Meter display vehicle speed determination method and device, vehicle and computer storage medium

Abstract

The invention relates to a meter display speed determination method and device, a vehicle and a computer storage medium, and belongs to the technical field of automotive electronics, and the meter display speed determination method comprises the steps: obtaining vehicle driving data, and determining a vehicle driving scene based on the vehicle driving data; based on the vehicle speed change characteristics of the vehicle driving scene and the meter display vehicle speed error characteristics of the vehicle driving scene, determining an optimization strategy of the meter display vehicle speed; and optimizing the meter display speed of the vehicle based on the optimization strategy and the vehicle driving data to obtain a target meter display speed. According to the invention, the meter display speed of the vehicle can be accurately determined in real time.

Description

Technical Field

[0001] This invention relates to the field of automotive electronics technology, and in particular to a method, device, vehicle, and computer storage medium for determining vehicle speed. Background Technology

[0002] Vehicle speed signals play a crucial role in automotive electronic control systems. Abnormal speed displays on the dashboard can cause drivers to misjudge the actual speed, thus affecting their driving decisions.

[0003] In existing technologies, the vehicle speed signal is typically filtered using a fixed filtering coefficient to obtain the converted speed at the current moment, which is then rounded to obtain the displayed speed. However, using a fixed filtering coefficient is not applicable to different driving scenarios, resulting in insufficient accuracy of the displayed speed. Furthermore, processing the speed signal using only a filtering coefficient cannot simultaneously satisfy both the real-time performance and accuracy of the displayed speed.

[0004] Therefore, it is evident that existing technologies cannot accurately determine the displayed vehicle speed in real time. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, device, vehicle, and computer storage medium for determining the displayed vehicle speed, so as to solve the problem that the existing technology cannot determine the displayed vehicle speed in real time and accurately.

[0006] To address the aforementioned problems, in a first aspect, the present invention provides a method for determining displayed vehicle speed, comprising: Acquire vehicle driving data and determine vehicle driving scenarios based on the vehicle driving data; The optimization strategy for displaying vehicle speed is determined based on the characteristics of vehicle speed change and the error characteristics of displaying vehicle speed in the vehicle driving scenario. The vehicle's displayed speed is optimized based on the optimization strategy and vehicle driving data to obtain the target displayed speed.

[0007] In one possible implementation, vehicle driving data includes vehicle speed signals, vehicle acceleration, vehicle jerk, steering wheel angle, and vehicle wheel speed signals. Determining the vehicle driving scenario based on this data includes: When the vehicle acceleration is greater than the first acceleration threshold and the vehicle speed signal is greater than the first vehicle speed threshold, the vehicle is determined to be in an acceleration scenario. When the vehicle acceleration is negative and less than the second acceleration threshold, the vehicle is determined to be in a rapid deceleration scenario. When the vehicle's acceleration is greater than the first acceleration threshold and the absolute value of the vehicle's acceleration is less than the first absolute value threshold, the vehicle is determined to be in a cruise entry scenario. When the absolute value of the vehicle's acceleration is less than or equal to the second absolute value threshold of acceleration, and the duration is greater than the first duration threshold, the vehicle is determined to be in a downhill constant deceleration scenario. When the steering wheel angle is greater than a preset steering angle threshold and the speed difference between the left and right wheels of the vehicle is greater than a preset wheel speed difference threshold, the vehicle is determined to be in a curve scenario.

[0008] In one possible implementation, an optimization strategy for the displayed vehicle speed is determined based on the vehicle speed change characteristics and the displayed vehicle speed error characteristics of the vehicle driving scenario, including: The optimization strategy for displaying vehicle speed is determined based on the rate of change of vehicle speed in the driving scenario and the relative delay of the displayed vehicle speed in the driving scenario. Among them, the displayed vehicle speed is determined based on the vehicle speed signal, and the optimization strategy for displaying vehicle speed includes one or more combinations of adjusting the filtering order of the vehicle speed signal, adjusting the cutoff frequency of the vehicle speed signal, performing predictive compensation on the vehicle speed signal, and adjusting the wheel speed weight.

[0009] In one possible implementation, an optimization strategy for determining the displayed vehicle speed is based on the rate of change of vehicle speed in a driving scenario and the relative delay of the displayed vehicle speed in the driving scenario, including: When the vehicle is in an acceleration scenario, reduce the filtering order of the vehicle speed signal and increase the cutoff frequency of the vehicle speed signal. When the vehicle is in a rapid deceleration scenario, the vehicle speed signal is predicted and compensated based on the braking force. When the vehicle is in a cruise-entry scenario, if the vehicle's acceleration is greater than the second acceleration threshold, the filter order of the vehicle speed signal is reduced and the cutoff frequency of the vehicle speed signal is increased; if the vehicle's acceleration is less than or equal to the second acceleration threshold, the cutoff frequency of the vehicle speed signal is reduced. When the vehicle is driving downhill with constant deceleration, reduce the cutoff frequency of the vehicle speed signal. When the vehicle is driving in a curve, the weights of the speeds of each wheel are adjusted based on the curve angle.

[0010] In one possible implementation, the weights of the vehicle's wheel speeds are adjusted based on the curvature, including: The normalized steering angle of the vehicle is calculated based on the vehicle's steering wheel angle, a preset steering trigger angle threshold, and a preset steering angle limit. The left and right wheel speed difference of the vehicle is calculated based on the wheel speed signals of the left and right wheels, and the wheel speed difference coefficient of the vehicle is calculated based on the left and right wheel speed difference, the preset wheel speed difference trigger threshold, and the preset maximum wheel speed difference. The weights of each wheel speed of the vehicle are determined based on the normalized steering angle and wheel speed difference coefficient.

[0011] In one possible implementation, the provided method for determining the displayed vehicle speed further includes: The vehicle's displayed verification speed is calculated using preset fixed filtering parameters and preset fixed compensation parameters. The difference between the target displayed vehicle speed and the displayed verified vehicle speed is calculated according to the preset verification cycle. When the difference is greater than the preset difference threshold and the duration exceeds the preset number of verification cycles, the displayed verified vehicle speed is taken as the target displayed vehicle speed.

[0012] In one possible implementation, the provided method for determining the displayed vehicle speed further includes: When the determination time of the vehicle driving scene exceeds the preset recognition time threshold, the displayed verification speed will be used as the target displayed speed.

[0013] Secondly, the present invention also provides a display vehicle speed determination device, comprising: The scene recognition module is used to acquire vehicle driving data and determine the vehicle driving scene based on the vehicle driving data. The optimization strategy determination module is used to determine the optimization strategy for the displayed vehicle speed based on the vehicle speed change characteristics and the displayed vehicle speed error characteristics of the vehicle driving scenario. The displayed vehicle speed determination module is used to optimize the displayed vehicle speed based on optimization strategies and vehicle driving data to obtain the target displayed vehicle speed. Thirdly, the present invention also provides a vehicle, including a memory and a processor, wherein, Memory, used to store programs; The processor, coupled to the memory, is used to execute a program stored in the memory to implement the steps in the display vehicle speed determination method of any of the above embodiments.

[0014] Fourthly, the present invention also provides a computer-readable storage medium for storing a computer-readable program or instructions, which, when executed by a processor, can implement the steps in the display vehicle speed determination method of any of the above embodiments.

[0015] The beneficial effects of this invention are as follows: The method for determining displayed vehicle speed provided by this invention acquires vehicle driving data and determines the vehicle driving scenario based on the data. Identifying the driving scenario facilitates subsequent determination of an optimization strategy for the displayed vehicle speed based on the speed change characteristics and displayed speed error characteristics of the driving scenario. This allows for the specification of corresponding, more adaptable displayed speed optimization strategies for different driving scenarios, enabling adaptation to more varied driving conditions and avoiding inaccurate displayed speed calculations caused by the simplification of optimization strategies. Furthermore, by optimizing the displayed speed using display speed optimization strategies corresponding to the displayed speed error characteristics under different driving scenarios, the target displayed vehicle speed can be determined more realistically and accurately. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating a method for determining the displayed vehicle speed according to an embodiment of the present invention; Figure 2 A flowchart illustrating a vehicle driving scene recognition method provided in an embodiment of the present invention; Figure 3 A system architecture diagram provided for an embodiment of the present invention; Figure 4 A flowchart illustrating an optimization strategy determination method provided in an embodiment of the present invention; Figure 5 A flowchart illustrating a method for determining wheel speed weights according to an embodiment of the present invention; Figure 6 A flowchart illustrating a method for verifying vehicle speed display according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a vehicle speed determination device provided in an embodiment of the present invention; Figure 8 This is a structural schematic diagram of a vehicle provided in an embodiment of the present invention. Detailed Implementation

[0018] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0019] In the description of the embodiments of the present invention, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0020] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] A specific embodiment of the present invention, such as Figure 1 As shown, a method for determining the displayed vehicle speed is disclosed, including: S101, acquire vehicle driving data, and determine the vehicle driving scenario based on the vehicle driving data.

[0023] In this embodiment of the invention, the provided method for determining the displayed vehicle speed is used to optimize the display of the vehicle's actual speed, providing a more real-time and accurate displayed speed. Displayed speed refers to the speed shown on the vehicle's dashboard, which can be obtained by processing the vehicle speed signal output by the vehicle's engine or the vehicle's wheel speed signal. Specifically, when the vehicle is in motion, driving data is acquired. This driving data refers to data related to the vehicle's direction of travel and speed, which affects the displayed vehicle speed. Then, the vehicle's driving scenario is determined based on the driving data. The specific categories of vehicle driving data and the specific classification and determination process of vehicle driving scenarios will be described in detail later in this invention.

[0024] S102, Determine the optimization strategy for the displayed vehicle speed based on the vehicle speed change characteristics and the displayed vehicle speed error characteristics of the vehicle driving scenario.

[0025] In this embodiment of the invention, the speed change characteristics of vehicles may differ for different driving scenarios, and the corresponding errors in the displayed vehicle speed may also vary. Therefore, it is necessary to determine an optimization strategy for the displayed vehicle speed based on the speed change characteristics and displayed vehicle speed error characteristics of different driving scenarios. Specifically, driving scenarios can be divided according to the rate of change of vehicle speed, the rate of change of vehicle acceleration, the rate of change of vehicle speed over a period of time, and even the vehicle's turning state. In short, any vehicle data related to vehicle speed can be used as a basis for classifying driving scenarios.

[0026] In this embodiment of the invention, for different vehicle driving scenarios, corresponding optimization strategies can be determined based on the vehicle speed change characteristics and the error characteristics of the displayed vehicle speed to ensure that the displayed vehicle speed can accurately and in real time show the actual speed of the vehicle. The specific process of determining the optimization strategy for the displayed vehicle speed will be described in detail later in this invention.

[0027] S103, optimize the vehicle's displayed speed based on the optimization strategy and vehicle driving data to obtain the target displayed speed.

[0028] In this embodiment of the invention, after determining the optimization strategy for the vehicle's displayed speed, the vehicle's driving data is optimized based on the optimization strategy, such as optimizing the vehicle speed signal output by the vehicle's engine or optimizing the vehicle's wheel speed signal, in order to obtain the target displayed speed, which is then displayed on the vehicle's dashboard.

[0029] The method for determining displayed vehicle speed provided by this invention acquires vehicle driving data and determines the vehicle driving scenario based on the data. Identifying the driving scenario facilitates subsequent determination of an optimization strategy for the displayed vehicle speed based on the speed change characteristics and displayed speed error characteristics of the driving scenario. This allows for the specification of corresponding, more adaptable displayed speed optimization strategies for different driving scenarios, enabling adaptation to more varied driving conditions and avoiding inaccurate displayed speed calculations caused by the simplification of optimization strategies. Furthermore, by optimizing the displayed speed using display speed optimization strategies corresponding to the displayed speed error characteristics under different driving scenarios, the target displayed vehicle speed can be determined more realistically and accurately.

[0030] In some possible embodiments of the present invention, such as Figure 2 As shown, vehicle driving data includes vehicle speed signal, vehicle acceleration, vehicle jerk, steering wheel angle, and vehicle wheel speed signal. Based on this vehicle driving data, the vehicle driving scenario is determined, including: S201, when the vehicle acceleration is greater than the first acceleration threshold and the vehicle speed signal is greater than the first vehicle speed threshold, the vehicle is determined to be in an acceleration scenario; S202, when the vehicle acceleration is negative and less than the second acceleration threshold, the vehicle is determined to be in a rapid deceleration scenario; S203, when the vehicle's acceleration is greater than the first acceleration threshold and the absolute value of the vehicle's acceleration is less than the first absolute value threshold, the vehicle is determined to be in a cruise entry scenario; S204, when the absolute value of the vehicle acceleration is less than or equal to the second absolute value threshold of acceleration, and the duration is greater than the first duration threshold, the vehicle is determined to be in a downhill constant deceleration scenario. S205: When the steering wheel angle is greater than the preset steering angle threshold and the speed difference between the left and right wheels of the vehicle is greater than the preset wheel speed difference threshold, the vehicle is determined to be in a curve scenario.

[0031] In this embodiment of the invention, vehicle driving data includes, but is not limited to, vehicle speed signal, vehicle acceleration, vehicle jerk, steering wheel angle, and vehicle wheel speed signal. When judging the vehicle driving scenario based on the vehicle driving data, the judgment can be made based on one or more of the above driving data in combination.

[0032] Furthermore, when the vehicle acceleration exceeds a first acceleration threshold and the vehicle speed signal exceeds a first vehicle speed threshold, the vehicle is determined to be in an acceleration scenario, for example, acceleration. Furthermore, when the vehicle speed is greater than 20 km / h (to avoid misjudging starting), the vehicle is determined to be in an acceleration scenario. When the vehicle acceleration is negative and less than the second acceleration threshold, the vehicle is determined to be in a rapid deceleration scenario. For example, when the vehicle's acceleration... When the vehicle's acceleration exceeds a first acceleration threshold, but the absolute value of the acceleration is less than a first absolute acceleration threshold, the vehicle is determined to be in a cruise entry scenario. For example, when the vehicle's acceleration... When the absolute value of the subsequent acceleration gradually decreases to 0, it indicates that the vehicle is in a cruise entry scenario. When the absolute value of the vehicle's acceleration is less than or equal to a second absolute acceleration threshold, and the duration is greater than a first duration threshold, the vehicle is determined to be in a downhill constant deceleration scenario. For example, when the absolute value of the vehicle's acceleration... Furthermore, if the duration exceeds 2 seconds, it indicates that the vehicle is in a downhill constant deceleration scenario. When the steering wheel angle is greater than a preset steering angle threshold, and the speed difference between the left and right wheels is greater than a preset wheel speed difference threshold, the vehicle is determined to be in a curve scenario. For example, when the vehicle's steering angle is greater than 30° and the speed difference between the left and right wheels is greater than 3 km / h, it indicates that the vehicle is in a curve scenario. It should be understood that this invention only exemplifies five typical vehicle driving scenarios, and can be extended to scenarios such as starting acceleration, high-speed cruising, and congested following. Establishing a scene recognition and filtering strategy mapping relationship in a similar manner is also within the scope of protection of this invention.

[0033] This invention uses multi-source data to determine the vehicle's driving scenario, achieving accurate coverage and adaptation to five typical scenarios and ensuring the accuracy of vehicle driving scenario recognition.

[0034] In some possible embodiments of the present invention, an optimization strategy for determining the displayed vehicle speed is based on the vehicle speed change characteristics and the displayed vehicle speed error characteristics of the vehicle driving scenario, including: The optimization strategy for displaying vehicle speed is determined based on the rate of change of vehicle speed in the driving scenario and the relative delay of the displayed vehicle speed in the driving scenario. Among them, the displayed vehicle speed is determined based on the vehicle speed signal, and the optimization strategy for displaying vehicle speed includes one or more combinations of adjusting the filtering order of the vehicle speed signal, adjusting the cutoff frequency of the vehicle speed signal, performing predictive compensation on the vehicle speed signal, and adjusting the wheel speed weight.

[0035] In embodiments of the present invention, such as Figure 3 As shown, a system architecture for implementing the vehicle speed determination method provided by this invention is presented. The system acquires vehicle driving data through wheel speed sensors, IMU accelerometers, and steering angle sensors. After preprocessing the driving data (such as data cleaning and normalization), scene recognition is performed to determine the vehicle driving scene. A strategy decision-maker determines an optimization strategy for the displayed vehicle speed based on the rate of change of vehicle speed within the driving scene and the relative delay of the displayed vehicle speed. The optimization strategy includes one or more combinations of adjusting the filter order of the speed signal, adjusting the cutoff frequency of the speed signal, performing predictive compensation on the speed signal, and adjusting wheel speed weights. After determining the specific optimization strategy, parameter instructions are generated for the reconfigurable filter to determine the filtering parameters according to the vehicle driving scene, thereby optimizing the displayed vehicle speed and generating target display parameters, which are then displayed on the vehicle dashboard.

[0036] In some possible embodiments of the present invention, such as Figure 4 As shown, the optimization strategy for determining the displayed vehicle speed based on the rate of change of vehicle speed in a driving scenario and the relative delay time of the displayed vehicle speed in the driving scenario includes: S401, when the vehicle driving scenario is an acceleration scenario, reduce the filtering order of the vehicle speed signal and increase the cutoff frequency of the vehicle speed signal. S402, when the vehicle is in a rapid deceleration scenario, predict and compensate the vehicle speed signal based on the vehicle's braking force. S403, when the vehicle is in a cruise entry scenario, if the vehicle's acceleration is greater than the second acceleration threshold, reduce the filtering order of the vehicle speed signal and increase the cutoff frequency of the vehicle speed signal; if the vehicle's acceleration is less than or equal to the second acceleration threshold, reduce the cutoff frequency of the vehicle speed signal. S404, when the vehicle is driving in a downhill constant deceleration scenario, reduce the cutoff frequency of the vehicle speed signal; S405: When the vehicle is driving in a curve, the weight of each wheel speed is adjusted based on the curve amplitude.

[0037] In this embodiment of the invention, for acceleration scenarios, the actual vehicle speed has increased, but the displayed vehicle speed is relatively delayed. In this case, the vehicle speed signal filtering order is reduced, and the cutoff frequency is increased to enhance the tracking performance of the vehicle speed signal and reduce the delay. Assuming the engine control system originally used a second-order low-pass filter to process the vehicle speed signal, the filter order is second-order, and the cutoff frequency is 10Hz. The second-order filter needs to accumulate signals from the previous two moments, causing a delay in signal filtering. A first-order filter, however, only relies on the current measurement value and the output from the previous moment, reducing processing steps and naturally lowering the delay. The cutoff frequency determines the allowed rate of signal change. The original 10Hz cutoff frequency only retains slowly changing vehicle speed signals, while rapid changes during rapid acceleration (frequency potentially reaching 15-25Hz) are filtered out. Increasing the cutoff frequency to 20Hz allows these high-frequency effective signals to pass, enhancing tracking performance. For rapid deceleration scenarios, which occur during emergency braking, the actual vehicle speed decreases sharply, but the displayed vehicle speed is relatively delayed. In this case, a predictive compensation algorithm is activated to pre-calculate the vehicle speed based on the braking force, reducing the delay of the vehicle speed signal and preventing falsely inflated speeds from misleading the driver. The predictive compensation algorithm quantifies braking force based on real-time acceleration. Through a pre-calibrated mapping relationship between deceleration and vehicle speed reduction rate, it determines the vehicle speed decay rate under the current braking intensity. Based on this rate, it calculates the expected vehicle speed 0.3-0.5 seconds into the future, combined with the current vehicle speed. This expected speed is then fused with the delayed actual vehicle speed signal. In the initial stage of rapid deceleration, the predicted value is emphasized to compensate for the delay. During the process, the weights are dynamically adjusted based on the error between the two to ensure that the instrument display closely matches the actual vehicle speed. When the absolute value of deceleration is below 1.5 m / s², the prediction weight is gradually reduced until it exits, seamlessly switching to the normal mode. For cruise entry scenarios, cruise entry is divided into two stages. In the first stage, the acceleration is relatively high, requiring a rapid response. At this time, the vehicle speed signal filter order is reduced, and the cutoff frequency is increased to enhance the tracking accuracy of the vehicle speed signal and reduce the delay. In the second stage, as the vehicle speed approaches the cruise setting speed, the acceleration gradually decreases, and the vehicle speed range stabilizes. At this time, the filtering is strengthened to output a stable vehicle speed signal. In the cruise entry scenario, taking a second-order low-pass filter as an example, the cutoff frequency is dynamically adjusted to adapt to the needs of the two stages. When acceleration is high in the initial stage, the cutoff frequency is increased to enhance response speed. In the later stage, when the vehicle speed approaches the cruise control value, the cutoff frequency is decreased to enhance stability. The core characteristic of a second-order low-pass filter is that a higher cutoff frequency results in weaker attenuation of high-frequency signals, allowing faster signal changes to pass through, leading to a faster response speed; conversely, a lower cutoff frequency results in stronger attenuation of high-frequency signals, leading to a more stable output. By dynamically adjusting the cutoff frequency for the two stages of cruise control entry, the conflicting demands of rapid response and stable output can be simultaneously met. For downhill constant deceleration scenarios, engine braking occurs on long downhill sections. Under downhill conditions, transmission system vibration causes display jumps, resulting in stable actual vehicle speed but fluctuating displayed values. In this case, vehicle speed changes are slow, so filtering should be strengthened to enhance signal filtering, eliminate engine vibration interference, and stabilize the output speed.Taking a second-order low-pass filter as an example, after identifying a downhill constant deceleration scenario, the cutoff frequency is lowered to allow low-frequency signals to pass through, thereby enhancing the attenuation capability for high-frequency interference and filtering high-frequency vibration interference. For curve scenarios, where the inner and outer wheel speeds differ, the system may misjudge the vehicle speed (actually 60 km / h might be displayed as 65 km / h). In this case, the strategy logic is adjusted to integrate the four wheel speed data and dynamically adjust according to the turning angle; the sharper the curve, the higher the weight of the outer wheel speed, improving the accuracy of vehicle speed readings in curves.

[0038] The embodiments of the present invention provide specific speedometer display optimization strategies based on different vehicle driving scenarios, thereby improving the real-time performance and accuracy of the speedometer display.

[0039] In some possible embodiments of the present invention, such as Figure 5 As shown, the weights for adjusting the vehicle's wheel speeds based on the curve angle include: S501, calculates the normalized steering angle of the vehicle based on the vehicle's steering wheel angle, a preset steering trigger angle threshold, and a preset steering angle limit value. S502 calculates the left and right wheel speed difference of the vehicle based on the wheel speed signals of the left and right wheels of the vehicle, and calculates the wheel speed difference coefficient of the vehicle based on the left and right wheel speed difference, the preset wheel speed difference trigger threshold and the preset maximum wheel speed difference. S503 determines the weights of each wheel speed of the vehicle based on the normalized steering angle and wheel speed difference coefficient.

[0040] In this embodiment of the invention, the core of the wheel speed fusion algorithm is to convert the turning amplitude into a calculable quantifiable value for weight allocation, based on the steering wheel angle. Steering trigger angle threshold and steering angle limits Calculate the normalized value of the steering angle S.

[0041] The value of S ranges from 0 to 1, and is calibrated here. It is 30°. When the steering wheel angle is between 30° and 120°, S follows 120°. The speed increases linearly, quantifying the abruptness of the turn. This is based on the speed difference between the left and right wheels. Wheel speed difference trigger threshold Maximum wheel speed difference Calculate the wheel speed difference coefficient D.

[0042] This is marked It is 3km / h. The speed is set to 15 km / h. D is used to correct the S value and improve the accuracy of quantification. The closer D is to 1, the sharper the turn. Combining S and D, a weighted average is taken: K = 0.7 × S + 0.3 × D (K ∈ [0,1], the larger K is, the sharper the turn). Based on the turning direction, the outer wheels and inner wheels are distinguished. The outer wheels are on the side with a larger turning radius, and their wheel speed is higher and closer to the actual driving speed of the vehicle. The weight K is dynamically adjusted according to the turning radius. The four wheels are divided into an outer group (2 wheels) and an inner group (2 wheels), with a total weight of 100%. The weights of the two wheels in the same side group are evenly distributed. The weight of the outer group = 50% + 40% × K, and the weight of the inner group = 50% - 40% × K. The 40% can be calibrated based on experience and experimental data. The commonly used calibration range is 20%~45%, and the specific value needs to be optimized according to the scenario. The weights of the four wheels are calculated based on dynamic weights. The original signals from the four wheel speed sensors (V front left, V front right, V rear left, V rear right) are weighted and summed to obtain the final output vehicle speed V = weight of front left wheel × V front left + weight of front right wheel × V front right + weight of rear left wheel × V rear left + weight of rear right wheel × V rear right. The total real-time weights of the four wheels are 100%.

[0043] This invention provides a speed display optimization strategy for curve scenarios. It provides a wheel speed fusion algorithm to address the differences in wheel speeds of vehicles in curve scenarios, thereby improving the accuracy of speed display in curve scenarios.

[0044] In some possible embodiments of the present invention, such as Figure 6 As shown, the provided method for determining the displayed vehicle speed also includes: S601 calculates the vehicle's displayed verification speed using preset fixed filtering parameters and preset fixed compensation parameters. S602, calculate the difference between the target displayed vehicle speed and the displayed verified vehicle speed according to the preset verification cycle. When the difference is greater than the preset difference threshold and the duration exceeds the preset number of verification cycles, the displayed verified vehicle speed is taken as the target displayed vehicle speed.

[0045] In this embodiment of the invention, to improve the reliability of the displayed vehicle speed, a process for verifying the reliability of the displayed vehicle speed is also provided. The displayed verification speed of the vehicle is calculated by using fixed filtering parameters and preset fixed compensation parameters. Then, the difference between the target displayed vehicle speed and the displayed verification speed is calculated according to a preset period (e.g., 10ms). When the difference is greater than a preset difference threshold and the duration exceeds a preset number of verification periods (e.g., 3 periods), the displayed verification speed is taken as the target displayed vehicle speed.

[0046] Specifically, taking a curve scenario as an example, the left front / left rear / right front / right rear wheel speed sensors output a left front wheel speed of 55 km / h, a left rear wheel speed of 54 km / h, a right front wheel speed of 63 km / h, and a right rear wheel speed of 62 km / h. The IMU outputs a longitudinal acceleration of 1.96 m / s², and the steering wheel angle sensor outputs θ = 120°. Based on a steering angle ≥ 30° and a difference in left and right wheel speeds greater than a certain value, a curve scenario is identified. The scenario recognition module performs a scenario rationality check. If the difference in the four wheel speeds is less than 25% (calibrable), the signal is considered valid, and the curve scenario is activated, executing a curve optimization strategy. When the steering angle is greater than a threshold, the turning radius decreases, and the difference in inner and outer wheel speeds increases. At this time, the outer wheel speed better reflects the true vehicle speed. The weights of the left and right wheel speeds are dynamically allocated according to the principle that the larger the steering angle, the higher the weight of the outer wheel speed. Based on the wheel speed fusion algorithm... The calculation weights are K=1, the outer group weights are 50%+40%=90% (45% for each outer wheel), and the inner group weights are 50%-40%=10% (5% for each inner wheel). The resulting vehicle speed is V=0.45×63+0.45×62+0.05×55+0.05×54≈60.5km / h, v_main=60.5km / h. Using preset fixed filtering and compensation parameters, the vehicle speed is simultaneously calculated as v_safety=62.1km / h. A verification decision is then executed, based on the difference detection. The instrument panel uses this vehicle speed information, rounds it to 62 km / h, and displays it accordingly.

[0047] This invention improves the reliability of the displayed vehicle speed by performing dual verification on the displayed vehicle speed.

[0048] In some possible embodiments of the present invention, the method for determining the displayed vehicle speed further includes: When the determination time of the vehicle driving scene exceeds the preset recognition time threshold, the displayed verification speed will be used as the target displayed speed.

[0049] In this embodiment of the invention, when the time for recognizing the vehicle driving scene exceeds the preset recognition time threshold (e.g., 50ms), it indicates that the scene recognition is incorrect or there is another fault, and the displayed vehicle speed cannot be optimized. The displayed verification vehicle speed can be directly used as the target displayed vehicle speed to ensure that the vehicle dashboard works normally.

[0050] This invention provides a failure protection method for scene recognition, further improving the reliability of display vehicle speed optimization.

[0051] To better implement the display vehicle speed determination method in the embodiments of the present invention, based on the display vehicle speed determination method, correspondingly, as follows: Figure 7As shown, this embodiment of the invention also provides a speedometer display device 700, which includes: The scene recognition module 701 is used to acquire vehicle driving data and determine the vehicle driving scene based on the vehicle driving data. The optimization strategy determination module 702 is used to determine the optimization strategy for the displayed vehicle speed based on the vehicle speed change characteristics and the displayed vehicle speed error characteristics of the vehicle driving scenario. The display speed determination module 703 is used to optimize the vehicle's display speed based on the optimization strategy and vehicle driving data to obtain the target display speed.

[0052] The speedometer determination device 700 provided in the above embodiments can realize the technical solutions described in the above speedometer determination method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above speedometer determination method embodiments, and will not be repeated here.

[0053] like Figure 8 As shown, the present invention also provides a vehicle 800. The vehicle 800 includes a processor 801, a memory 802, and a display 803. Figure 8 Only some components of vehicle 800 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0054] In some embodiments, processor 801 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in memory 802 or process data, such as the display vehicle speed determination method in this invention.

[0055] In some embodiments, processor 801 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 801 may be local or remote. In some embodiments, processor 801 may be implemented on a cloud platform. In some embodiments, the cloud platform may include private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-cloud, etc., or any combination thereof.

[0056] In some embodiments, memory 802 may be an internal storage unit of vehicle 800, such as a hard disk or memory of vehicle 800. In other embodiments, memory 802 may also be an external storage device of vehicle 800, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on vehicle 800.

[0057] Furthermore, the memory 802 may include both internal storage units of the vehicle 800 and external storage devices. The memory 802 is used to store application software and various types of data installed on the vehicle 800.

[0058] In some embodiments, display 803 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 803 is used to display information about vehicle 800 and to display a visual user interface. Components 801-803 of vehicle 800 communicate with each other via a system bus.

[0059] In some embodiments, when the processor 801 executes the display vehicle speed determination program in the memory 802, the following steps may be implemented: Acquire vehicle driving data and determine vehicle driving scenarios based on the vehicle driving data; The optimization strategy for displaying vehicle speed is determined based on the characteristics of vehicle speed change and the error characteristics of displaying vehicle speed in the vehicle driving scenario. The vehicle's displayed speed is optimized based on the optimization strategy and vehicle driving data to obtain the target displayed speed.

[0060] It should be understood that when the processor 801 executes the display vehicle speed determination program in the memory 802, in addition to the functions mentioned above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0061] Furthermore, the embodiments of the present invention do not specifically limit the type of vehicle 800 mentioned. Vehicle 800 can be a passenger car, a commercial vehicle, a special vehicle, etc., and vehicle 800 is equipped with an instrument panel for limiting vehicle speed.

[0062] Accordingly, this application also provides a computer-readable storage medium for storing a computer-readable program or instruction. When the program or instruction is executed by a processor, it can implement the steps or functions of the display vehicle speed determination method provided in the above-described method embodiments.

[0063] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0064] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for determining displayed vehicle speed, characterized in that, include: Acquire vehicle driving data and determine the vehicle driving scenario based on the vehicle driving data; The optimization strategy for the displayed vehicle speed is determined based on the vehicle speed change characteristics and the displayed vehicle speed error characteristics of the vehicle driving scenario. Based on the optimization strategy and the vehicle driving data, the displayed vehicle speed is optimized to obtain the target displayed vehicle speed.

2. The method for determining the displayed vehicle speed according to claim 1, characterized in that, Vehicle driving data includes vehicle speed signal, vehicle acceleration, vehicle jerk, steering wheel angle, and vehicle wheel speed signal. Determining the vehicle driving scenario based on the vehicle driving data includes: When the vehicle acceleration is greater than a first acceleration threshold and the vehicle speed signal is greater than a first vehicle speed threshold, the vehicle is determined to be in an acceleration scenario. When the vehicle acceleration is negative and less than the second acceleration threshold, the vehicle is determined to be in a rapid deceleration scenario. When the vehicle's acceleration is greater than a first acceleration threshold and the absolute value of the vehicle's acceleration is less than a first absolute acceleration threshold, the vehicle is determined to be in a cruise entry scenario. When the absolute value of the vehicle's acceleration is less than or equal to the second absolute value threshold of acceleration, and the duration is greater than the first duration threshold, the vehicle is determined to be in a downhill constant deceleration scenario. When the steering wheel angle is greater than a preset steering angle threshold and the speed difference between the left and right wheels of the vehicle is greater than a preset wheel speed difference threshold, the vehicle is determined to be in a curve scenario.

3. The method for determining the displayed vehicle speed according to claim 2, characterized in that, The optimization strategy for determining the displayed vehicle speed based on the vehicle speed change characteristics and the displayed vehicle speed error characteristics of the vehicle driving scenario includes: An optimization strategy for the displayed vehicle speed is determined based on the rate of change of vehicle speed in the vehicle driving scenario and the relative delay of the displayed vehicle speed in the vehicle driving scenario; wherein, the displayed vehicle speed is determined based on the vehicle speed signal, and the optimization strategy for the displayed vehicle speed includes one or more combinations of adjusting the filtering order of the vehicle speed signal, adjusting the cutoff frequency of the vehicle speed signal, performing predictive compensation on the vehicle speed signal, and adjusting the wheel speed weight.

4. The method for determining the displayed vehicle speed according to claim 3, characterized in that, The optimization strategy for determining the displayed vehicle speed based on the rate of change of vehicle speed in the vehicle driving scenario and the relative delay time of the displayed vehicle speed in the vehicle driving scenario includes: When the vehicle driving scenario is an acceleration scenario, the filtering order of the vehicle speed signal is reduced and the cutoff frequency of the vehicle speed signal is increased. When the vehicle driving scenario is a rapid deceleration scenario, the vehicle speed signal is predicted and compensated according to the braking force of the vehicle. When the vehicle is in a cruise entry scenario, if the vehicle's acceleration is greater than a second acceleration threshold, the filter order of the vehicle speed signal is reduced and the cutoff frequency of the vehicle speed signal is increased; if the vehicle's acceleration is less than or equal to the second acceleration threshold, the cutoff frequency of the vehicle speed signal is reduced. When the vehicle is driving in a downhill constant deceleration scenario, the cutoff frequency of the vehicle speed signal is reduced. When the vehicle is driving in a curve, the weights of the speeds of each wheel are adjusted based on the curve amplitude.

5. The method for determining the displayed vehicle speed according to claim 4, characterized in that, The weighting of the vehicle's wheel speeds based on the curvature includes: The normalized steering angle of the vehicle is calculated based on the steering wheel angle, the preset steering trigger angle threshold, and the preset steering angle limit value. The left and right wheel speed difference of the vehicle is calculated based on the wheel speed signals of the left and right wheels of the vehicle, and the wheel speed difference coefficient of the vehicle is calculated based on the left and right wheel speed difference, the preset wheel speed difference trigger threshold and the preset maximum wheel speed difference. The weights of each wheel speed of the vehicle are determined based on the normalized steering angle and the wheel speed difference coefficient.

6. The method for determining the displayed vehicle speed according to claim 1, characterized in that, The method further includes: The displayed verification speed of the vehicle is calculated using preset fixed filtering parameters and preset fixed compensation parameters. The difference between the target displayed vehicle speed and the displayed verified vehicle speed is calculated according to a preset verification cycle. When the difference is greater than a preset difference threshold and the duration exceeds a preset number of verification cycles, the displayed verified vehicle speed is taken as the target displayed vehicle speed.

7. The method for determining the displayed vehicle speed according to claim 6, characterized in that, The method further includes: When the determination time of the vehicle driving scene exceeds the preset recognition time threshold, the displayed verification vehicle speed is taken as the target displayed vehicle speed.

8. A device for determining vehicle speed, characterized in that, include: The scene recognition module is used to acquire vehicle driving data and determine the vehicle driving scene based on the vehicle driving data. The optimization strategy determination module is used to determine the optimization strategy for the displayed vehicle speed based on the vehicle speed change characteristics of the vehicle driving scenario and the displayed vehicle speed error characteristics of the vehicle driving scenario. The display speed determination module is used to optimize the display speed of the vehicle based on the optimization strategy and the vehicle driving data to obtain the target display speed.

9. A vehicle, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the display vehicle speed determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the display vehicle speed determination method according to any one of claims 1 to 7.

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