Vehicle position control residual distance signal processing method and system, equipment and medium
By combining position sensor signals and theoretically calculated signals for fitting calculation, the problem of closed-loop control overshoot caused by the long transmission path of the remaining distance signal in vehicle position control is solved, and high-precision vehicle position control is achieved.
Patent Information
- Application Number
- CN202511191579.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-25
- Publication Date
- 2025-11-21
AI Technical Summary
In existing technologies, the transmission path of the remaining distance signal in vehicle position control is relatively long, resulting in a large signal update cycle, which can easily lead to overshoot in closed-loop control. Furthermore, the theoretically calculated driving distance is inaccurate, making it difficult to achieve precise position control.
By combining position sensor signals and theoretically calculated signals for fitting calculation, the remaining distance correction coefficient is determined by obtaining the initial actual remaining distance and the historical actual remaining distance, thereby optimizing the real-time performance and accuracy of the remaining distance signal.
It improves the real-time performance and accuracy of the remaining distance signal, enhances the precision of vehicle position control, and meets the requirements of closed-loop control.
Smart Images
Figure CN120986401A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of automobile position control, and in particular relates to a vehicle position control residual distance signal processing method, system, device and medium. BACKGROUND
[0002] Vehicle position control refers to the control of a vehicle traveling from an initial position to a target position according to specified speed, acceleration and other constraints. The distance between the current position of the vehicle and the target position in the position control process is the residual distance, and the measured residual distance signal is transmitted to the vehicle drive controller for position closed-loop control by radar or laser.
[0003] Figure 1 is a network topology diagram of an existing vehicle model. As shown in Figure 1 , the automatic driving domain control unit ADCU sends the signal of the displacement sensor DS to the automatic driving domain control bus AD_CAN, the central gateway CGW converts and sends the signal to the power domain control bus P_CAN, the vehicle control unit VCU receives the displacement signal from the power domain control bus P_CAN and forwards it to the motor control unit MCU, and the motor control unit MCU performs position closed-loop control according to the position signal and controls the vehicle to the target position under the constraints of speed, acceleration and the like. However, in the above technical solution, the residual distance signal transmission path is long, resulting in a large signal update period, which can easily cause closed-loop control overshoot and does not meet the position control accuracy.
[0004] In the prior art, another conventional processing method of the residual distance signal is that the motor control unit MCU calculates the vehicle travel distance through motor rotation angle, speed ratio, rolling radius and other parameters, and then calculates the residual distance as the input of the closed-loop control of the motor control unit MCU. Although this method meets the real-time requirement of the closed-loop control signal input, the theoretically calculated travel distance is often inaccurate and has poor authenticity due to the influence of side clearance, vehicle load, road flatness and the like, and it is difficult to achieve accurate position control. SUMMARY
[0005] The present application aims to solve at least one of the above problems in the prior art, and provides a processing method of a residual distance signal in vehicle position control, which combines the position sensor signal and the theoretically calculated position signal for fitting calculation to improve the real-time performance and authenticity of the residual distance signal.
[0006] In a first aspect, an embodiment of the present application provides a vehicle position control residual distance signal processing method, comprising:
[0007] obtaining an initial actual residual distance at time t from the vehicle controller;
[0008] determining the remaining distance correction factor corresponding to the t time according to the final actual remaining distance corresponding to the n time before the t time and the final actual remaining distance corresponding to the n-1 time;
[0009] judging whether the updated remaining distance signal from the displacement sensor is timely received at the t time;
[0010] if it is judged that the updated remaining distance signal from the displacement sensor is not timely received at the t time, determining the final actual remaining distance corresponding to the t time according to the initial actual remaining distance corresponding to the t time, the final actual remaining distance corresponding to the n-1 time and the remaining distance correction factor corresponding to the t time.
[0011] Preferably, the step of determining the remaining distance correction factor corresponding to the t time according to the final actual remaining distance corresponding to the n time before the t time and the final actual remaining distance corresponding to the n-1 time comprises:
[0012] calculating a first movement distance according to the final actual remaining distance corresponding to the n time and the final actual remaining distance corresponding to the n-1 time ;
[0013] ;
[0014] determining a second movement distance according to the motor actual angle corresponding to the n time and the motor actual angle corresponding to the n-1 time , the wheel rolling radius and the speed ratio from the motor end to the wheel end ;
[0015] ;
[0016] determining the remaining distance correction factor of the t time according to the first movement distance and the second movement distance ;
[0017] .
[0018] Preferably, the step of determining the final actual remaining distance corresponding to the t time according to the initial actual remaining distance corresponding to the t time, the final actual remaining distance corresponding to the n-1 time and the remaining distance correction factor corresponding to the t time comprises:
[0019] determining the final actual remaining distance corresponding to the t time based on the following formula :
[0020]
[0021] wherein, represents the final actual remaining distance corresponding to t-1 time, represents the motor actual angle corresponding to t time, represents the motor actual angle corresponding to t-1 time.
[0022] Preferably, the step of judging whether the updated remaining distance signal from the displacement sensor is timely received at t time includes:
[0023] detecting whether the initial actual remaining distance corresponding to t time is equal to the final actual remaining distance corresponding to t-1 time;
[0024] if it is detected that the initial actual remaining distance corresponding to t time is equal to the final actual remaining distance corresponding to t-1 time, it is judged that the updated remaining distance signal from the displacement sensor is not timely received at t time;
[0025] if it is detected that the initial actual remaining distance corresponding to t time is not equal to the final actual remaining distance corresponding to t-1 time, it is judged that the updated remaining distance signal from the displacement sensor is timely received at t time.
[0026] Preferably, if it is judged that the updated remaining distance signal from the displacement sensor is timely received at t time, it is determined that the final actual remaining distance corresponding to t time takes the initial actual remaining distance corresponding to t time.
[0027] Preferably, after the final actual remaining distance corresponding to t time is determined, the system further includes:
[0028] judging whether the final actual remaining distance corresponding to t time is less than a preset remaining distance threshold;
[0029] if it is judged that the final actual remaining distance corresponding to t time is less than the preset remaining distance threshold, t+1 time is taken as a new t time, n time is taken as a new n-1 time, n+1 time is taken as a new n time, and the step of acquiring the initial actual remaining distance of t time from the vehicle controller is performed again according to the new t time.
[0030] Preferably, n time and t-1 time are the same time.
[0031] In a second aspect, an embodiment of the present application provides a vehicle position control remaining distance signal processing system, which is configured to implement any of the methods in the first aspect, and the system includes:
[0032] The first acquisition module is used to obtain the initial actual remaining distance at time t from the vehicle controller;
[0033] The coefficient determination module is used to determine the remaining distance correction coefficient corresponding to time t based on the final actual remaining distance corresponding to time n before time t and the final actual remaining distance corresponding to time n-1.
[0034] The judgment module is used to determine whether the remaining distance signal updated by the displacement sensor has been received in time at time t.
[0035] The distance determination module is used to determine the final actual remaining distance at time t based on the initial actual remaining distance at time t, the final actual remaining distance at time t-1, and the remaining distance correction coefficient at time t when the judgment module determines that the remaining distance signal updated by the displacement sensor was not received in time at time t.
[0036] Thirdly, embodiments of the present invention provide an electronic device, comprising:
[0037] One or more processors;
[0038] Memory, used to store one or more programs;
[0039] When the one or more programs are executed by the one or more processors, the one or more processors implement any of the methods described in the first aspect.
[0040] Fourthly, embodiments of the present invention provide a computer-readable medium storing a computer program that, when executed by a processor, implements the steps of any of the methods described in the first aspect.
[0041] Beneficial effects of this invention:
[0042] This invention combines position sensor signals and theoretically calculated position signals for fitting calculation, thereby improving the real-time performance and accuracy of the remaining distance signal. Attached Figure Description
[0043] Figure 1 Here is a simplified network topology diagram for an existing vehicle model;
[0044] Figure 2 A flowchart illustrating a vehicle position control remaining distance signal processing method provided in an embodiment of the present invention. Figure 1 ;
[0045] Figure 3 A flowchart illustrating a vehicle position control remaining distance signal processing method provided in an embodiment of the present invention. Figure 2 ;
[0046] Figure 4 A vehicle position control residual distance signal processing method flowchart provided for an embodiment of the present application Figure 3 ;
[0047] Figure 5 A structural block diagram of an electronic device provided for an embodiment of the present application. DETAILED DESCRIPTION
[0048] To enable persons skilled in the art to better understand the technical solutions of the present application, exemplary embodiments of the present application are described below with reference to the accompanying drawings, which include various details of the embodiments of the present application to help understanding, and should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Also, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.
[0049] In the case of no conflict, each embodiment of the present application and each feature in the embodiments can be combined with each other.
[0050] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.
[0051] The terms used herein are only used to describe specific embodiments and are not intended to limit the present application. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The terms "connected" or "coupled" and / or like terms as used herein are not intended to be limited to a direct or physical connection or coupling, but can include an indirect or wireless connection or coupling.
[0052] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present application, and will not be interpreted in an overly literal or overly formal sense unless expressly so defined herein.
[0053] The collection, storage, use, processing, transmission, provision and disclosure of the user personal information in the technical solution of the present application comply with relevant laws and regulations and do not violate public order and good customs. The use of user data in the technical solution complies with relevant national laws and regulations (for example, "Information Security Technology Personal Information Security Specification" and the like). For example, appropriate measures are taken for personal information access control; the display of personal information is limited according to regulations; the use purpose of personal information does not exceed the direct or reasonably related range; the use of personal information eliminates the explicit identity pointing and avoids accurate positioning to a specific individual.
[0054] The meanings of some technical terms in the present application are as follows:
[0055] ADCU: Autonomous Driving Control Unit, automatic driving domain control unit
[0056] VCU: Vehicle Control Unit, vehicle control unit
[0057] CGW: Central Gateway, central gateway
[0058] MCU: Motor Control Unit, motor control unit
[0059] DS: Displacement Sensors, displacement sensor
[0060] CAN: Controller Area Network, controller area network bus
[0061] P_CAN: Power Controller Area Network, power domain control bus
[0062] AD_CAN: Autonomous Driving Controller Area Network, automatic driving domain control bus
[0063] Figure 1 For the network topology diagram of an existing vehicle model, in Figure 1 The processing mode of the remaining distance signal in the vehicle position control technology shown in the figure is that the position sensor signal is transmitted to the motor control unit MCU by the automatic driving domain control unit ADCU through the CAN line and the automatic driving domain control unit VCU after conversion, and due to the long signal transmission path and multiple processing nodes, the signal transmission period is long and the update period is large, so the position control precision cannot be met.
[0064] The main solution of the embodiment of the present application is that a controller of a vehicle acquires a position sensor signal, denoted as an actual remaining distance; calculates a vehicle travel distance in an actual remaining distance update period according to a drive system parameter, and calculates a correction coefficient of the vehicle travel distance according to the actual travel distance; and combines the actual remaining distance and the calculated remaining distance to fit a remaining distance with high real-time and authenticity.
[0065] In the embodiment, for convenience of description, the controller of the vehicle is taken as an execution subject for description. The controller of the vehicle can be a motor control unit MCU, or other electronic devices, vehicle controllers and the like capable of realizing the above functions.
[0066] Figure 2 A flowchart of a vehicle position control remaining distance signal processing method provided by the embodiment of the present application is shown in FIG. 1. Figure 2 The method comprises the following steps.
[0067] acquiring an initial actual remaining distance at time t from a vehicle controller;
[0068] determining a remaining distance correction coefficient corresponding to time t according to a final actual remaining distance corresponding to time n before time t and a final actual remaining distance corresponding to time n-1;
[0069] judging whether a remaining distance signal updated by a displacement sensor is timely received at time t;
[0070] if it is judged that the remaining distance signal updated by the displacement sensor is not timely received at time t, determining a final actual remaining distance corresponding to time t according to the initial actual remaining distance corresponding to time t, the final actual remaining distance corresponding to time t-1 and the remaining distance correction coefficient corresponding to time t.
[0071] In some embodiments, as shown in FIG. 2, the step of determining the remaining distance correction coefficient corresponding to time t according to the final actual remaining distance corresponding to time n before time t and the final actual remaining distance corresponding to time n-1 comprises: Figure 3
[0072] calculating a first motion distance according to the final actual remaining distance corresponding to time n and the final actual remaining distance corresponding to time n-1
[0073] ;
[0074] calculating a second motion distance according to the motor actual angle corresponding to time n and the motor actual angle corresponding to time n-1 , wheel rolling radius and the speed ratio from the motor end to the wheel end , determine the second movement distance :
[0075] ;
[0076] According to the first movement distance and the second movement distance, determine the remaining distance correction coefficient at time t :
[0077] .
[0078] In some embodiments, according to the initial actual remaining distance corresponding to time t, the final actual remaining distance corresponding to time t-1 and the remaining distance correction coefficient corresponding to time t, the step of determining the final actual remaining distance corresponding to time t comprises:
[0079] Determine the final actual remaining distance corresponding to time t based on the following formula :
[0080] ;
[0081] wherein, represents the final actual remaining distance corresponding to time t-1, represents the motor actual angle corresponding to time t, represents the motor actual angle corresponding to time t-1.
[0082] In some embodiments, as shown in Figure 4 , the step of determining whether the remaining distance signal updated by the displacement sensor is received in time at time t comprises:
[0083] Detect whether the initial actual remaining distance corresponding to time t is equal to the final actual remaining distance corresponding to time t-1 ;
[0084] If it is detected that is equal to , it is determined that the remaining distance signal updated by the displacement sensor is not received in time at time t;
[0085] If it is detected that is not equal to , it is determined that the remaining distance signal updated by the displacement sensor is received in time at time t.
[0086] In some embodiments, if it is judged that the remaining distance signal updated by the displacement sensor is received in time at the t moment, it is determined that the final actual remaining distance corresponding to the t moment is the initial actual remaining distance corresponding to the t moment.
[0087] In some embodiments, after the final actual remaining distance corresponding to the t moment is determined, the method further comprises:
[0088] judging whether the final actual remaining distance corresponding to the t moment is less than a preset remaining distance threshold value;
[0089] If it is judged that the final actual remaining distance corresponding to the t moment is less than the preset remaining distance threshold value, the t+1 moment is taken as a new t moment, the n moment is taken as a new n-1 moment, the n+1 moment is taken as a new n moment, and the step of acquiring the initial actual remaining distance of the t moment from the vehicle controller is performed again according to the new t moment.
[0090] In some embodiments, the n moment and the t-1 moment are the same moment.
[0091] Based on the same inventive concept, the embodiments of the present application also provide a vehicle position control remaining distance signal processing system, which is configured to implement the method according to any one of the above embodiments, and the system comprises:
[0092] a first acquisition module, configured to acquire the initial actual remaining distance of the t moment from the vehicle controller;
[0093] a coefficient determination module, configured to determine the remaining distance correction coefficient corresponding to the t moment according to the final actual remaining distance corresponding to the n moment and the final actual remaining distance corresponding to the n-1 moment;
[0094] a judgment module, configured to judge whether the remaining distance signal updated by the displacement sensor is received in time at the t moment;
[0095] a distance determination module, configured to, if it is judged by the judgment module that the remaining distance signal updated by the displacement sensor is not received in time at the t moment, determine the final actual remaining distance corresponding to the t moment according to the initial actual remaining distance corresponding to the t moment, the final actual remaining distance corresponding to the t-1 moment and the remaining distance correction coefficient corresponding to the t moment.
[0096] Based on the same inventive concept, the embodiments of the present application also provide an electronic device. Figure 5 A structural block diagram of an electronic device provided by the embodiments of the present application is shown in FIG. 1. Figure 5As shown, the electronic device provided by the embodiment of the present application comprises one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method of any of the above embodiments. The one or more I / O interfaces 103 are connected between the processor and the memory and are configured to implement the information interaction between the processor and the memory.
[0097] The processor 101 is a device with data processing capability, including but not limited to a central processing unit (CPU) and the like. The memory 102 is a device with data storage capability, including but not limited to a random access memory (RAM, more specifically SDRAM, DDR, etc.), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory (FLASH). The I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102 and can implement the information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus) and the like.
[0098] In some embodiments, the processor 101, the memory 102, and the I / O interface 103 are connected to each other through a bus 104 and further connected to other components of the computing device.
[0099] In some embodiments, the one or more processors 101 include a field programmable gate array.
[0100] Based on the same inventive concept, the embodiment of the present application further provides a computer readable medium. The computer readable medium stores a computer program, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer readable storage medium can be a volatile or non-volatile computer readable storage medium.
[0101] Those of ordinary skill in the art can understand that all or some of the steps in the above disclosed method, the functions of the modules / units in the system and the device can be implemented as software, firmware, hardware, and appropriate combinations thereof. In the hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable storage medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media).
[0102] As those skilled in the art will appreciate, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable program instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), flash memory or other memory technology, portable compact disc read only memory (CD-ROM), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, as those skilled in the art will appreciate, communication media typically embodies computer readable program instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. In this document, the terms "computer storage medium" and "computer readable medium" are used to generally refer to media such as removable storage drives, memory, certain hardware storage components, or storage media of memory devices (e.g., random access memory, or RAM) such as computer storage media and signals. Computer storage media and computer readable media do not generally include carrier waves and / or other propagating modulated data signals.
[0103] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.
[0104] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.
[0105] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), and the like.
[0106] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), and the like.
[0107] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, 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, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable storage medium that can be a computer- readable storage medium having no data storage cycles that change state. The instructions can be executed by one or more processors of a computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process such that the instructions which execute via the one or more processors of the computer or other programmable data processing devices create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.
[0108] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.
[0109] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to the present application. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions ("instructions"). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and
[0110] Example embodiments have been disclosed herein and, although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that features, characteristics or aspects described with reference to a particular embodiment can be used alone or in combination with other embodiments, unless explicitly stated otherwise. Accordingly, it will be understood that various changes in form and details can be made without departing from the scope of the present application as set forth in the appended claims.
Claims
1. A vehicle position control residual distance signal processing method characterized by, The method comprises the following steps: acquiring an initial actual remaining distance at time t from a vehicle controller; determining a remaining distance correction coefficient corresponding to time t according to a final actual remaining distance corresponding to time n before time t and a final actual remaining distance corresponding to time n-1; judging whether the updated remaining distance signal from the displacement sensor is received in time at time t; if it is judged that the updated remaining distance signal from the displacement sensor is not received in time at time t, determining a final actual remaining distance corresponding to time t according to the initial actual remaining distance corresponding to time t, the final actual remaining distance corresponding to time t-1 and the remaining distance correction coefficient corresponding to time t.
2. The method of claim 1, wherein, The step of determining the remaining distance correction coefficient corresponding to time t according to the final actual remaining distance corresponding to time n before time t and the final actual remaining distance corresponding to time n-1 comprises the following steps: According to the final actual remaining distance corresponding to the n moment and the final actual remaining distance corresponding to the n-1 moment , the first movement distance : ； According to the motor actual angle corresponding to the n moment and the motor actual angle corresponding to the n-1 moment , wheel rolling radius and the motor end to wheel end speed ratio , the second motion distance is determined: ； According to the first movement distance and the second movement distance, a residual distance correction coefficient at the time t is determined : 。 3. The method of claim 2, wherein, The step of determining the final actual remaining distance corresponding to time t according to the initial actual remaining distance corresponding to time t, the final actual remaining distance corresponding to time t-1 and the remaining distance correction coefficient corresponding to time t comprises the following steps: The final actual remaining distance corresponding to the time t is determined based on the following formula : ； wherein, denotes the final actual remaining distance corresponding to time t-1, denotes the motor actual angle corresponding to time t, denotes the motor actual angle corresponding to time t-1.
4. The method of claim 1, wherein, The step of judging whether the updated remaining distance signal from the displacement sensor is received in time at time t comprises the following steps: detecting the initial actual remaining distance corresponding to the t time the final actual remaining distance corresponding to the t-1 time whether equal; If it is detected that With Equal, it is determined that the remaining distance signal updated from the displacement sensor is not received in time at time t. If it is detected that with is not equal, it is determined that the remaining distance signal updated from the displacement sensor is received at time t.
5. The method of claim 1, wherein, if it is judged that the updated remaining distance signal from the displacement sensor is received in time at time t, determining that the final actual remaining distance corresponding to time t is the initial actual remaining distance corresponding to time t.
6. The method of claim 1, wherein, After the final actual remaining distance corresponding to time t is determined, the method further comprises the following steps: judging whether the final actual remaining distance corresponding to time t is less than a preset remaining distance threshold; if it is judged that the final actual remaining distance corresponding to time t is less than the preset remaining distance threshold, taking time t+1 as a new time t, taking time n as a new time n-1, taking time n+1 as a new time n, and performing again the step of acquiring the initial actual remaining distance at time t from the vehicle controller according to the new time t.
7. The method of claim 1, wherein, Time n is the same as time t-1.
8. A vehicle position control remaining distance signal processing system characterized by comprising: The system is configured to implement the method according to any one of claims 1 to 7, and the system comprises: a first acquisition module, configured to acquire an initial actual remaining distance at time t from a vehicle controller; a coefficient determination module, configured to determine a remaining distance correction coefficient corresponding to time t according to a final actual remaining distance corresponding to time n before time t and a final actual remaining distance corresponding to time n-1; a judgment module, configured to judge whether the updated remaining distance signal from the displacement sensor is received in time at time t; a distance determination module, configured to determine a final actual remaining distance corresponding to time t according to the initial actual remaining distance corresponding to time t, the final actual remaining distance corresponding to time t-1 and the remaining distance correction coefficient corresponding to time t if it is judged that the updated remaining distance signal from the displacement sensor is not received in time at time t.
9. An electronic device, comprising: The system comprises: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement a method as claimed in any of claims 1 to 7.
10. A computer readable medium having stored thereon a computer program, characterized in that The computer program, which when executed by a processor, implements the steps of a method as claimed in any of claims 1 to 7.