Method for determining output-shaft speed of vehicle, and vehicle and storage medium

Abstract

Disclosed in the embodiments of the present disclosure are a method for determining an output-shaft speed of a vehicle, and a vehicle and a storage medium. The method for determining an output-shaft speed of a vehicle comprises: acquiring first pulse signals of a left rear wheel at a plurality of moments and second pulse signals of a right rear wheel at a plurality of moments; determining a first rear-wheel speed and a second rear-wheel speed on the basis of the plurality of first pulse signals and the plurality of second pulse signals; and determining an output-shaft speed on the basis of the first rear-wheel speed and the second rear-wheel speed.

Description

Method for determining vehicle output shaft speed, vehicle, and storage medium Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and in particular to a method for determining a vehicle output shaft speed, a vehicle, and a storage medium. Background Art

[0002] In existing technology, pure electric vehicles often use a single-speed direct drive system, which offers the advantages of simplified configuration and easy control. With the increasing demand for long-range driving and high-efficiency motors in new energy vehicles, the use of multi-speed transmissions in electric vehicles has gradually gained widespread attention. At the same time, the use of multiple transmission positions increases the difficulty of control. During the shifting process, the speed difference between the transmission input and output must be within a certain range to complete the shift.

[0003] Therefore, under normal circumstances, the vehicle needs to install a speed sensor on the transmission output shaft to measure the speed of the transmission shaft, which not only increases the cost, but also increases the layout space. At the same time, since a new component such as the speed sensor is added, the possibility of sensor failure affecting the stability of the entire system is also increased.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far.

[0005] Summary of the Invention

[0006] The embodiments of the present disclosure provide a method for determining the output shaft speed of a vehicle, a vehicle, and a storage medium, so as to at least solve the technical problem in the related art that an output shaft speed sensor needs to be installed to determine the output shaft speed of the transmission, thereby affecting the stability of the vehicle system when the sensor fails.

[0007] According to one embodiment of the present disclosure, a method for determining the output shaft speed of a vehicle is provided, comprising: obtaining first pulse signals of a left rear wheel at multiple moments and second pulse signals of a right rear wheel at multiple moments; determining a first rear wheel speed and a second rear wheel speed based on the multiple first pulse signals and the multiple second pulse signals; and determining an output shaft speed based on the first rear wheel speed and the second rear wheel speed.

[0008] Optionally, the method for determining the vehicle output shaft speed also includes: calculating a first difference between a first pulse signal obtained at a first moment and a first pulse signal obtained at a second moment; calculating a second difference between a second pulse signal obtained at a first moment and a second moment; determining a first rear wheel speed based on the first difference, and determining a second rear wheel speed based on the second difference.

[0009] Optionally, the method for determining the vehicle output shaft speed also includes: in response to the first difference being greater than or equal to the first preset value, determining the first target difference to be the first difference; in response to the first difference being less than the first preset value, determining the first target difference to be the sum of the first difference and the second preset value; in response to the second difference being greater than or equal to the first preset value, determining the second target difference to be the second difference; in response to the second difference being less than the second preset value, determining the second target difference to be the sum of the second difference and the second preset value; determining the first rear wheel speed based on the first target difference, and determining the second rear wheel speed based on the second target difference.

[0010] Optionally, the method for determining the vehicle output shaft speed also includes: filtering the first target difference and the second target difference to obtain a third target difference and a fourth target difference; determining the first rear wheel speed based on the third target difference, and determining the second rear wheel speed based on the fourth target difference.

[0011] Optionally, the method for determining the vehicle output shaft speed also includes: obtaining a first average value of the pulse acceleration of the left rear wheel within a preset period and a second average value of the pulse acceleration of the right rear wheel within a preset period; determining a fifth target difference based on the first average value and the third target difference; determining a sixth target difference based on the second average value and the fourth target difference; determining the first rear wheel speed according to the fifth target difference, and determining the second rear wheel speed according to the sixth target difference.

[0012] Optionally, the method for determining the vehicle output shaft speed also includes: calculating the product of the fifth target difference and the first coefficient to obtain a first value; calculating the product of the number of magnetic poles of the magnetic encoder and a preset period to obtain a second value; calculating the ratio of the first value to the second value to obtain a first rear wheel speed.

[0013] Optionally, the method for determining the vehicle output shaft speed further includes: calculating the product of the sixth target difference and the first coefficient to obtain a third value; and calculating the ratio of the third value to the second value to obtain a second rear wheel speed.

[0014] Optionally, the method for determining the vehicle output shaft speed further includes: calculating a third average value of the first rear wheel speed and the second rear wheel speed; and determining the output shaft speed based on the third average value.

[0015] According to one embodiment of the present disclosure, a vehicle is further provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the above methods for determining the vehicle output shaft speed.

[0016] According to one embodiment of the present disclosure, a non-volatile storage medium is further provided, in which a computer program is stored, wherein the computer program is configured to execute any of the above methods for determining the vehicle output shaft speed when running.

[0017] In the disclosed embodiment, the first pulse signal of the left rear wheel at multiple moments and the second pulse signal of the right rear wheel at multiple moments are obtained, and the first rear wheel speed and the second rear wheel speed are determined based on the multiple first pulse signals and the multiple second pulse signals. This achieves the purpose of determining the output shaft speed based on the first rear wheel speed and the second rear wheel speed, thereby realizing the technical effect of improving the stability of the vehicle system, and further solves the technical problem in the related technology of needing to install an output shaft speed sensor to determine the transmission output shaft speed, thereby affecting the stability of the vehicle system when the sensor fails. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are provided to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0019] FIG1 is a flow chart of a method for determining a vehicle output shaft speed according to one embodiment of the present disclosure;

[0020] FIG2 is a schematic diagram of a vehicle system device according to one embodiment of the present disclosure;

[0021] FIG3 is a flow chart of a method for determining a vehicle output shaft speed according to one embodiment of the present disclosure;

[0022] FIG4 is a structural block diagram of a device for determining a vehicle output shaft speed according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are set to distinguish similar objects, and are not necessarily set to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] According to an embodiment of the present disclosure, an embodiment of a method for determining the output shaft speed of a vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system containing at least one set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0026] The method embodiment can also be executed in an electronic device including a memory and a processor, a similar control device, or an in-vehicle terminal. Taking an in-vehicle terminal as an example, the in-vehicle terminal may include one or more processors and a memory configured to store data. Optionally, the in-vehicle terminal may also include a communication device configured to have a communication function and a display device. It will be understood by those skilled in the art that the above structural description is only illustrative and does not limit the structure of the in-vehicle terminal. For example, the in-vehicle terminal may also include more or fewer components than those described in the above structural description, or have a configuration different from that described in the above structural description.

[0027] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural-network processing unit (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, and the like. Among them, different processing units may be independent components or integrated into one or more processors. In some instances, the electronic device may also include one or more processors.

[0028] The memory can be configured to store a computer program, such as a computer program corresponding to the determination of the vehicle output shaft speed in the embodiments of the present disclosure. The processor executes the computer program stored in the memory to thereby achieve the aforementioned determination of the vehicle output shaft speed. The memory can include high-speed random access memory (RAM) and can also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory can further include memory remotely located relative to the processor, and these remote memories can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0029] The communication device is configured to receive or send data via a grid. Specific examples of the aforementioned grid may include a wireless grid provided by a communication provider of the mobile terminal. In one embodiment, the communication device includes a grid adapter (network interface controller, NIC), which can be connected to other grid devices via a base station to communicate with the Internet. In one embodiment, the communication device can be a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly. In some embodiments of the present solution, the communication device is configured to connect to a mobile device such as a mobile phone or tablet, and can send instructions to the vehicle-mounted terminal via the mobile device.

[0030] The display device may be a touch-screen liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display"). The LCD may enable a user to interact with the user interface of the vehicle-mounted terminal. In some embodiments, the vehicle-mounted terminal may include a graphical user interface (GUI), and the user may interact with the GUI through finger contacts and / or gestures on the touch-sensitive surface. The human-computer interaction function may include a vehicle gear shifting function, and executable instructions configured to execute the human-computer interaction function may be configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0031] FIG1 is a flow chart of a method for determining a vehicle output shaft speed according to one embodiment of the present disclosure. As shown in FIG1 , the method includes the following steps:

[0032] Step S102: Acquire the first pulse signal of the left rear wheel at multiple moments and the second pulse signal of the right rear wheel at multiple moments.

[0033] Optionally, as shown in FIG2 , the execution subject of this embodiment is a vehicle control system. It should be noted that other electronic devices and processors may also serve as execution subjects, and no further limitations are given here.

[0034] In the technical solution provided in the above step S102 of the present disclosure, the vehicle control system obtains the first pulse signal of the left rear wheel of the vehicle at different times, and simultaneously obtains the second pulse signal of the right rear wheel of the vehicle at different times.

[0035] Step S104 : determining a first rear wheel speed and a second rear wheel speed according to the plurality of first pulse signals and the plurality of second pulse signals.

[0036] In the technical solution provided in the above step S104 of the present disclosure, the vehicle control system can determine the first rear wheel speed (the speed of the left rear wheel) based on the first pulse signal at multiple moments, and determine the second rear wheel speed (the speed of the right rear wheel) based on the second pulse signal at multiple moments.

[0037] Step S106: determining the output shaft speed according to the first rear wheel speed and the second rear wheel speed.

[0038] In the technical solution provided in the above step S106 of the present disclosure, the vehicle control system can determine the rotational speed of the vehicle transmission output shaft according to the first rear wheel rotational speed and the second rear wheel rotational speed.

[0039] Specifically, after obtaining the rotation speeds of the left rear wheel and the right rear wheel of the vehicle, their average value may be calculated, and the average value may be determined as the rotation speed of the transmission shaft of the vehicle's transmission.

[0040] From the above steps S102 to S106, it can be known that in the present disclosure, as shown in FIG3 , the first pulse signal of the left rear wheel at multiple moments and the second pulse signal of the right rear wheel at multiple moments are obtained, and the first rear wheel speed and the second rear wheel speed are determined according to the multiple first pulse signals and the multiple second pulse signals, thereby achieving the purpose of determining the output shaft speed according to the first rear wheel speed and the second rear wheel speed, thereby achieving the technical effect of improving the stability of the vehicle system, and further solving the technical problem in the related technology of needing to install a speed sensor to determine the transmission output shaft speed, thereby affecting the stability of the vehicle system when the sensor fails.

[0041] The above method of this embodiment is further described in detail below.

[0042] As an optional embodiment, the multiple moments include: a first moment and a second moment, and determining the first rear wheel speed and the second rear wheel speed based on the multiple first pulse signals and the multiple second pulse signals includes: calculating the first difference between the first pulse signal obtained at the first moment and the first pulse signal obtained at the second moment; calculating the second difference between the second pulse signal obtained at the first moment and the second pulse signal obtained at the second moment; determining the first rear wheel speed based on the first difference, and determining the second rear wheel speed based on the second difference.

[0043] In this embodiment, the multiple moments include: a first moment and a second moment, and determining the first rear wheel speed and the second rear wheel speed based on the multiple first pulse signals and the multiple second pulse signals includes the following steps: the vehicle control system calculates the difference between the left rear wheel of the vehicle at the first moment (current moment) and the second moment (historical moment) as a first difference, and at the same time calculates the difference between the right rear wheel of the vehicle at the first moment (current moment) and the second moment (historical moment) as a second difference, and then the first rear wheel speed of the vehicle can be determined based on the first difference and the second rear wheel speed of the vehicle can be determined based on the second difference.

[0044] Specifically, the second moment is a moment before the first moment. Preferably, the second moment is a moment before the first moment is sampled, thereby ensuring the accuracy of calculating the vehicle transmission output shaft speed.

[0045] Specifically, the first difference is recorded as ΔN right , the second difference is recorded as ΔN right .

[0046] As an optional embodiment, determining the first rear wheel speed based on the first difference and determining the second rear wheel speed based on the second difference includes: in response to the first difference being greater than or equal to the first preset value, determining the first target difference to be the first difference; in response to the first difference being less than the first preset value, determining the first target difference to be the sum of the first difference and the second preset value; in response to the second difference being greater than or equal to the first preset value, determining the second target difference to be the second difference; in response to the second difference being less than the second preset value, determining the second target difference to be the sum of the second difference and the second preset value; determining the first rear wheel speed based on the first target difference, and determining the second rear wheel speed based on the second target difference.

[0047] In this embodiment, determining the first rear wheel speed based on the first difference and determining the second rear wheel speed based on the second difference includes the following steps: when the above-mentioned first difference is greater than or equal to the first preset value, determining the above-mentioned first difference as the first target difference; when the above-mentioned first difference is less than the first preset value, determining the first target difference as the sum of the above-mentioned first difference and the second preset value; similarly, when the above-mentioned second difference is greater than or equal to the first preset value, determining the above-mentioned second difference as the second target difference; when the above-mentioned second difference is less than the first preset value, determining the second target difference as the sum of the above-mentioned second difference and the second preset value. Next, the vehicle control system can determine the first rear wheel speed based on the first target difference, and determine the second rear wheel speed based on the second target difference.

[0048] Optionally, the above-mentioned second preset value is a preset value, denoted as N, which is the maximum value of the effective range of the pulse number. In actual working conditions, technicians generally use 253 as the second preset value.

[0049] Specifically, the above-mentioned first preset value is 0. The reason is that when the pulse signal read at the second moment is close to N, if the speed is high at this time, the number of pulses in one cycle increases greatly, then in the cycle from the second moment to the first moment, after the number of pulses reaches N, it will start counting from 0 again. If the number of pulses read at the first moment is subtracted from the number of pulses at the previous second moment, a negative value may appear. If no processing is done, the vehicle control system will not be able to accurately obtain the pulse difference within a cycle. Therefore, this method is used to calculate the pulse difference.

[0050] Specifically, the first target difference is recorded as The second target difference is recorded as That is, when ΔN right ≥0, output When ΔN right When <0, output When ΔN left ≥0, output When ΔN leftWhen <0, output

[0051] As an optional embodiment, determining the first rear wheel speed based on the first target difference and determining the second rear wheel speed based on the second target difference includes: filtering the first target difference and the second target difference to obtain a third target difference and a fourth target difference; determining the first rear wheel speed based on the third target difference, and determining the second rear wheel speed based on the fourth target difference.

[0052] In this embodiment, determining the first rear wheel speed based on the first target difference and determining the second rear wheel speed based on the second target difference includes the following steps: filtering the first target difference and the second target difference to obtain processed data as the third target difference and the fourth target difference.

[0053] Specifically, the third target difference is recorded as ΔN′ left , the fourth target difference is recorded as ΔN′ right .

[0054] Specifically, data filtering refers to the process of removing noise from collected data to improve data quality and accuracy. Common data filtering methods include moving average filtering, median filtering, and Gaussian filtering. Moving average filtering is a simple filtering method that smoothes data by calculating the average value of data within a specific time window. It is suitable for data with slow periodic changes and can effectively remove noise. Median filtering is a nonlinear filtering method that smooths data by calculating the median value of data within a specific time window. It is suitable for data with rapid periodic changes and the presence of outliers, effectively removing noise and outliers. Gaussian filtering is a linear filtering method that smooths data by convolving it with a Gaussian kernel. It is suitable for data with continuous changes and can effectively remove high-frequency noise. In addition to the above filtering methods, there are other filtering methods, such as Kalman filtering and wavelet filtering, which are suitable for different application scenarios and data characteristics. Data filtering can be widely used in fields such as signal processing, image processing, and data analysis to improve data reliability and usability. However, it is necessary to select the appropriate filtering method based on the specific data characteristics and requirements, and to optimize the parameters to achieve the best filtering effect.

[0055] As an optional embodiment, determining the first rear wheel speed based on the third target difference and determining the second rear wheel speed based on the fourth target difference includes: obtaining a first average value of the pulse acceleration of the left rear wheel within a preset period and a second average value of the pulse acceleration of the left rear wheel within a preset period; determining a fifth target difference based on the first average value and the third target difference; determining a sixth target difference based on the second average value and the fourth target difference; determining the first rear wheel speed based on the fifth target difference, and determining the second rear wheel speed based on the sixth target difference.

[0056] In this embodiment, determining the first rear wheel speed based on the third target difference and determining the second rear wheel speed based on the fourth target difference includes the following steps: the vehicle control system can obtain a first average value of the pulse acceleration of the left rear wheel of the vehicle within a preset period, and simultaneously obtain a second average value of the pulse acceleration of the right rear wheel of the vehicle, and then determine a fifth target difference based on the first average value and the third target difference, and then determine a sixth target difference based on the second average value and the fourth target difference. Next, the vehicle control system can determine the first rear wheel speed based on the fifth target difference, and determine the second rear wheel speed based on the sixth target difference.

[0057] Specifically, after obtaining the third target difference and the fourth target difference, the vehicle control system should also perform feedforward control on them to ensure the accuracy of the acquired data. Therefore, it is necessary to solve the feedforward value of its feedforward control, that is, the pulse acceleration of the left rear wheel and the right rear wheel within a preset period, and then add the third target difference and the first average value to obtain the fifth target difference, and add the fourth target difference and the second average value to obtain the sixth target difference.

[0058] Specifically, the formula for calculating the first average value is as follows:

[0059] The formula for calculating the second average is as follows:

[0060] Where Δt is the sampling period.

[0061] For example, the fifth average difference is calculated as: ΔN leftL =ΔN′ left +α left .

[0062] Similarly, the calculation formula for the fifth average difference is: ΔN rightL＝ ΔN′ right +α right .

[0063] As an optional embodiment, the vehicle includes: a magnetic encoder, and determining the first rear wheel speed based on the fifth target difference includes: calculating the product of the fifth target difference and the first coefficient to obtain a first value; calculating the product of the number of magnetic poles of the magnetic encoder and a preset period to obtain a second value; calculating the ratio of the first value to the second value to obtain the first rear wheel speed.

[0064] In this embodiment, the vehicle includes: a magnetic encoder, and determining the first rear wheel speed based on the fifth target difference includes the following steps: first calculating the product of the fifth target difference and the first coefficient to obtain a first value, then calculating the product of the number of magnetic pole pairs of the magnetic encoder in the vehicle and a preset period to obtain a second value, and calculating the ratio of the first value to the second value to obtain the first rear wheel speed (the speed of the left rear wheel of the vehicle).

[0065] Specifically, the first coefficient is 60, and the number of magnetic pole pairs of the magnetic encoder is recorded as N 齿 .

[0066] Specifically, the formula for calculating the first rear wheel speed is as follows:

[0067] As an optional implementation, determining the second rear wheel speed based on the sixth target difference includes: calculating the product of the sixth target difference and the first coefficient to obtain a third value; and calculating the ratio of the third value to the second value to obtain the second rear wheel speed.

[0068] In this embodiment, determining the second rear wheel speed based on the sixth target difference includes the following steps: first, calculating the product of the sixth target difference and the first coefficient to obtain a third value, then calculating the product of the number of magnetic pole pairs of the magnetic encoder in the vehicle and a preset period to obtain a second value, and calculating the ratio of the third value to the second value to obtain the second rear wheel speed (the speed of the right rear wheel of the vehicle).

[0069] Specifically, the formula for calculating the second rear wheel speed is as follows:

[0070] As an optional implementation, determining the output shaft speed based on the first rear wheel speed and the second rear wheel speed includes: calculating a third average value of the first rear wheel speed and the second rear wheel speed; and determining the output shaft speed based on the third average value.

[0071] In this embodiment, determining the output shaft speed based on the first rear wheel speed and the second rear wheel speed includes the following steps: after obtaining the first rear wheel speed and the second rear wheel speed, the vehicle control system calculates the average value of the above two rear wheel speeds, which is the speed of the vehicle transmission output shaft.

[0072] Specifically, the first rear wheel speed is recorded as ω left , the second rear wheel speed is recorded as ωright , the formula for calculating the speed of the vehicle transmission output shaft is as follows:

[0073] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or grid device, etc.) to execute the methods of the various embodiments of the present disclosure.

[0074] This embodiment also provides a device for determining the output shaft speed of a vehicle. The device is configured to implement the above-described embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0075] FIG4 is a structural block diagram of a device 400 for determining a vehicle output shaft speed according to one embodiment of the present disclosure. As shown in FIG4 , the device includes: an acquisition module 401 , a first determination module 402 , and a second determination module 403 .

[0076] An acquisition module 401 is configured to acquire a first pulse signal of the left rear wheel at multiple moments and a second pulse signal of the right rear wheel at multiple moments;

[0077] A first determining module 402 is configured to determine a first rear wheel speed and a second rear wheel speed according to the plurality of first pulse signals and the plurality of second pulse signals;

[0078] The second determining module 403 is configured to determine the output shaft speed according to the first rear wheel speed and the second rear wheel speed.

[0079] Optionally, the first determination module 402 includes: a first calculation unit, configured to calculate a first difference between a first pulse signal obtained at a first moment and a first pulse signal obtained at a second moment; a second calculation unit, configured to calculate a second difference between a second pulse signal obtained at a second moment and a second pulse signal obtained at a second moment; a first determination unit, configured to determine a first rear wheel speed based on the first difference, and to determine a second rear wheel speed based on the second difference.

[0080] Optionally, the determination unit includes: a first determination subunit, configured to determine the first target difference as the first difference in response to the first difference being greater than or equal to the first preset value; a second determination subunit, configured to determine the first target difference as the sum of the first difference and the second preset value in response to the first difference being less than the first preset value; a third determination subunit, configured to determine the second target difference as the second difference in response to the second difference being greater than or equal to the first preset value; a fourth determination subunit, configured to determine the second target difference as the sum of the second difference and the second preset value in response to the second difference being less than the second preset value; and a fifth determination subunit, configured to determine the first rear wheel speed based on the first target difference, and to determine the second rear wheel speed based on the second target difference.

[0081] Optionally, the fifth determination subunit includes: a processing subunit, configured to filter the first target difference and the second target difference to obtain a third target difference and a fourth target difference; a sixth determination subunit, configured to determine the first rear wheel speed based on the third target difference, and determine the second rear wheel speed value based on the fourth target difference.

[0082] Optionally, the sixth determination subunit includes: an acquisition subunit, configured to acquire a first average value of the pulse acceleration of the left rear wheel within a preset period and a second average value of the pulse acceleration of the right rear wheel within a preset period; a seventh determination subunit, configured to determine a fifth target difference based on the first average value and the third target difference; an eighth determination subunit, configured to determine a sixth target difference based on the second average value and the fourth target difference; and a ninth determination subunit, configured to determine the first rear wheel speed according to the fifth target difference, and determine the second rear wheel speed according to the sixth target difference.

[0083] Optionally, the ninth determination subunit includes: a first calculation subunit, configured to calculate the product of the fifth target difference and the first coefficient to obtain a first value; a second calculation subunit, configured to calculate the product of the number of magnetic poles of the magnetic encoder and a preset period to obtain a second value; and a third calculation subunit, configured to calculate the ratio of the first value to the second value to obtain a first rear wheel speed.

[0084] Optionally, the ninth determination subunit further includes: a fourth calculation subunit, configured to calculate the product of the sixth target difference and the first coefficient to obtain a third value; and a fifth calculation subunit, configured to calculate the ratio of the third value to the second value to obtain a second rear wheel speed.

[0085] Optionally, the second determining module 403 includes: a third calculating unit configured to calculate a third average value of the first rear wheel speed and the second rear wheel speed; and a second determining unit configured to determine the output shaft speed based on the third average value.

[0086] An embodiment of the present disclosure further provides a vehicle, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the above-mentioned method for determining the vehicle output shaft speed.

[0087] Optionally, in this embodiment, the vehicle may be configured to store a computer program configured to perform the following steps:

[0088] Step S102, obtaining a first pulse signal of the left rear wheel at multiple moments and a second pulse signal of the right rear wheel at multiple moments;

[0089] Step S104, determining a first rear wheel speed and a second rear wheel speed according to the plurality of first pulse signals and the plurality of second pulse signals;

[0090] Step S106: determining the output shaft speed according to the first rear wheel speed and the second rear wheel speed.

[0091] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0092] In the above embodiments of the present disclosure, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] In some embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0094] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected to achieve the purpose of the present embodiment according to actual needs.

[0095] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0096] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a grid device, etc.) to execute all or part of the steps of the various embodiments of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0097] The above is only a preferred embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present disclosure. These improvements and modifications should also be regarded as within the scope of protection of the present disclosure.

Claims

1. A method for determining a vehicle output shaft speed, the vehicle comprising: The left rear wheel and the right rear wheel, the method comprising: Acquire a first pulse signal of the left rear wheel at a plurality of times and a second pulse signal of the right rear wheel at the plurality of times; determining a first rear wheel speed and a second rear wheel speed according to a plurality of the first pulse signals and a plurality of the second pulse signals; An output shaft speed is determined based on the first rear wheel speed and the second rear wheel speed.

2. The method for determining the vehicle output shaft speed according to claim 1, wherein: The multiple moments include: a first moment and a second moment, and determining the first rear wheel speed and the second rear wheel speed according to the multiple first pulse signals and the multiple second pulse signals includes: Calculating a first difference between the first pulse signal acquired at the first moment and the first pulse signal acquired at the second moment; Calculating a second difference between the second pulse signal acquired at the first moment and the second pulse signal acquired at the second moment; The first rear wheel speed is determined according to the first difference, and the second rear wheel speed is determined according to the second difference.

3. The method for determining the vehicle output shaft speed according to claim 2, wherein: Determining the first rear wheel speed according to the first difference, and determining the second rear wheel speed according to the second difference includes: In response to the first difference being greater than or equal to a first preset value, determining a first target difference to be the first difference; In response to the first difference being less than the first preset value, determining the first target difference to be the sum of the first difference and a second preset value; In response to the second difference being greater than or equal to the first preset value, determining a second target difference to be the second difference; In response to the second difference being less than the second preset value, determining the second target difference to be the sum of the second difference and the second preset value; The first rear wheel speed is determined according to the first target difference, and the second rear wheel speed is determined according to the second target difference.

4. The method for determining the vehicle output shaft speed according to claim 3, wherein: Determining the first rear wheel speed according to the first target difference, and determining the second rear wheel speed according to the second target difference includes: Performing filtering processing on the first target difference and the second target difference to obtain a third target difference and a fourth target difference; The first rear wheel speed is determined according to the third target difference, and the second rear wheel speed is determined according to the fourth target difference.

5. The method for determining the vehicle output shaft speed according to claim 4, wherein: Determining the first rear wheel speed according to the third target difference, and determining the second rear wheel speed according to the fourth target difference includes: Obtaining a first average value of the pulse acceleration of the left rear wheel within a preset period and a second average value of the pulse acceleration of the right rear wheel within a preset period; determining a fifth target difference based on the first average value and the third target difference; determining a sixth target difference based on the second average and the fourth target difference; The first rear wheel speed is determined according to the fifth target difference, and the second rear wheel speed is determined according to the sixth target difference.

6. The method for determining the vehicle output shaft speed according to claim 5, wherein: The vehicle includes: a magnetic encoder, and determining the first rear wheel speed according to the fifth target difference includes: Calculating the product of the fifth target difference and the first coefficient to obtain a first value; Calculating the product of the number of magnetic poles of the magnetic encoder and the preset period to obtain a second value; The ratio of the first value to the second value is calculated to obtain the first rear wheel speed.

7. The method for determining the vehicle output shaft speed according to claim 6, wherein: Determining the second rear wheel speed according to the sixth target difference includes: Calculating the product of the sixth target difference and the first coefficient to obtain a third value; The ratio of the third value to the second value is calculated to obtain the second rear wheel speed.

8. The method for determining the vehicle output shaft speed according to claim 1, wherein: Determining the output shaft speed according to the first rear wheel speed and the second rear wheel speed includes: calculating a third average value of the first rear wheel speed and the second rear wheel speed; The output shaft speed is determined based on the third average value.

9. A vehicle comprising a memory and a processor, wherein: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the method for determining the vehicle output shaft speed as described in any one of claims 1 to 7.

10. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the method for determining the vehicle output shaft speed as described in any one of claims 1 to 7 when running on a computer or a processor.

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