A method and device for determining an outgoing vehicle speed, a vehicle, an electronic device and a storage medium

Abstract

The application discloses a kind of external vehicle speed determination method, device, vehicle, electronic equipment and storage medium.External vehicle speed determination method includes: obtaining whole vehicle parameter information and the wheel speed information of each wheel;According to whole vehicle parameter information, determine theoretical vehicle speed information;According to different driving conditions, determine effective wheel speed information, and the mean value calculation is determined to the first speed information to effective wheel speed information;According to the difference between the first speed and theoretical vehicle speed, determine external vehicle speed.The application improves the accuracy of determining external vehicle speed.

Description

Technical Field

[0001] This invention relates to the field of external vehicle speed technology, and more particularly to an external vehicle speed determination method, device, vehicle, electronic device, and storage medium. Background Technology

[0002] In the existing technology, the vehicle speed output (VSO) is mainly used for displaying vehicle speed on the instrument panel. However, when the vehicle is slipping, the existing VSO calculation method results in a rapid increase in the displayed speed on the instrument panel, but the actual vehicle is still slipping in place, which leads to a mismatch between the actual vehicle speed and the displayed speed, resulting in low accuracy of the VSO. Summary of the Invention

[0003] This invention provides a method, apparatus, vehicle, electronic device, and storage medium for determining outgoing vehicle speed, in order to improve the accuracy of determining outgoing vehicle speed.

[0004] According to one aspect of the present invention, a method for determining the speed of an outgoing vehicle is provided, the method comprising: Obtain vehicle parameter information and wheel speed information for each wheel; The theoretical vehicle speed information is determined based on the vehicle's overall parameter information; The effective wheel speed information is determined based on different driving conditions, and the average value of the effective wheel speed information is calculated to determine the first vehicle speed information; The departure speed is determined based on the difference between the initial vehicle speed information and the theoretical vehicle speed information.

[0005] Furthermore, effective wheel speed information is determined based on different driving conditions, including: Under slow driving conditions, each wheel speed information undergoes a first abnormal wheel speed rejection process to determine the pre-effective wheel speed information, and the pre-effective wheel speed information undergoes a second abnormal wheel speed rejection process to determine the effective wheel speed information; wherein, the slow driving condition is an operating condition in which the acceleration is greater than or equal to -0.3g and less than or equal to 0.3g, and the actual steering angle of the vehicle is less than 12°. Under both rapid and aggressive driving conditions, each wheel speed information undergoes a first abnormal wheel speed rejection process to determine the valid wheel speed information. The rapid driving condition is defined as an acceleration greater than or equal to -0.6g and less than or equal to -0.3g, or an acceleration greater than or equal to 0.3g and less than or equal to 0.6g, with an actual vehicle steering angle greater than or equal to 12° and less than 60°. The aggressive driving condition is defined as any driving condition other than the slow and rapid driving conditions.

[0006] Furthermore, for each round speed information, a first abnormal round speed removal process is performed, including: Under slow driving conditions, a Gaussian normal filtering algorithm is used to remove abnormal wheel speeds from each wheel speed information. Under rapid driving conditions, the Laplace filter algorithm is used to remove abnormal wheel speeds from each wheel speed information. Under intense driving conditions, the student-t filtering algorithm is used to remove abnormal wheel speeds from each wheel speed information.

[0007] Furthermore, a second abnormal wheel speed rejection process is performed on the pre-valid wheel speed information to determine the valid wheel speed information, including: The wheel speed difference information is determined based on the difference between the theoretical vehicle speed information and the pre-effective wheel speed information, and the first effective wheel speed information is determined based on the comparison result between the wheel speed difference information and the wheel speed difference threshold information. The wheel speed change is determined based on the difference between the current pre-effective wheel speed information of the same wheel and the next adjacent pre-effective wheel speed information, and the second effective wheel speed information is determined based on the comparison result between the wheel speed change and the wheel speed change threshold. The effective wheel speed information is determined based on the first effective wheel speed information and the second effective wheel speed information.

[0008] Furthermore, the wheel speed information for each wheel is obtained, followed by: Obtain the vehicle's gear position information and remove wheel speed information with abnormal direction based on the vehicle's gear position information.

[0009] Furthermore, the theoretical vehicle speed is determined based on the vehicle's parameter information, including: The theoretical vehicle speed is determined based on the motor speed, reduction ratio, and wheel radius.

[0010] According to another aspect of the present invention, an external vehicle speed calculation device is provided, the external vehicle speed calculation device comprising: The information acquisition module is used to acquire vehicle parameter information and wheel speed information of each wheel; The theoretical vehicle speed information determination module is used to determine the theoretical vehicle speed information based on the vehicle parameter information; The first vehicle speed information determination module is used to determine the effective wheel speed information according to different driving conditions, and to calculate the average value of the effective wheel speed information to determine the first vehicle speed information. The external vehicle speed determination module is used to determine the external vehicle speed based on the difference between the first vehicle speed and the theoretical vehicle speed.

[0011] According to another aspect of the present invention, a vehicle is provided, the vehicle including the external vehicle speed calculation device described in the above embodiments.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the outgoing vehicle speed calculation method according to any embodiment of the present invention.

[0013] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the external vehicle speed calculation method described in any embodiment of the present invention.

[0014] The method for determining the outgoing vehicle speed provided in this embodiment of the invention obtains vehicle parameter information and wheel speed information of each wheel, determines the theoretical vehicle speed based on the vehicle parameter information, determines the effective wheel speed information based on different driving conditions, calculates the average of the effective wheel speed information to determine the first vehicle speed information, and finally determines the outgoing vehicle speed based on the difference between the first vehicle speed information and the theoretical vehicle speed information. Compared with the prior art, which directly determines the outgoing vehicle speed based on the average of the drive wheel speeds, this method improves the accuracy of determining the outgoing vehicle speed.

[0015] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. 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 This is a flowchart of an external vehicle speed determination method provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of an external vehicle speed determination device according to an embodiment of the present invention; Figure 3 A schematic diagram of an electronic device that can be used to implement embodiments of the present invention is shown. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0020] This invention provides a method for determining the speed of an outgoing vehicle. Figure 1 This is a flowchart of an external vehicle speed determination method according to an embodiment of the present invention, with reference to... Figure 1 Methods for determining the speed of outgoing vehicles include: S110: Obtain vehicle parameter information and wheel speed information for each wheel.

[0021] Specifically, the vehicle speed calculation module can acquire the wheel speed information of all four wheels of the vehicle in real time, and perform filtering on the acquired wheel speed information to achieve preprocessing of the wheel speed information. The vehicle parameter information includes parameters such as steering wheel angle, motor speed, actual motor output torque, actual braking pressure of servo cylinder, and driver-requested drive torque.

[0022] S120. Determine the theoretical vehicle speed based on the vehicle parameter information.

[0023] Specifically, the theoretical vehicle speed can be determined based on the motor speed, reduction ratio coefficient, and wheel radius.

[0024] S130. Determine the effective wheel speed information according to different driving conditions, and calculate the average value of the effective wheel speed information to determine the first vehicle speed information.

[0025] Specifically, under slow driving conditions, each wheel speed information undergoes a first abnormal wheel speed rejection process to determine pre-valid wheel speed information. This pre-valid wheel speed information then undergoes a second abnormal wheel speed rejection process to determine valid wheel speed information. Slow driving conditions are defined as operating conditions where acceleration is greater than or equal to -0.3g and less than or equal to 0.3g, and the actual vehicle steering angle is less than 12°. Under fast driving and aggressive driving conditions, valid wheel speed information is determined after only undergoing the first abnormal wheel speed rejection process for each wheel speed information. Fast driving conditions are defined as operating conditions where acceleration is greater than or equal to -0.6g and less than or equal to -0.3g, or acceleration is greater than or equal to 0.3g and less than or equal to 0.6g, and the actual vehicle steering angle is greater than or equal to 12° and less than 60°. Aggressive driving conditions are all driving conditions other than slow driving and fast driving conditions. The average of the determined valid wheel speed information is then calculated to determine the first vehicle speed information, i.e., wheel speed detection information. The driving conditions can be determined based on vehicle parameter information. For example, this embodiment uses the method for judging rapid driving conditions as an example for detailed explanation, as follows: The method for judging rapid acceleration conditions is as follows: If the rate of change of the actual driving torque of the motor is greater than a set value, it is judged as a rapid acceleration condition (if the rate of change of the actual driving torque of the motor is less than or equal to the set value, it is judged as a normal acceleration condition or a constant speed condition); if the difference between the driver's requested driving torque and the actual driving torque of the motor is greater than a preset value, it is judged as a rapid acceleration condition; if the traction control system is in an active state, it is judged as a rapid acceleration condition. The method for judging rapid deceleration conditions is as follows: If the actual braking pressure of the servo cylinder is greater than a preset value, it is judged as a rapid deceleration condition (if the actual braking pressure of the servo cylinder is less than or equal to the preset value, it is judged as a normal deceleration condition); if the anti-lock braking system is in an active state, it is judged as a rapid deceleration condition; if the motor speed is greater than a set value and the rate of change of the steering wheel angle signal is greater than a preset value, it is judged as a sharp steering condition; if the vehicle dynamic control system is in an active state, it is judged as a sharp steering condition.

[0026] S140. Determine the outgoing speed based on the difference between the first vehicle speed information and the theoretical vehicle speed information.

[0027] Specifically, when the difference between the first vehicle speed information and the theoretical vehicle speed information is greater than or equal to the differential threshold, if the vehicle is in a slow driving condition, it can be determined that the externally issued vehicle speed is the same as the first vehicle speed information; if the vehicle is in a fast driving condition or an aggressive driving condition, it can be determined that the externally issued vehicle speed is invalid. When the difference between the first vehicle speed information and the theoretical vehicle speed information is less than the differential threshold, it can be determined that the externally issued vehicle speed is the same as the first vehicle speed information.

[0028] The method for determining the outgoing vehicle speed provided in this embodiment of the invention obtains vehicle parameter information and wheel speed information of each wheel, determines the theoretical vehicle speed based on the vehicle parameter information, determines the effective wheel speed information based on different driving conditions, calculates the average of the effective wheel speed information to determine the first vehicle speed information, and finally determines the outgoing vehicle speed based on the difference between the first vehicle speed information and the theoretical vehicle speed information. Compared with the prior art, which directly determines the outgoing vehicle speed based on the average of the drive wheel speeds, this method improves the accuracy of determining the outgoing vehicle speed.

[0029] Furthermore, effective wheel speed information is determined based on different driving conditions, including: Under slow driving conditions, each wheel speed information undergoes a first abnormal wheel speed rejection process to determine the pre-effective wheel speed information, and the pre-effective wheel speed information undergoes a second abnormal wheel speed rejection process to determine the effective wheel speed information; wherein, the slow driving condition is an operating condition in which the acceleration is greater than or equal to -0.3g and less than or equal to 0.3g, and the actual steering angle of the vehicle is less than 12°. Under both rapid and aggressive driving conditions, each wheel speed information undergoes a first abnormal wheel speed rejection process to determine the valid wheel speed information. The rapid driving condition is defined as an acceleration greater than or equal to -0.6g and less than or equal to -0.3g, or an acceleration greater than or equal to 0.3g and less than or equal to 0.6g, with an actual vehicle steering angle greater than or equal to 12° and less than 60°. The aggressive driving condition is defined as any driving condition other than the slow driving condition and the aforementioned rapid driving condition.

[0030] Specifically, under slow driving conditions, a Gaussian normal filtering algorithm can be used to perform a first abnormal wheel speed elimination process on each wheel speed information to determine the pre-effective wheel speed information. Then, the wheel speed difference information is determined based on the difference between the theoretical vehicle speed information and the pre-effective wheel speed information. The first effective wheel speed information is determined based on the comparison result of the wheel speed difference information and the wheel speed difference threshold information. The wheel speed change is determined based on the difference between the current pre-effective wheel speed information of the same wheel and the next adjacent pre-effective wheel speed information. The second effective wheel speed information is determined based on the comparison result of the wheel speed change and the wheel speed change threshold. The effective wheel speed information is determined based on the first and second effective wheel speed information.

[0031] Under rapid driving conditions, the Laplace filter algorithm is used to perform the first abnormal wheel speed removal process on each wheel speed information to directly determine the valid wheel speed information; under intense driving conditions, the Student-T filter algorithm is used to perform the first abnormal wheel speed removal process on each wheel speed information to directly determine the valid wheel speed information.

[0032] Furthermore, for each round speed information, a first abnormal round speed removal process is performed, including: Under slow driving conditions, a Gaussian normal filtering algorithm is used to remove abnormal wheel speeds from each wheel speed information. Under rapid driving conditions, the Laplace filter algorithm is used to remove abnormal wheel speeds from each wheel speed information. Under intense driving conditions, the student-t filtering algorithm is used to remove abnormal wheel speeds from each wheel speed information.

[0033] Specifically, under slow-moving conditions, wheel speed information is suitable for determining effective wheel speed information using a Gaussian normal filtering algorithm; that is, the wheel speed should conform to the mean value under this driving condition. The variance is ( Overall variance; It follows a normal distribution (the population standard deviation). We can first determine this based on... Estimate and according to Estimate Then according to and By determining the upper and lower limits of the effective wheel speed, abnormal wheel speed information and effective wheel speed information can be determined based on the effective wheel speed range formed by the upper and lower limits. For example, if the wheel speed is within the effective wheel speed range, it is considered to be a normal random fluctuation of the wheel speed; if the wheel speed is not within the effective wheel speed range, it is considered to be an abnormal random fluctuation of the wheel speed and should be discarded. Let the wheel speed of a certain wheel be denoted as . For the number of wheels, This refers to different driving conditions to distinguish between going straight and turning. It can also be used according to... Calculate the theoretical probability density function under this driving condition. That is, the probability density function of the normal (Gaussian) distribution. A higher value is more normal, and a lower value deviates from the normal range. For example, during turning, it is necessary to calculate separately for the inner and outer wheels, and the outer wheel speed must be satisfied. Greater than the inner wheel speed .

[0034] Under rapid driving conditions, the effective wheel speed information is determined using a Laplace filter algorithm. The vehicle speed under the previous moment's slow driving condition is used as the initial reference speed Vref for the rapid driving condition. Calculate the theoretical probability density function under this working condition. (Probability density function of Laplace (double exponential) distribution). If the current driving condition is straight-line driving, it can be based on... Calculate the wheel speed deviation for each round. Then, the calculated wheel speed deviations are sorted from high to low, and the arithmetic mean of the two middle wheel speed deviations is calculated to determine the distribution center. Then according to Determine scale parameters Finally, the calculated theoretical probability density function Compared with the rejection threshold, if the theoretical probability density function If the wheel speed exceeds the rejection threshold, the wheel speed information is identified as abnormal and rejected. The rejection threshold is 3b. If the current driving condition is turning, then according to... Determine the wheel angle ,in, For steering wheel angle, This is the conversion ratio coefficient. Then, according to... Calculate the vehicle's turning radius ,in, This is the wheelbase. Then, based on... , , and Calculate the theoretical gear ratio for each wheel, specifically the theoretical gear ratio of the left front wheel. Theoretical speed ratio of the right front wheel Theoretical speed ratio of the left rear wheel Theoretical speed ratio of the right rear wheel ,in, This is the wheelbase. Then, based on... The acquired speed data for each round is normalized, and finally judged. and Is the absolute value of the difference greater than 3b? If the value is greater than 3b, the corresponding wheel speed data will be discarded.

[0035] Under aggressive driving conditions, the student-t filtering algorithm is used to determine the effective wheel speed information. First, a reference wheel speed is determined based on the median of each wheel speed information. For example, if the wheel speed information of the four wheels is 100km / h, 102km / h, 98km / h, and 30km / h, the four wheel speed information is sorted first, and the sorting result is 30km / h, 98km / h, 100km / h, and 102km / h. Then, the reference wheel speed is determined as (98+100) / 2=99km / h. Next, the dispersion of the four wheel speed information is determined based on the calculated reference wheel speed. For example, first, the deviation of each wheel speed information from the reference wheel speed is calculated, i.e., |100-99|=1 km / h, |102-99|=3 km / h, |98-99|=1 km / h, and |30-99|=69 km / h. Then, the calculated deviation values ​​are sorted, and the sorted results are 1 km / h, 1 km / h, 3 km / h, and 69 km / h. Then, the median absolute deviation (MAD) is determined as (1+3) / 2=2 km / h. Finally, the dispersion is determined. =1.4826*2=2.965. Next, calculate the deviation degree di of the wheel speed information for each wheel. The formula for calculating the deviation degree di is as follows: di=|Vi-μ| / For example, the left front wheel d1 = |100-99| / 2.965≈0.34 (normal), the right front wheel d2 = |102-99| / 2.965≈1.01 (normal), the left rear wheel d3 = |98-99| / 2.965≈0.34 (normal), and the left front wheel d1 = |30-99| / 2.965≈23.27 (severely abnormal). Finally, the student-t weights are calculated, with the following formula: wi = (v+1) / (v+di) 2 )=5 / (4+ di 2 ), where the degree of freedom v is 4 (the best empirical value for a car scenario). The greater the deviation of a wheel, the larger di is, and the smaller the weight wi is. For example, for the left front wheel, wi = 5 / (4 + 0.34). 2 =5 / 4.1156≈1.215, right front wheel wi=5 / (4+1.01) 2 ) = 5 / 5.02 ≈ 0.996, left rear wheel wi = 5 / (4 + 0.34) 2 =5 / 4.1156≈1.215, right rear wheel wi=5 / (4+23.27) 2 =5 / 545.5≈0.009 (almost zero, automatically discarded).

[0036] Furthermore, a second abnormal wheel speed rejection process is performed on the pre-valid wheel speed information to determine the valid wheel speed information, including: The wheel speed difference information is determined based on the difference between the theoretical vehicle speed information and the pre-effective wheel speed information, and the first effective wheel speed information is determined based on the comparison result between the wheel speed difference information and the wheel speed difference threshold information. The wheel speed change is determined based on the difference between the current pre-effective wheel speed information of the same wheel and the next adjacent pre-effective wheel speed information, and the second effective wheel speed information is determined based on the comparison result between the wheel speed change and the wheel speed change threshold. The effective wheel speed information is determined based on the first effective wheel speed information and the second effective wheel speed information.

[0037] Specifically, in straight-line driving conditions with a steering wheel angle of less than 60°, if the wheel speed difference information is greater than the wheel speed difference threshold information and exceeds the first preset time, the pre-valid wheel speed information is determined to be invalid wheel speed information; if the wheel speed difference information is less than or equal to the wheel speed difference threshold information, or does not exceed the first preset time, the pre-valid wheel speed information is determined to be the first valid wheel speed information. The first preset time can be any duration between 200ms and 500ms, and the wheel speed difference threshold information can be set according to the actual situation. For example, the wheel speed difference threshold information can be 8-12km / h. In the case of large steering with a steering wheel angle greater than 90°, if the wheel speed difference information is greater than twice the wheel speed difference threshold information and exceeds the second preset time, the pre-valid wheel speed information is determined to be invalid wheel speed information; if the wheel speed difference information is less than or equal to twice the wheel speed difference threshold information, or does not exceed the second preset time, the pre-valid wheel speed information is determined to be the first valid wheel speed information. The second preset time can be set according to the actual situation. For example, the second preset time and the first preset time can be the same.

[0038] If the absolute value of the wheel speed change is determined by the difference between the current pre-effective wheel speed information and the next adjacent pre-effective wheel speed information, and is less than or equal to a wheel speed change threshold, then the current pre-effective wheel speed information can be determined as the second effective wheel speed information. If the absolute value of the wheel speed change is greater than the wheel speed change threshold, then the current pre-effective wheel speed information is determined to be an outlier, i.e., invalid wheel speed information. Pre-effective wheel speed information that is simultaneously the first and second effective wheel speed information is determined as effective wheel speed information.

[0039] Furthermore, the wheel speed information for each wheel is obtained, followed by: Obtain the vehicle's gear position information and remove wheel speed information with abnormal direction based on the vehicle's gear position information.

[0040] Specifically, first obtain the vehicle's gear information, that is, determine whether the current driving gear is P, R, N, or D. If the wheel speed sensor that acquires wheel speed information has a directional signal attribute, wheel speed information with directional abnormalities is removed. The specific judgment method is as follows: If one of the four wheel speed information is in the opposite direction to the other three wheel speeds, it can be determined that the wheel speed with the opposite direction has a wheel speed fault and is eliminated. The remaining three wheel speeds with the same direction are valid wheel speeds. If the vehicle is in a low-speed running state, the wheel speeds are opposite to each other in pairs. At this time, the average value of the wheel speeds in the same direction is calculated separately. For example, the average value of the front wheel VSOEstF and the average value of the rear wheel VSOEstR can be used as examples. When both the average value of the front wheel VSOEstF and the average value of the rear wheel VSOEstR are less than the set threshold, and the vehicle gear information is R or D, the wheel speed in the same direction as R or D is determined as a valid wheel speed. If the gear is P and the average value of the wheel speed is less than the set threshold, the wheel speed corresponding to the largest average value of the wheel speed is determined as a valid wheel speed. When either the average value of the front wheel VSOEstF or the average value of the rear wheel VSOEstR is greater than the set threshold, it can be determined that the current wheel speed information is invalid wheel speed information. The threshold can be set to 5 kph.

[0041] Furthermore, the theoretical vehicle speed is determined based on the vehicle's parameter information, including: The theoretical vehicle speed is determined based on the motor speed, reduction ratio, and wheel radius.

[0042] Specifically, it can be calculated based on the theoretical vehicle speed formula. ;in, The theoretical speed, This is the total reduction ratio from the motor to the wheels. The radius of the wheel's rolling motion. This is the speed of the drive motor.

[0043] This invention provides an external vehicle speed determination device. Figure 2 This is a schematic diagram of an external vehicle speed determination device according to an embodiment of the present invention, with reference to... Figure 2 The external vehicle speed determination device 200 includes: The information acquisition module 210 is used to acquire vehicle parameter information and wheel speed information of each wheel; Theoretical vehicle speed information determination module 220 is used to determine theoretical vehicle speed information based on vehicle parameter information; The first vehicle speed information determination module 230 is used to determine the effective wheel speed information according to different driving conditions, and to calculate the average value of the effective wheel speed information to determine the first vehicle speed information. The outgoing vehicle speed determination module 240 is used to determine the outgoing vehicle speed based on the difference between the first vehicle speed and the theoretical vehicle speed.

[0044] Furthermore, the first vehicle speed information determination module 230 includes: The effective wheel speed determination unit for slow driving conditions is used to perform a first abnormal wheel speed rejection process on each wheel speed information under slow driving conditions to determine the pre-effective wheel speed information, and then perform a second abnormal wheel speed rejection process on the pre-effective wheel speed information to determine the effective wheel speed information; wherein, the slow driving condition is an operating condition in which the acceleration is greater than or equal to -0.3g and less than or equal to 0.3g, and the actual steering angle of the vehicle is less than 12°; The effective wheel speed determination unit for rapid driving conditions is used to perform a first abnormal wheel speed rejection process on each wheel speed information under rapid driving and aggressive driving conditions to determine the effective wheel speed information. Among them, the rapid driving condition is the operating condition with an acceleration greater than or equal to -0.6g and less than or equal to -0.3g and an acceleration greater than or equal to 0.3g and less than or equal to 0.6g, and the actual steering angle of the vehicle is greater than or equal to 12° and less than 60°. The aggressive driving condition is the driving condition other than the slow driving condition and the rapid driving condition.

[0045] Furthermore, the first vehicle speed information determination module 230 includes: The first abnormal wheel speed rejection processing subunit is used to perform abnormal wheel speed rejection processing on each wheel speed information under slow driving conditions using a Gaussian normal filtering algorithm. The second abnormal wheel speed rejection processing subunit is used to perform abnormal wheel speed rejection processing on each wheel speed information using the Laplace filtering algorithm under rapid driving conditions. The third abnormal wheel speed removal processing subunit is used to perform abnormal wheel speed removal processing on each wheel speed information under intense driving conditions using the student-t filtering algorithm.

[0046] Furthermore, the effective wheel speed determination unit for slow-moving conditions includes: The first effective wheel speed information determination subunit is used to determine wheel speed difference information based on the difference between theoretical vehicle speed information and wheel speed information, and to determine the first effective wheel speed information based on the comparison result between wheel speed difference information and wheel speed difference threshold information; The second effective wheel speed information determination subunit is used to determine the wheel speed change based on the difference between the current wheel speed information of the same wheel and the next adjacent wheel speed information, and to determine the second effective wheel speed information based on the comparison result between the wheel speed change and the wheel speed change threshold. The effective wheel speed information determination subunit is used to determine the effective wheel speed information based on the first effective wheel speed information and the second effective wheel speed information.

[0047] Furthermore, the external vehicle speed calculation device 200 also includes: The abnormal wheel speed removal module is used to obtain the wheel speed information of each wheel, obtain the gear information of the whole vehicle, and remove the abnormal wheel speed information based on the gear information of the whole vehicle.

[0048] Furthermore, the theoretical vehicle speed information determination module 220 is specifically used for: The theoretical vehicle speed is determined based on the motor speed, reduction ratio, and wheel radius.

[0049] The outgoing vehicle speed determination device provided in the embodiments of the present invention can execute the outgoing vehicle speed determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0050] This invention provides a vehicle that includes the external vehicle speed determination device described in the above embodiments. The vehicle provided by this invention includes the external vehicle speed determination device as described in any of the above technical solutions, and therefore possesses the beneficial effects of the aforementioned external vehicle speed determination device, which will not be elaborated further here.

[0051] Figure 3 A schematic diagram of an electronic device that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0052] like Figure 3 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0053] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0054] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the outgoing vehicle speed determination method.

[0055] In some embodiments, the outgoing vehicle speed determination method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the outgoing vehicle speed determination method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the outgoing vehicle speed determination method by any other suitable means (e.g., by means of firmware).

[0056] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0057] Computer programs for implementing the outgoing vehicle speed determination method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0058] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0059] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0060] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0061] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0062] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0063] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for determining the speed of an outgoing vehicle, characterized in that, include: Obtain vehicle parameter information and wheel speed information for each wheel; The theoretical vehicle speed information is determined based on the vehicle parameter information; The effective wheel speed information is determined according to different driving conditions, and the average value of the effective wheel speed information is calculated to determine the first vehicle speed information; The outgoing vehicle speed is determined based on the difference between the first vehicle speed information and the theoretical vehicle speed information.

2. The method for determining the speed of outgoing vehicles according to claim 1, characterized in that, Effective wheel speed information is determined based on different driving conditions, including: Under slow driving conditions, each wheel speed information is subjected to a first abnormal wheel speed rejection process to determine pre-effective wheel speed information, and the pre-effective wheel speed information is subjected to a second abnormal wheel speed rejection process to determine effective wheel speed information; wherein, the slow driving conditions are operating conditions in which the acceleration is greater than or equal to -0.3g and less than or equal to 0.3g, and the actual steering angle of the vehicle is less than 12°. Under both rapid and aggressive driving conditions, each wheel speed information undergoes a first abnormal wheel speed rejection process to determine valid wheel speed information. The rapid driving condition is defined as an acceleration greater than or equal to -0.6g and less than or equal to -0.3g, or an acceleration greater than or equal to 0.3g and less than or equal to 0.6g, with an actual vehicle steering angle greater than or equal to 12° and less than 60°. The aggressive driving condition is any driving condition other than the slow driving condition and the rapid driving condition.

3. The method for determining the speed of outgoing vehicles according to claim 2, characterized in that, For each of the aforementioned wheel speed information, a first abnormal wheel speed rejection process is performed, including: Under slow driving conditions, a Gaussian normal filtering algorithm is used to remove abnormal wheel speeds from each of the wheel speed information. Under rapid driving conditions, the Laplace filter algorithm is used to remove abnormal wheel speeds from each of the wheel speed information. Under intense driving conditions, the student-t filtering algorithm is used to remove abnormal wheel speeds from each wheel speed information.

4. The method for determining the speed of outgoing vehicles according to claim 2, characterized in that, The pre-valid wheel speed information is subjected to a second abnormal wheel speed rejection process to determine valid wheel speed information, including: Wheel speed difference information is determined based on the difference between the theoretical vehicle speed information and the pre-effective wheel speed information, and first effective wheel speed information is determined based on the comparison result between the wheel speed difference information and the wheel speed difference threshold information; The wheel speed change is determined based on the difference between the current pre-effective wheel speed information of the same wheel and the next adjacent pre-effective wheel speed information, and the second effective wheel speed information is determined based on the comparison result between the wheel speed change and the wheel speed change threshold. The effective wheel speed information is determined based on the first effective wheel speed information and the second effective wheel speed information.

5. The method for determining the speed of outgoing vehicles according to claim 1, characterized in that, Obtain the wheel speed information for each wheel, and then include: Obtain the vehicle's gear position information and remove wheel speed information with abnormal direction based on the vehicle's gear position information.

6. The method for determining the speed of outgoing vehicles according to claim 1, characterized in that, The theoretical vehicle speed is determined based on the vehicle's overall parameter information, including: The theoretical vehicle speed is determined based on the motor speed, reduction ratio, and wheel radius.

7. An external vehicle speed calculation device, characterized in that, include: The information acquisition module is used to acquire vehicle parameter information and wheel speed information of each wheel; The theoretical vehicle speed information determination module is used to determine the theoretical vehicle speed information based on the vehicle parameter information; The first vehicle speed information determination module is used to determine effective wheel speed information according to different driving conditions, and to calculate the average value of the effective wheel speed information to determine the first vehicle speed information. The outgoing vehicle speed determination module is used to determine the outgoing vehicle speed based on the difference between the first vehicle speed and the theoretical vehicle speed.

8. A vehicle, characterized in that, Includes the external vehicle speed calculation device as described in claim 7.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the outgoing vehicle speed calculation method according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the outgoing vehicle speed calculation method according to any one of claims 1-6.

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