw angular velocity, the actual slip rate calculated based on GPS, and the actual slip rate calculated based on video camera data. The first relative slip rate sum is equal to the average sum of the four actual slip rate relative coefficients multiplied by the actual slip rate calculated based on the Ackermann steering model; the second relative slip rate sum is equal to the average sum of the four actual slip rate relative coefficients multiplied by the actual slip rate calculated based on the yaw angular velocity; the third relative slip rate sum is equal to the average sum of the four actual slip rate relative coefficients multiplied by the actual slip rate calculated based on GPS; and the fourth relative slip rate sum is equal to the average sum of the four actual slip rate relative coefficients multiplied by the actual slip rate calculated based on video camera data.

[0076] Accordingly, the step S20 specifically includes the following steps: The actual slip rate relative difference is calculated based on the sum of the relative slip rates and the sum of the actual slip rates using the following formula:

[0077] in, The first type of actual slip rate is relatively poor. is the second relative difference in actual slip rate, The third type of actual slip rate is relatively poor. is the fourth relative difference of actual slip rate, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate; The actual slip ratio is calculated according to the actual slip ratio relative difference using the following formula:

[0078] in, is the first actual slip ratio, is the second actual slip ratio, is the third actual slip ratio, is the fourth actual slip ratio, The first type of actual slip rate is relatively poor. is the second relative difference in actual slip rate, The third type of actual slip rate is relatively poor. is the fourth relative difference of actual slip rate, is a natural number.

[0079] It should be noted that various actual slip rate relative differences are calculated based on the sums of the four relative slip rates and the sums of the four actual slip rates. Each actual slip rate relative difference is equal to the reciprocal of the absolute value of the difference between its relative slip rate sum and the corresponding actual slip rate sum.

[0080] It can be understood that an exponential model is constructed based on various relative differences in actual slip rates to calculate the four actual slip rate proportions; the four actual slip rate proportions are equal to the quotient of the obtained value with the natural number e as the base and the opposite number of the actual slip rate relative difference as the exponent, and the obtained value of the sum of all the values ​​with the natural number e as the base and the opposite number of the actual slip rate relative difference as the exponent.

[0081] Accordingly, the step S30 specifically includes the following steps: The final actual slip rate is obtained by calculating the average value of the total actual slip rate and the actual slip rate ratio using the following formula:

[0082] in, is the final actual slip rate, is the average value of the sum of the first actual slip rates, is the average value of the second actual slip ratio, is the average value of the third actual slip ratio, is the average value of the sum of the fourth actual slip rates, is the first actual slip ratio, is the second actual slip ratio, is the third actual slip ratio, is the fourth actual slip ratio; Accordingly,

[0083] in, is the average value of the first actual slip ratio sum, is the average value of the second actual slip ratio sum, is the average value of the third actual slip ratio sum, is the average value of the fourth actual slip ratio sum, is the first actual slip ratio sum, is the second actual slip ratio sum, is the third actual slip ratio sum, is the fourth actual slip ratio sum.

[0084] It should be noted that the average value of the four actual slip ratio sums is calculated based on the four actual slip ratio sums; the average value of the actual slip ratio sums is equal to the actual slip ratio sum divided by three; the accurate actual slip ratio is calculated based on the average value of the four actual slip ratio sums and the four actual slip ratio proportions. The accurate actual slip ratio is equal to the average value of the sum of the products of the average value of all actual slip ratio sums and the actual slip ratio proportions corresponding thereto.

[0085] The embodiment calculates the actual slip ratio sum based on the actual slip ratio based on the Ackerman steering model, the yaw rate, the GPS and the video camera data; calculates the relative slip ratio coefficient based on the actual slip ratio based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the actual slip ratio sum; calculates the relative slip ratio sum based on the actual slip ratio based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the relative slip ratio coefficient, which can comprehensively process four slip ratio states and improve the calculation accuracy of the vehicle slip ratio.

[0086] Correspondingly, the application further provides a vehicle comprehensive slip ratio calculation device.

[0087] Referring to Figure 4 , Figure 4 is the functional module diagram of the first embodiment of the vehicle comprehensive slip ratio calculation device of the application.

[0088] In the first embodiment of the vehicle comprehensive slip ratio calculation device of the application, the vehicle comprehensive slip ratio calculation device comprises: a slip ratio sum calculation module 10 for obtaining the relative slip ratio sum and the actual slip ratio sum based on the Ackerman steering model, the yaw rate, the GPS and the video camera data.

[0089] The slip ratio calculation module 20 is configured to calculate an actual slip ratio relative difference based on the relative slip ratio sum and the actual slip ratio sum, and obtain an actual slip ratio based on the actual slip ratio relative difference.

[0090] The final slip rate calculation module 30 is configured to obtain a final actual slip rate according to an average value of the total actual slip rates and the actual slip rate ratio.

[0091] The slip rate sum calculation module 10 is further configured to obtain an actual slip rate based on an Ackermann steering model, yaw angular velocity, GPS, and video camera data; calculate an actual slip rate sum based on the actual slip rate based on the Ackermann steering model, yaw angular velocity, GPS, and video camera data; calculate an actual slip rate relative coefficient based on the actual slip rate based on the Ackermann steering model, yaw angular velocity, GPS, and video camera data and the actual slip rate sum; and obtain a relative slip rate sum based on the actual slip rate based on the Ackermann steering model, yaw angular velocity, GPS, and video camera data and the actual slip rate relative coefficient.

[0092] The slip rate sum calculation module 10 is further configured to calculate the actual slip rate sum according to the actual slip rate based on the Ackerman steering model, yaw angular velocity, GPS and video camera data by the following formula:

[0093] in, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the sum of the fourth actual slip ratio; Accordingly,

[0094] in, is the speed at the center of the vehicle, is the turning radius at the wheel, is the turning radius at the center of the vehicle, is the actual rotation speed of the wheel, is the vehicle's yaw rate, is the wheelbase, The wheel angle minus the angle between the line connecting the center of the vehicle and the wheel and the body, is the running arc length, is the time corresponding to the running arc length, is the wheel translation speed.

[0095] The slip ratio sum calculation module 10 is further configured to calculate the actual slip ratio relative coefficient according to the actual slip ratios based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the actual slip ratio sum by the following formula:

[0096] wherein, is the first actual slip ratio relative coefficient, is the second actual slip ratio relative coefficient, is the third actual slip ratio relative coefficient, is the fourth actual slip ratio relative coefficient, is the actual slip ratio calculated based on the Ackerman steering model, is the actual slip ratio calculated based on the yaw rate, is the actual slip ratio calculated based on the GPS, is the actual slip ratio calculated based on the camera data, is the first actual slip ratio sum, is the second actual slip ratio sum, is the third actual slip ratio sum, is the fourth actual slip ratio sum.

[0097] The slip ratio sum calculation module 10 is further configured to calculate the relative slip ratio sum according to the actual slip ratios based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the actual slip ratio relative coefficient by the following formula:

[0098] wherein, is the first relative slip ratio sum, is the second relative slip ratio sum, is the third relative slip ratio sum, is the fourth relative slip ratio sum, is the first actual slip ratio relative coefficient, is the second actual slip ratio relative coefficient, is the third actual slip ratio relative coefficient, is the fourth actual slip ratio relative coefficient, is the actual slip ratio calculated based on the Ackerman steering model, is the actual slip ratio calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data.

[0099] The slip ratio calculation module 20 is further configured to calculate the actual slip ratio relative difference according to the relative slip ratio sum and the actual slip ratio sum using the following formula:

[0100] in, The first type of actual slip rate is relatively poor. is the second relative difference in actual slip rate, The third type of actual slip rate is relatively poor. is the fourth relative difference of actual slip rate, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate; The actual slip ratio is calculated according to the actual slip ratio relative difference using the following formula:

[0101] in, is the first actual slip ratio, is the second actual slip ratio, is the third actual slip ratio, is the fourth actual slip ratio, The first type of actual slip rate is relatively poor. is the second relative difference in actual slip rate, The third type of actual slip rate is relatively poor. is the fourth relative difference of actual slip rate, is a natural number.

[0102] The final slip rate calculation module 30 is further configured to calculate a final actual slip rate according to the average value of the total actual slip rates and the actual slip rate ratio using the following formula:

[0103] in, is the final actual slip rate, is the average value of the first actual slip ratio, is the average value of the second actual slip ratio, is the average value of the third actual slip ratio, is the average value of the sum of the fourth actual slip rates, is the first actual slip ratio, is the second actual slip ratio, is the third actual slip ratio, is the fourth actual slip ratio; Accordingly,

[0104] in, is the average value of the sum of the first actual slip rates, is the average value of the second actual slip ratio, is the average value of the third actual slip ratio, is the average value of the sum of the fourth actual slip rates, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum.

[0105] Among them, the steps implemented by each functional module of the vehicle comprehensive slip rate calculation device can refer to the various embodiments of the vehicle comprehensive slip rate calculation method of the present invention, and will not be repeated here.

[0106] In addition, an embodiment of the present invention further provides a storage medium, wherein a vehicle integrated slip ratio calculation program is stored on the storage medium. When the vehicle integrated slip ratio calculation program is executed by a processor, the following operations are performed: Obtain the sum of relative slip rates and actual slip rates based on the Ackerman steering model, yaw rate, GPS, and video camera data; Calculating an actual slip rate relative difference based on the relative slip rate sum and the actual slip rate sum, and calculating an actual slip rate proportion based on the actual slip rate relative difference; A final actual slip rate is obtained according to an average value of the sum of the actual slip rates and the actual slip rate ratio.

[0107] Furthermore, when the vehicle comprehensive slip rate calculation program is executed by the processor, the following operations are also implemented: Obtain actual slip rate based on Ackermann steering model, yaw rate, GPS and video camera data; Calculating a total actual slip rate based on the actual slip rate based on the Ackerman steering model, yaw rate, GPS, and video camera data; Calculating an actual slip rate relative coefficient according to the actual slip rate based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the sum of the actual slip rates; The total relative slip rate is obtained by calculating the actual slip rate based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the actual slip rate relative coefficient.

[0108] Furthermore, when the vehicle comprehensive slip rate calculation program is executed by the processor, the following operations are also implemented: The actual slip rate sum is calculated based on the Ackerman steering model, yaw rate, GPS and video camera data using the following formula:

[0109] in, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the sum of the fourth actual slip ratio; Accordingly,

[0110] in, is the speed at the center of the vehicle, is the turning radius at the wheel, is the turning radius at the center of the vehicle, is the actual rotation speed of the wheel, is the vehicle's yaw rate, is the wheelbase, The wheel angle minus the angle between the line connecting the center of the vehicle and the wheel and the body, is the travel arc length, is the time corresponding to the arc length, is the wheel translation speed.

[0111] Furthermore, when the vehicle comprehensive slip rate calculation program is executed by the processor, the following operations are also implemented: The actual slip rate relative coefficient is obtained by calculating the actual slip rate based on the Ackerman steering model, yaw angular velocity, GPS and video camera data and the sum of the actual slip rates using the following formula:

[0112] in, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum.

[0113] Furthermore, when the vehicle comprehensive slip rate calculation program is executed by the processor, the following operations are also implemented: The total relative slip rate is calculated by the following formula based on the actual slip rate based on the Ackerman steering model, yaw rate, GPS and video camera data and the actual slip rate relative coefficient:

[0114] in, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data.

[0115] Furthermore, when the vehicle comprehensive slip rate calculation program is executed by the processor, the following operations are also implemented: The total relative slip rate is calculated by the following formula based on the actual slip rate based on the Ackerman steering model, yaw rate, GPS and video camera data and the actual slip rate relative coefficient:

[0116] in, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data.

[0117] Furthermore, when the vehicle comprehensive slip rate calculation program is executed by the processor, the following operations are also implemented: The final actual slip rate is obtained by calculating the average value of the total actual slip rate and the actual slip rate ratio using the following formula:

[0118] in, is the final actual slip rate, is the average value of the sum of the first actual slip rates, is the average value of the second actual slip ratio, is the average value of the third actual slip ratio, is the average value of the sum of the fourth actual slip rates, is the first actual slip ratio, is the second actual slip ratio, is the third actual slip ratio, is the fourth actual slip ratio; Accordingly,

[0119] in, is the average value of the sum of the first actual slip rates, is the average value of the second actual slip ratio, is the average value of the third actual slip ratio, is the average value of the sum of the fourth actual slip rates, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum.

[0120] Those skilled in the art will understand that all or part of the steps in the above-mentioned implementation methods can be implemented by instructing related hardware through a program. The program is stored in a storage medium and includes a number of instructions for enabling a device (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application; and the aforementioned storage medium is a computer-readable storage medium, including: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0121] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0122] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0123] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for calculating a vehicle's comprehensive slip rate, characterized in that: The method for calculating the comprehensive slip rate of a vehicle includes: Obtain the sum of relative slip rates and actual slip rates based on the Ackerman steering model, yaw rate, GPS, and video camera data; Calculating an actual slip rate relative difference based on the relative slip rate sum and the actual slip rate sum, and calculating an actual slip rate proportion based on the actual slip rate relative difference; A final actual slip rate is obtained according to an average value of the sum of the actual slip rates and the actual slip rate ratio.

2. The method for calculating the vehicle comprehensive slip rate according to claim 1, wherein: The obtaining of the sum of relative slip rates and the sum of actual slip rates based on the Ackerman steering model, yaw angular velocity, GPS, and video camera data includes: Obtain actual slip rate based on Ackermann steering model, yaw rate, GPS and video camera data; Calculating a total actual slip rate based on the actual slip rate based on the Ackerman steering model, yaw rate, GPS, and video camera data; Calculating an actual slip rate relative coefficient according to the actual slip rate based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the sum of the actual slip rates; The total relative slip rate is obtained by calculating the actual slip rate based on the Ackerman steering model, the yaw rate, the GPS and the video camera data and the actual slip rate relative coefficient.

3. The method for calculating the vehicle comprehensive slip rate according to claim 2, wherein: The calculating the actual slip rate sum according to the actual slip rate based on the Ackerman steering model, the yaw angular velocity, the GPS and the video camera data includes: The actual slip rate sum is calculated based on the Ackerman steering model, yaw rate, GPS and video camera data using the following formula: in, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the sum of the fourth actual slip ratio; Accordingly, in, is the speed at the center of the vehicle, is the turning radius at the wheel, is the turning radius at the center of the vehicle, is the actual rotation speed of the wheel, is the vehicle's yaw rate, is the wheelbase, The wheel angle minus the angle between the line connecting the center of the vehicle and the wheel and the body, is the travel arc length, is the time corresponding to the arc length, is the wheel translation speed.

4. The method for calculating the vehicle comprehensive slip rate according to claim 2, wherein: Calculating the actual slip rate relative coefficient according to the actual slip rate based on the Ackerman steering model, the yaw angular velocity, the GPS and the video camera data and the sum of the actual slip rates includes: The actual slip rate relative coefficient is obtained by calculating the actual slip rate based on the Ackerman steering model, yaw angular velocity, GPS and video camera data and the sum of the actual slip rates using the following formula: in, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the sum of the fourth actual slip rates.

5. The method for calculating the vehicle comprehensive slip rate according to claim 2, wherein: The calculating of the relative slip rate sum according to the actual slip rate based on the Ackerman steering model, the yaw angular velocity, the GPS and the video camera data and the actual slip rate relative coefficient includes: The total relative slip rate is calculated by the following formula according to the actual slip rate based on the Ackerman steering model, yaw angular velocity, GPS and video camera data and the actual slip rate relative coefficient: in, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate, is the first relative coefficient of actual slip rate, is the second relative coefficient of actual slip rate, is the third relative coefficient of actual slip rate, is the fourth relative coefficient of actual slip rate, is the actual slip rate calculated based on the Ackerman steering model, is the actual slip rate calculated based on the yaw rate, is the actual slip rate calculated based on GPS, is the actual slip rate calculated based on the camera data.

6. The method for calculating the vehicle comprehensive slip rate according to claim 1, wherein: The calculating the actual slip rate relative difference according to the relative slip rate sum and the actual slip rate sum, and obtaining the actual slip rate proportion according to the actual slip rate relative difference, includes: The actual slip rate relative difference is calculated based on the sum of the relative slip rates and the sum of the actual slip rates using the following formula: in, The first type of actual slip rate is relatively poor. is the second relative difference in actual slip rate, The third type of actual slip rate relative difference is: is the fourth relative difference of actual slip rate, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the fourth actual slip ratio sum, is the sum of the first relative slip rates, is the sum of the second relative slip rate, is the sum of the third relative slip rate, is the sum of the fourth relative slip rate; The actual slip ratio is calculated according to the actual slip ratio relative difference using the following formula: in, is the first actual slip ratio, is the second actual slip ratio, is the third actual slip ratio, is the fourth actual slip ratio, The first type of actual slip rate is relatively poor. is the second relative difference in actual slip rate, The third type of actual slip rate relative difference is: is the fourth relative difference of actual slip rate, is a natural number.

7. The method for calculating the vehicle comprehensive slip rate according to claim 1, wherein: Obtaining a final actual slip rate according to an average value of the sum of the actual slip rates and the actual slip rate proportion includes: The final actual slip rate is obtained by calculating the average value of the total actual slip rate and the actual slip rate ratio using the following formula: in, is the final actual slip rate, is the average value of the sum of the first actual slip rates, is the average value of the second actual slip ratio, is the average value of the third actual slip ratio, is the average value of the sum of the fourth actual slip rates, is the first actual slip ratio, is the second actual slip ratio, is the third actual slip ratio, is the fourth actual slip ratio; Accordingly, in, is the average value of the sum of the first actual slip rates, is the average value of the second actual slip ratio, is the average value of the third actual slip ratio, is the average value of the sum of the fourth actual slip rates, is the sum of the first actual slip ratio, is the sum of the second actual rotation slip rate, is the third actual slip ratio sum, is the sum of the fourth actual slip rates.

8. A vehicle comprehensive slip rate calculation device, characterized in that: The vehicle comprehensive slip rate calculation device includes: A slip rate sum calculation module is used to obtain the relative slip rate sum and the actual slip rate sum based on the Ackerman steering model, yaw rate, GPS and video camera data; a slip ratio calculation module, configured to calculate a relative difference in actual slip ratios based on the sum of the relative slip ratios and the sum of the actual slip ratios, and to obtain an actual slip ratio based on the relative difference in actual slip ratios; The final slip rate calculation module is configured to obtain a final actual slip rate according to an average value of the total actual slip rates and the actual slip rate ratio.

9. A vehicle comprehensive slip rate calculation device, characterized in that: The vehicle comprehensive slip rate calculation device includes: a memory, a processor, and a vehicle comprehensive slip rate calculation program stored in the memory and executable on the processor. The vehicle comprehensive slip rate calculation program is configured to implement the steps of the vehicle comprehensive slip rate calculation method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a vehicle integrated slip ratio calculation program, which, when executed by a processor, implements the steps of the vehicle integrated slip ratio calculation method according to any one of claims 1 to 7.

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