Vehicle speed measurement system and vehicle

Abstract

Disclosed in the present invention are a vehicle speed measurement system and a vehicle. The vehicle speed measurement system comprises: a primary vehicle speed calculation module, used for calculating a primary vehicle speed and determining the validity of the primary vehicle speed; a redundant vehicle speed calculation module, used for calculating a redundant vehicle speed and determining the validity of the redundant vehicle speed, wherein the redundant vehicle speed is calculated independently of the primary vehicle speed; and an arbitration module, used for arbitrating the primary vehicle speed and the redundant vehicle speed on the basis of the validity of the primary vehicle speed and the validity of the redundant vehicle speed, and selecting the primary vehicle speed or the redundant vehicle speed as a whole vehicle speed on the basis of the arbitration result. In the present invention, on the basis of the primary vehicle speed calculation module, the redundant vehicle speed calculation module is added to calculate the redundant vehicle speed, such that by arbitrating the validity of the primary vehicle speed and the validity of the redundant vehicle speed, the whole vehicle speed can be calculated by means of the redundant vehicle speed when the primary vehicle speed fails. The present invention takes into account the accuracy, reliability and robustness of vehicle speed calculation.

Description

Vehicle speed measurement system and vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to a Chinese patent application filed with the Patent Office of China on February 27, 2024, with application number 202410216980.2 and application name “Speed ​​Measurement System and Vehicle”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Technical Field

[0003] The present invention relates to the technical field of vehicles, and in particular to a vehicle speed measurement system and a vehicle. Background Art

[0004] Vehicle speed is used for torque monitoring and gear position monitoring. Therefore, measuring vehicle speed is crucial. Currently, to ensure accurate speed measurement, speed measurement modules often utilize a multi-input computing system.

[0005] However, the existing technology does not take into account the failure of the vehicle speed measurement module itself. When the vehicle speed measurement module fails, it will lead to vehicle speed measurement errors and mistakenly trigger safety-related monitoring mechanisms such as torque monitoring or gear monitoring, affecting the vehicle user experience. Summary of the Invention

[0006] Based on this, it is necessary to provide a vehicle speed measurement system and a vehicle to address the technical problem that the existing technology does not consider the failure of the vehicle speed measurement module, which easily leads to vehicle speed measurement errors.

[0007] The present invention provides a vehicle speed measurement system, comprising:

[0008] A main vehicle speed calculation module, used to calculate the main vehicle speed and determine the validity of the main vehicle speed;

[0009] a redundant vehicle speed calculation module, configured to calculate a redundant vehicle speed and determine the validity of the redundant vehicle speed, wherein the calculation of the redundant vehicle speed is independent of the main vehicle speed;

[0010] The arbitration module is used to arbitrate the main vehicle speed and the redundant vehicle speed according to the validity of the main vehicle speed and the redundant vehicle speed, and select the main vehicle speed or the redundant vehicle speed as the vehicle speed according to the arbitration result.

[0011] Furthermore, the calculating of the main vehicle speed and determining the validity of the main vehicle speed include:

[0012] Verifying at least one of the chassis speed, the front motor speed, and the rear motor speed to determine validity of at least one of the chassis speed, the front motor speed, and the rear motor speed;

[0013] The main vehicle speed is calculated and the validity of the main vehicle speed is determined based on at least one of the chassis speed, the front motor speed, and the rear motor speed, and the validity of the main vehicle speed.

[0014] Furthermore, the calculating the main vehicle speed and determining the validity of the main vehicle speed based on at least one of the chassis speed, the front motor speed, and the rear motor speed and their validity includes:

[0015] When the chassis speed is valid, the chassis speed is set as the main speed, and the main speed is determined to be valid, and the chassis speed is the speed calculated from the four wheel speeds of the vehicle; or

[0016] When the chassis speed is invalid and the front motor speed and / or the rear motor speed are valid, the main vehicle speed is calculated based on the front motor speed and / or the rear motor speed and the validity of the main vehicle speed is determined; or

[0017] When the chassis speed is invalid, and both the front motor speed and the rear motor speed are invalid, it is determined that the main vehicle speed is invalid, and the main vehicle speed is maintained unchanged.

[0018] Furthermore, the calculating the main vehicle speed based on the front motor speed and / or the rear motor speed and determining the validity of the main vehicle speed includes:

[0019] When the front motor speed and the rear motor speed are both valid:

[0020] When the front motor speed is equal to the target threshold or the rear motor speed is equal to the target threshold, the main vehicle speed is set to 0 and the main vehicle speed is determined to be valid; or,

[0021] When both the front motor speed and the rear motor speed are greater than a target threshold, a minimum value of a first vehicle speed calculated based on the front motor speed and a second vehicle speed calculated based on the rear motor speed is selected as the main vehicle speed, and the main vehicle speed is determined to be valid; or

[0022] When the front motor speed and the rear motor speed are both less than a target threshold, the maximum value of the first vehicle speed and the second vehicle speed is selected as the main vehicle speed, and the main vehicle speed is determined to be valid.

[0023] Furthermore, the calculating the main vehicle speed based on the front motor speed and / or the rear motor speed and determining the validity of the main vehicle speed includes:

[0024] When the front motor speed and the rear motor speed are both valid:

[0025] When the front motor speed is greater than a target threshold and the rear motor speed is less than a target threshold, an average of a first vehicle speed calculated based on the front motor speed and a second vehicle speed calculated based on the rear motor speed is calculated as the main vehicle speed, and the main vehicle speed is determined to be valid; or

[0026] When the front motor speed is less than a target threshold and the rear motor speed is greater than a target threshold, an average of the first vehicle speed and the second vehicle speed is calculated as the main vehicle speed, and the main vehicle speed is determined to be valid.

[0027] Furthermore, the calculating the main vehicle speed based on the front motor speed and / or the rear motor speed and determining the validity of the main vehicle speed includes:

[0028] When the front motor speed is valid and the rear motor speed is invalid, selecting a first vehicle speed calculated based on the front motor speed as the main vehicle speed, and determining that the main vehicle speed is valid; or

[0029] When the front motor speed is invalid and the rear motor speed is valid, a second vehicle speed calculated based on the rear motor speed is selected as the main vehicle speed, and the main vehicle speed is determined to be valid.

[0030] Furthermore, the calculating of redundant vehicle speeds and determining the validity of the redundant vehicle speeds includes:

[0031] Verifying at least one of the chassis speed and the longitudinal acceleration to determine validity of at least one of the chassis speed and the longitudinal acceleration;

[0032] The redundant vehicle speed is calculated and the validity of the redundant vehicle speed is determined based on at least one of the chassis vehicle speed and the longitudinal acceleration and the validity thereof.

[0033] Furthermore, the calculating the redundant vehicle speed and determining the validity of the redundant vehicle speed based on at least one of the chassis speed and the longitudinal acceleration and the validity thereof includes:

[0034] When the chassis speed is valid, setting the chassis speed as a redundant speed and determining that the redundant speed is valid; or

[0035] When the chassis speed is invalid and the longitudinal acceleration is valid, the redundant speed is calculated according to the longitudinal acceleration, and it is determined that the redundant speed is valid; or

[0036] When the chassis speed is invalid and the longitudinal acceleration is invalid, the redundant speed is determined to be invalid and is maintained unchanged.

[0037] Furthermore, calculating the redundant vehicle speed based on the longitudinal acceleration includes: calculating the redundant vehicle speed as the vehicle speed at the previous sampling moment plus the product of the longitudinal acceleration and a sampling period, where the sampling period is the time interval between two adjacent sampling moments.

[0038] Furthermore, arbitrating the main vehicle speed and the redundant vehicle speed according to the validity of the main vehicle speed and the redundant vehicle speed, and selecting the main vehicle speed or the redundant vehicle speed as the vehicle speed according to the arbitration result, includes:

[0039] According to the validity of the main vehicle speed and the redundant vehicle speed, and the difference between the main vehicle speed and the redundant vehicle speed, the main vehicle speed and the redundant vehicle speed are arbitrated, and the main vehicle speed or the redundant vehicle speed is selected as the vehicle speed according to the arbitration result.

[0040] Furthermore, the arbitrating the main vehicle speed and the redundant vehicle speed based on the validity of the main vehicle speed and the redundant vehicle speed, and the difference between the main vehicle speed and the redundant vehicle speed, and selecting the main vehicle speed or the redundant vehicle speed as the vehicle speed based on the arbitration result, includes:

[0041] When both the main vehicle speed and the redundant vehicle speed are valid, calculating an absolute value of a difference between the main vehicle speed and the redundant vehicle speed;

[0042] If the absolute value of the difference is less than or equal to the difference threshold, the main speed is selected as the entire vehicle speed; otherwise, the redundant speed is selected as the entire vehicle speed, and the entire vehicle speed is set to be valid.

[0043] Furthermore, arbitrating the main vehicle speed and the redundant vehicle speed according to the validity of the main vehicle speed and the redundant vehicle speed, and selecting the main vehicle speed or the redundant vehicle speed as the vehicle speed according to the arbitration result, includes:

[0044] When the main vehicle speed is valid and the redundant vehicle speed is invalid, the main vehicle speed is selected as the vehicle speed and the vehicle speed is set to be valid; or

[0045] When the main vehicle speed is invalid and the redundant vehicle speed is valid, the redundant vehicle speed is selected as the vehicle speed and the vehicle speed is set to be valid; or

[0046] When the main vehicle speed is invalid and the redundant vehicle speed is invalid, the entire vehicle speed is set to be invalid and the entire vehicle speed is maintained unchanged.

[0047] The present invention provides a vehicle, comprising the vehicle speed measurement system as described above.

[0048] The present invention provides a computer-readable storage medium storing a computer program; the computer program is configured to be executed by a processor to implement the vehicle speed measurement system as described above.

[0049] The present invention provides a computer program, which is configured to be executed by a processor to implement the vehicle speed measurement system as described above.

[0050] The present invention uses a main speed calculation module to calculate the main speed and determine its validity. A redundant speed calculation module calculates and determines the validity of the redundant speed. An arbitration module arbitrates the main and redundant speeds based on their validity, selecting either the main speed or the redundant speed as the overall vehicle speed based on the arbitration result. In addition to the main speed calculation module, the present invention adds a redundant speed calculation module to calculate the redundant speed. This allows for arbitration between the validity of the main and redundant speeds, enabling the overall vehicle speed to be calculated using the redundant speed if the main speed fails, ensuring both accuracy, reliability, and robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0052] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0053] FIG1 is a system schematic diagram of a vehicle speed measurement system according to an embodiment of the present invention;

[0054] FIG2 is a system schematic diagram of a vehicle speed measurement system according to an optional embodiment of the present invention;

[0055] FIG3 is a flowchart of a vehicle speed measurement system according to an optional embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following further describes specific embodiments of the present invention with reference to the accompanying drawings. Like components are denoted by like reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, and the terms "inward" and "outward" refer to directions toward or away from the geometric center of a particular component, respectively.

[0057] FIG1 is a schematic diagram of a vehicle speed measurement system according to an embodiment of the present invention, comprising:

[0058] A main vehicle speed calculation module 101 is used to calculate the main vehicle speed and determine the validity of the main vehicle speed;

[0059] A redundant vehicle speed calculation module 102 is configured to calculate a redundant vehicle speed and determine the validity of the redundant vehicle speed, wherein the calculation of the redundant vehicle speed is independent of the main vehicle speed;

[0060] The arbitration module 103 is configured to arbitrate the main vehicle speed and the redundant vehicle speed according to the validity of the main vehicle speed and the redundant vehicle speed, and select the main vehicle speed or the redundant vehicle speed as the vehicle speed according to the arbitration result.

[0061] Specifically, the present invention can be applied to electronic devices with processing capabilities, such as an Electronic Control Unit (ECU) or an Extended Domain Control Unit (XCU) of a vehicle.

[0062] The main vehicle speed calculation module 101 and the redundant vehicle speed calculation module 102 calculate the main vehicle speed and the redundant vehicle speed respectively, and calculate the validity of the main vehicle speed and the redundant vehicle speed respectively.

[0063] The primary vehicle speed can be calculated by the primary vehicle speed calculation module 101, and the redundant vehicle speed can be calculated by the redundant vehicle speed calculation module 102. The primary vehicle speed is calculated by integrating multiple input sources. The redundant vehicle speed can also be calculated by integrating multiple input sources, where the input source refers to the signal used to calculate the primary vehicle speed or the redundant vehicle speed. The input source of the primary vehicle speed and the input source of the redundant vehicle speed can be the same, partially the same, or completely different.

[0064] The calculation of the redundant vehicle speed is independent of the main vehicle speed, that is, the calculation of the redundant vehicle speed is different from the calculation of the main vehicle speed.

[0065] In some embodiments, the main vehicle speed is calculated using multiple input sources including chassis speed, at least one of the front motor speed and the rear motor speed, and the validity of their input signals.

[0066] The chassis speed is the vehicle speed calculated from the four wheel speeds of the vehicle. For example, the chassis speed is the vehicle speed calculated by the Electronic Stability Program (ESP) controller based on the measured four wheel speeds. The front motor speed is the speed of the motor driving the vehicle's front wheels, and the rear motor speed is the speed of the motor driving the vehicle's rear wheels.

[0067] In some embodiments, the redundant vehicle speed is calculated using multiple input sources including at least one of chassis vehicle speed and longitudinal acceleration and the validity of their input signals.

[0068] Longitudinal acceleration is the acceleration along the length of the vehicle body. When the vehicle is subject to forward acceleration, longitudinal acceleration is positive, and when the vehicle is subject to backward acceleration, longitudinal acceleration is negative. Longitudinal acceleration can be obtained using the vehicle's longitudinal acceleration sensor, which can be an inertial measurement unit (IMU).

[0069] Input signal validity refers to the validity of the signal used to calculate vehicle speed. Communication integrity checks can be performed on input signals. If a counter error, checksum error, or frame timeout error occurs, the relevant signal validity is set to invalid; otherwise, it is set to valid. Signals used to calculate the main vehicle speed include, but are not limited to, chassis speed, front motor speed, and rear motor speed. Signals used to calculate the main vehicle speed include, but are not limited to, chassis speed and longitudinal acceleration.

[0070] The arbitration module 103 arbitrates the main vehicle speed and the redundant vehicle speed according to the validity of the main vehicle speed and the redundant vehicle speed, and selects the main vehicle speed or the redundant vehicle speed as the vehicle speed according to the arbitration result.

[0071] Arbitration refers to determining whether to use the main vehicle speed or the redundant vehicle speed as the vehicle speed based on the validity of the main vehicle speed and the redundant vehicle speed.

[0072] The obtained vehicle speed can be output to safety-related monitoring modules such as torque monitoring and gear monitoring.

[0073] Arbitration refers to the decision to use the main speed or the redundant speed as the vehicle speed based on the validity of the main speed and the redundant speed, and to determine that the vehicle speed is valid, or to determine that the vehicle speed is invalid when the main speed and the redundant speed cannot be used.

[0074] The present invention uses a main speed calculation module to calculate the main speed and determine its validity. A redundant speed calculation module calculates and determines the validity of the redundant speed. An arbitration module arbitrates the main and redundant speeds based on their validity, selecting either the main speed or the redundant speed as the overall vehicle speed based on the arbitration result. In addition to the main speed calculation module, the present invention adds a redundant speed calculation module to calculate the redundant speed. This allows for arbitration between the validity of the main and redundant speeds, enabling the overall vehicle speed to be calculated using the redundant speed if the main speed fails, ensuring both accuracy, reliability, and robustness.

[0075] The main vehicle speed calculation module 101 calculates the main vehicle speed according to different signal conditions.

[0076] In one embodiment, calculating the main vehicle speed and determining the validity of the main vehicle speed includes:

[0077] Verifying at least one of the chassis speed, the front motor speed, and the rear motor speed to determine validity of at least one of the chassis speed, the front motor speed, and the rear motor speed;

[0078] The main vehicle speed is calculated and the validity of the main vehicle speed is determined based on at least one of the chassis speed, the front motor speed, and the rear motor speed, and the validity of the main vehicle speed.

[0079] The step of verifying at least one of the chassis speed, the front motor speed, and the rear motor speed to determine the validity of at least one of the chassis speed, the front motor speed, and the rear motor speed includes:

[0080] Verify the chassis speed to determine the validity of the chassis speed; or, verify the chassis speed and the front motor speed to determine the validity of the chassis speed and the validity of the front motor speed; or, verify the chassis speed and the rear motor speed to determine the validity of the chassis speed and the validity of the rear motor speed; or, verify the chassis speed, the front motor speed and the rear motor speed to determine the validity of the chassis speed, the validity of the front motor speed and the validity of the rear motor speed.

[0081] In one embodiment, calculating the main vehicle speed and determining the validity of the main vehicle speed based on at least one of the chassis speed, the front motor speed, and the rear motor speed and their validity includes:

[0082] When the chassis speed is valid, the chassis speed is set as the main speed, and the main speed is determined to be valid, and the chassis speed is the speed calculated from the four wheel speeds of the vehicle; or

[0083] When the chassis speed is invalid and the front motor speed and / or the rear motor speed are valid, the main vehicle speed is calculated based on the front motor speed and / or the rear motor speed and the validity of the main vehicle speed is determined; or

[0084] When the chassis speed is invalid, and both the front motor speed and the rear motor speed are invalid, it is determined that the main vehicle speed is invalid, and the main vehicle speed is maintained unchanged.

[0085] The chassis speed is the vehicle speed calculated from the four wheel speeds of the vehicle, so the chassis speed has the highest priority. If the chassis speed is valid, the chassis speed is selected as the main speed and the main speed is determined to be valid.

[0086] When the chassis speed is invalid, if at least one of the front motor speed or the rear motor speed is valid, the main vehicle speed is calculated based on the front motor speed and / or the rear motor speed and the validity of the main vehicle speed is determined.

[0087] When the chassis speed, the front motor speed, and the rear motor speed are all invalid, the main vehicle speed is determined to be invalid and is maintained unchanged.

[0088] In some embodiments, the main vehicle speed is calculated at each sampling moment. When the chassis speed, the front motor speed, and the rear motor speed are all invalid, the main vehicle speed is maintained at the main vehicle speed calculated at the previous sampling moment.

[0089] Because chassis speed is calculated from the four wheel speeds of the vehicle, this embodiment prioritizes chassis speed as the primary speed when it is valid, resulting in more accurate primary speed calculation. When chassis speed is invalid, the primary speed is calculated based on the front and rear motor speeds. This multi-input calculation system ensures accuracy. This embodiment utilizes differentiated calculation systems for the primary speed based on different conditions, effectively handling failures caused by abnormal input signals and improving the reliability of speed calculation results.

[0090] In one embodiment, calculating the main vehicle speed based on the front motor speed and / or the rear motor speed and determining the validity of the main vehicle speed includes:

[0091] When the front motor speed and the rear motor speed are both valid:

[0092] When the front motor speed is equal to the target threshold or the rear motor speed is equal to the target threshold, the main vehicle speed is set to 0 and the main vehicle speed is determined to be valid; or,

[0093] When both the front motor speed and the rear motor speed are greater than a target threshold, a minimum value of a first vehicle speed calculated based on the front motor speed and a second vehicle speed calculated based on the rear motor speed is selected as the main vehicle speed, and the main vehicle speed is determined to be valid; or

[0094] When the front motor speed and the rear motor speed are both less than a target threshold, the maximum value of the first vehicle speed and the second vehicle speed is selected as the main vehicle speed, and the main vehicle speed is determined to be valid.

[0095] As an optional example, if the chassis speed is invalid, and both the current motor speed and the rear motor speed are valid, then the following operations are performed based on the front motor speed and the rear motor speed:

[0096] When both the front and rear motor speeds are equal to target thresholds, the vehicle is deemed to have no driving force. The main vehicle speed is set to 0, and the main vehicle speed remains in effect. The target thresholds represent the front and rear motor speeds when the vehicle is not driving force. For example, the target thresholds can be 0 or values ​​close to 0, depending on the actual situation and are not specifically limited in this disclosure.

[0097] The current motor speed and the rear motor speed are both greater than the target threshold, indicating that the vehicle is driven forward. A first vehicle speed is calculated based on the front motor speed, and a second vehicle speed is calculated based on the rear motor speed. The minimum of the first and second vehicle speeds is then selected as the primary vehicle speed, and the primary vehicle speed is determined to be valid. For example, if the motor speed is greater than 0, the vehicle speed calculated based on the motor speed is also greater than 0. Because vehicle speed affects subsequent vehicle torque, a smaller absolute value of the vehicle speed results in smaller output torque. Therefore, for driving safety, when the vehicle speed is greater than 0, a smaller speed is selected to minimize the absolute value of the vehicle speed. This results in a smaller output torque, thereby ensuring driving safety.

[0098] If both the current motor speed and the rear motor speed are less than the target threshold, the vehicle is experiencing a backward driving force. A first vehicle speed is calculated based on the front motor speed, and a second vehicle speed is calculated based on the rear motor speed. The maximum of the first and second speeds is then selected as the primary vehicle speed, and the primary vehicle speed is determined to be valid. For example, if the motor speed is less than 0, the vehicle speed calculated based on the motor speed is also less than 0. Therefore, for driving safety, when the vehicle speed is less than 0, a higher speed is selected to minimize the absolute value of the vehicle speed. This results in a lower torque output, ensuring driving safety.

[0099] This embodiment addresses the situation where the chassis speed is invalid, but both the front and rear motor speeds are valid. Different main vehicle speed calculation methods are determined based on the front and rear motor speeds. By integrating multiple input sources, the main vehicle speed calculation is made more accurate. Furthermore, the calculated main vehicle speed is prevented from being too high, thereby ensuring driving safety.

[0100] In one embodiment, calculating the main vehicle speed based on the front motor speed and / or the rear motor speed and determining the validity of the main vehicle speed includes:

[0101] When the front motor speed and the rear motor speed are both valid:

[0102] When the front motor speed is greater than a target threshold and the rear motor speed is less than a target threshold, an average of a first vehicle speed calculated based on the front motor speed and a second vehicle speed calculated based on the rear motor speed is calculated as the main vehicle speed, and the main vehicle speed is determined to be valid; or

[0103] When the front motor speed is less than a target threshold and the rear motor speed is greater than a target threshold, an average of the first vehicle speed and the second vehicle speed is calculated as the main vehicle speed, and the main vehicle speed is determined to be valid.

[0104] As an optional example, if the current motor speed is greater than the target threshold and the rear motor speed is less than the target threshold, or the front motor speed is less than the target threshold and the rear motor speed is greater than the target threshold, the first vehicle speed is calculated based on the front motor speed, and the second vehicle speed is calculated based on the rear motor speed, and then the average of the first vehicle speed and the second vehicle speed is calculated as the main vehicle speed, and it is determined that the main vehicle speed is valid.

[0105] In critical situations, such as when shifting gears, the front and rear wheel speeds may diverge. Therefore, calculating the absolute values ​​of the two speeds provides a more accurate speed. Furthermore, since the two motors rotate in opposite directions, the first and second speeds are in opposite directions. The absolute value of the average of the two speeds will fall within the range of the absolute values ​​of the first and second speeds, thus preventing excessive speed and ensuring driving safety.

[0106] In this embodiment, the average value is calculated to avoid excessively high calculated main vehicle speed, thereby ensuring driving safety, in view of the situation where the front and rear motors have different directions of rotation.

[0107] In some embodiments, calculating the first vehicle speed based on the front motor speed includes:

[0108] The first vehicle speed is calculated according to the front motor speed, the front final reducer speed ratio and the front wheel rolling radius.

[0109] Exemplarily, the first vehicle speed is calculated as: (front motor speed / 60 / front final reducer speed ratio)*2*Pi*3.6*front wheel rolling radius, where the unit of the front motor speed is rpm and the unit of the first vehicle speed is km / h.

[0110] In some embodiments, calculating the second vehicle speed based on the rear motor speed includes:

[0111] The second vehicle speed is calculated based on the rear motor speed, the rear final reducer speed ratio and the rear wheel rolling radius.

[0112] Exemplarily, the second vehicle speed is calculated as: (rear motor speed / 60 / rear final reducer speed ratio)*2*Pi*3.6*rear wheel rolling radius, where the unit of the rear motor speed is rpm and the unit of the second vehicle speed is km / h.

[0113] In one embodiment, calculating the main vehicle speed based on the front motor speed and / or the rear motor speed and determining the validity of the main vehicle speed includes:

[0114] When the front motor speed is valid and the rear motor speed is invalid, selecting a first vehicle speed calculated based on the front motor speed as the main vehicle speed, and determining that the main vehicle speed is valid; or

[0115] When the front motor speed is invalid and the rear motor speed is valid, a second vehicle speed calculated based on the rear motor speed is selected as the main vehicle speed, and the main vehicle speed is determined to be valid.

[0116] As an optional example, when the chassis speed is invalid and only one of the front motor speed and the rear motor speed is valid, the speed corresponding to the valid motor speed is selected as the main speed, and the main speed is determined to be valid.

[0117] For example:

[0118] When the chassis speed is invalid, the front motor speed is valid, and the rear motor speed is invalid, the first speed is calculated based on the front motor speed as the main speed, and the main speed is determined to be valid;

[0119] When the chassis speed is invalid, the front motor speed is invalid, and the rear motor speed is valid, the second speed is calculated according to the rear motor speed as the main speed, and the main speed is determined to be valid.

[0120] In this embodiment, when the chassis speed is invalid, the speed corresponding to the valid motor speed is selected as the main vehicle speed, thereby avoiding the influence of the invalid motor speed and obtaining an accurate main vehicle speed.

[0121] The redundant vehicle speed calculation module 102 calculates redundant vehicle speeds according to different signal conditions.

[0122] In one embodiment, calculating the redundant vehicle speed and determining the validity of the redundant vehicle speed includes:

[0123] Verifying at least one of the chassis speed and the longitudinal acceleration to determine validity of at least one of the chassis speed and the longitudinal acceleration;

[0124] The redundant vehicle speed is calculated and the validity of the redundant vehicle speed is determined based on at least one of the chassis vehicle speed and the longitudinal acceleration and the validity thereof.

[0125] The step of verifying at least one of the chassis speed and the longitudinal acceleration to determine the validity of at least one of the chassis speed and the longitudinal acceleration includes:

[0126] The chassis speed and the longitudinal acceleration are verified to determine the validity of the chassis speed; or the chassis speed and the longitudinal acceleration are verified to determine the validity of the chassis speed and the validity of the longitudinal acceleration.

[0127] In one embodiment, calculating the redundant vehicle speed and determining the validity of the redundant vehicle speed based on at least one of the chassis speed and the longitudinal acceleration and their validity includes:

[0128] When the chassis speed is valid, setting the chassis speed as a redundant speed and determining that the redundant speed is valid; or

[0129] When the chassis speed is invalid and the longitudinal acceleration is valid, the redundant speed is calculated according to the longitudinal acceleration, and it is determined that the redundant speed is valid; or

[0130] When the chassis speed is invalid and the longitudinal acceleration is invalid, the redundant speed is determined to be invalid and is maintained unchanged.

[0131] As an optional example, the chassis speed has the highest priority. When the chassis speed is valid, the chassis speed is selected as the redundant speed and the redundant speed is determined to be valid.

[0132] When the chassis speed is invalid and the longitudinal acceleration is valid, the redundant speed is calculated based on the longitudinal acceleration and is determined to be valid.

[0133] When the chassis speed is invalid and the longitudinal acceleration is invalid, the redundant speed cannot be calculated, so the redundant speed is judged to be invalid and maintained unchanged.

[0134] In some embodiments, the redundant vehicle speed is calculated at each sampling moment. When the chassis speed and the longitudinal acceleration are invalid, the redundant vehicle speed is determined to be invalid and maintained as the redundant vehicle speed at the previous sampling moment.

[0135] This embodiment introduces redundant vehicle speed calculation and adopts differentiated calculation systems for the redundant vehicle speed according to different conditions, which can effectively handle failures caused by abnormal input signals and improve the reliability of vehicle speed calculation results.

[0136] In one embodiment, the calculating of the redundant vehicle speed based on the longitudinal acceleration includes: calculating the redundant vehicle speed as the vehicle speed at the previous sampling moment plus the product of the longitudinal acceleration and a sampling period, where the sampling period is the time interval between two adjacent sampling moments.

[0137] As an optional example, redundant vehicle speed is calculated at each sampling moment. When the chassis speed is invalid and the longitudinal acceleration is valid, the redundant vehicle speed = vehicle speed at the previous sampling moment + longitudinal acceleration * sampling period. Longitudinal acceleration reflects the rate of change of vehicle speed. The time interval between two adjacent sampling moments is the sampling period. Therefore, longitudinal acceleration * sampling period is the change in vehicle speed during the sampling period. The redundant vehicle speed is calculated by adding the vehicle speed at the previous sampling moment to the change in vehicle speed during the sampling period. When the longitudinal acceleration points forward of the vehicle, it is positive; when it points backward of the vehicle, it is negative.

[0138] This embodiment calculates redundant vehicle speed based on the longitudinal acceleration, so that vehicle speed calculation can still be achieved when the chassis speed is invalid.

[0139] The arbitration module 103 arbitrates the main vehicle speed and the redundant vehicle speed according to the validity of the main vehicle speed and the redundant vehicle speed, and determines the vehicle speed and the validity of the vehicle speed according to the arbitration result.

[0140] In one embodiment, arbitrating the main vehicle speed and the redundant vehicle speed based on the validity of the main vehicle speed and the redundant vehicle speed, and selecting the main vehicle speed or the redundant vehicle speed as the vehicle speed based on the arbitration result includes:

[0141] According to the validity of the main vehicle speed and the redundant vehicle speed, and the difference between the main vehicle speed and the redundant vehicle speed, the main vehicle speed and the redundant vehicle speed are arbitrated, and the main vehicle speed or the redundant vehicle speed is selected as the vehicle speed according to the arbitration result.

[0142] The validity of the primary speed indicates whether the primary speed is valid, and the validity of the redundant speed indicates whether the redundant speed is valid. The difference between the primary speed and the redundant speed indicates the deviation between the speed calculated by the primary speed module and the speed calculated by the redundant speed module. The difference between the primary speed and the redundant speed can be expressed as a difference, an absolute value of the difference, or a ratio, and is not specifically limited in the present invention.

[0143] In one embodiment, arbitrating the primary vehicle speed and the redundant vehicle speed based on the validity of the primary vehicle speed and the redundant vehicle speed, and the difference between the primary vehicle speed and the redundant vehicle speed, and selecting the primary vehicle speed or the redundant vehicle speed as the vehicle speed based on the arbitration result, includes:

[0144] When both the main vehicle speed and the redundant vehicle speed are valid, calculating an absolute value of a difference between the main vehicle speed and the redundant vehicle speed;

[0145] If the absolute value of the difference is less than or equal to the difference threshold, the main speed is selected as the entire vehicle speed; otherwise, the redundant speed is selected as the entire vehicle speed, and the entire vehicle speed is set to be valid.

[0146] As an optional example, when both the primary and redundant speeds are valid, the absolute value of the difference between the primary and redundant speeds is first calculated, and then a comparison is performed based on the absolute value of the difference. When the absolute value of the difference is less than or equal to the difference threshold, the difference between the primary and redundant speeds is small and the primary speed is credible. Therefore, the primary speed is directly selected as the full vehicle speed and the full vehicle speed is set to valid. If the absolute value of the difference is greater than the difference threshold, the difference between the primary and redundant speeds is large and the primary speed is unreliable. Therefore, the redundant speed is selected as the full vehicle speed and the full vehicle speed is set to valid.

[0147] When both the main vehicle speed and the redundant vehicle speed are valid, the inputs of the main vehicle speed calculation module and the redundant vehicle speed calculation module may be out of sync due to issues such as software scheduling timing, which may lead to deviations in the vehicle speed calculation results and false triggering of safety monitoring mechanisms such as torque monitoring or gear monitoring.

[0148] The resulting vehicle speed and speed validity are then output to safety-related monitoring modules such as torque monitoring and gear position monitoring. If the vehicle speed is invalid, the monitoring mechanism cannot correctly determine the speed and will control the vehicle to issue an alarm. If the vehicle speed is valid, the speed result and monitoring logic are used to correctly monitor the vehicle. If any abnormal result is detected, the vehicle is promptly controlled to a safe state.

[0149] This embodiment arbitrates the main vehicle speed and the redundant vehicle speed based on the difference between the main vehicle speed and the redundant vehicle speed, and determines the vehicle speed based on the arbitration result, thereby avoiding deviations in the vehicle speed calculation results caused by problems such as software scheduling timing, and improving the robustness of the vehicle speed calculation in this scenario.

[0150] In one embodiment, arbitrating the main vehicle speed and the redundant vehicle speed based on the validity of the main vehicle speed and the redundant vehicle speed, and selecting the main vehicle speed or the redundant vehicle speed as the vehicle speed based on the arbitration result includes:

[0151] When the main vehicle speed is valid and the redundant vehicle speed is invalid, the main vehicle speed is selected as the vehicle speed and the vehicle speed is set to be valid; or

[0152] When the main vehicle speed is invalid and the redundant vehicle speed is valid, the redundant vehicle speed is selected as the vehicle speed and the vehicle speed is set to be valid; or

[0153] When the main vehicle speed is invalid and the redundant vehicle speed is invalid, the entire vehicle speed is set to be invalid and the entire vehicle speed is maintained unchanged.

[0154] As an optional example, when the main vehicle speed is valid and the redundant vehicle speed is invalid, the main vehicle speed is credible and the redundant vehicle speed is uncredible, the main vehicle speed is selected as the vehicle speed, and the vehicle speed is set to be valid; when the main vehicle speed is invalid and the redundant vehicle speed is valid, the main vehicle speed is uncredible and the redundant vehicle speed is credible, the redundant speed is selected as the vehicle speed, and the vehicle speed is set to be valid.

[0155] When both the main vehicle speed and the redundant vehicle speed are invalid, both the main vehicle speed and the redundant vehicle speed are unreliable, and the entire vehicle speed is set to be invalid, and the entire vehicle speed is maintained unchanged.

[0156] In some embodiments, the vehicle speed is calculated at each sampling moment. When the main speed is invalid and the redundant speed is also invalid, the vehicle speed is determined to be invalid and the vehicle speed is maintained at the vehicle speed at the previous sampling moment.

[0157] This embodiment arbitrates the main vehicle speed and the redundant vehicle speed to avoid failure in calculation of the main vehicle speed and improve the reliability of the vehicle speed calculation result.

[0158] FIG2 is a schematic diagram of a vehicle speed measurement system according to an optional embodiment of the present invention, comprising an input processing module 201 , a primary vehicle speed calculation module 202 , a redundant vehicle speed calculation module 203 , a vehicle speed synchronization and arbitration module 204 , and an output and post-processing module 205 .

[0159] Among them, the input processing module 201 is used to perform communication integrity verification on each input signal of the input main vehicle speed calculation module 202 and the input redundant vehicle speed calculation module 202. When there is a counter error, checksum error or frame timeout error, the validity of the relevant signal is set to invalid, thereby avoiding input errors caused by bus communication abnormalities.

[0160] A main vehicle speed calculation module 202 is used to calculate the main vehicle speed and determine the validity of the main vehicle speed;

[0161] A redundant vehicle speed calculation module 203 is used to calculate redundant vehicle speeds and determine the validity of the redundant vehicle speeds;

[0162] The vehicle speed synchronization and arbitration module 204 is used to arbitrate the primary vehicle speed and the redundant vehicle speed, and determine the vehicle speed and the validity of the vehicle speed.

[0163] The output and post-processing module 205 is used to further output the vehicle speed to safety-related monitoring modules such as torque monitoring and gear monitoring. If the vehicle speed is invalid, the monitoring mechanism cannot correctly determine it and will control the vehicle to issue an alarm. If the vehicle speed is valid, the speed result and monitoring logic are used to correctly monitor the vehicle. If any abnormal result is found, the vehicle will be promptly controlled to enter a safe state.

[0164] FIG3 is a flowchart of a vehicle speed measurement system according to an optional embodiment of the present invention, including:

[0165] Step S301, performing a communication integrity check on the input signal, and setting the validity of the relevant signal to invalid if the check is abnormal;

[0166] Step S302 , the main vehicle speed calculation module calculates the main vehicle speed and validity using the chassis speed and the front and rear motor speeds;

[0167] Step S303, using the chassis speed and longitudinal acceleration, the redundant vehicle speed calculation module calculates the redundant vehicle speed and its validity;

[0168] Step S304: Synchronize and arbitrate based on the vehicle speeds and validity of the primary vehicle speed calculation module and the redundant vehicle speed calculation module;

[0169] Step S305: Output the arbitrated vehicle speed and support the subsequent safety-related monitoring module operations.

[0170] As an optional example, in step S301, the input processing module 201 processes the input signal:

[0171] To avoid input errors caused by bus communication anomalies, the input processing module 201 performs communication integrity check on each input signal. When a counter error, checksum error or frame timeout error occurs, the validity of the relevant signal is set to invalid.

[0172] Then, step S302 calculates the main vehicle speed by the main vehicle speed calculation module 202:

[0173] The main vehicle speed calculation module 202 uses multiple input sources including chassis speed, front motor speed, rear motor speed, and input signal validity to calculate the main vehicle speed. The calculation system is as follows:

[0174] (1) When the chassis speed signal is valid,

[0175] The main vehicle speed is valid and equal to the chassis speed;

[0176] (2) When the chassis speed signal is invalid

[0177] And (front motor speed signal is valid)

[0178] And (the rear motor speed signal is valid)

[0179] And (the front motor speed is equal to 0 or the rear motor speed is equal to 0),

[0180] The main vehicle speed is valid and equal to 0;

[0181] (3) When the chassis speed signal is invalid

[0182] And (front motor speed signal is valid)

[0183] And (the rear motor speed signal is valid)

[0184] And (front motor speed is greater than 0)

[0185] And (the rear motor speed is greater than 0),

[0186] The main vehicle speed is valid and equal to min[(front motor speed / 60 / front final reducer speed ratio)*2*Pi*3.6*front wheel rolling radius, (rear motor speed / 60 / rear final reducer speed ratio)*2*Pi*3.6*rear wheel rolling radius];

[0187] (4) When the chassis speed signal is invalid

[0188] And (front motor speed signal is valid)

[0189] And (the rear motor speed signal is valid)

[0190] And (front motor speed is less than 0)

[0191] And (the rear motor speed is less than 0),

[0192] The main vehicle speed is valid and equal to max[(front motor speed / 60 / front final reducer speed ratio)*2*Pi*3.6*front wheel rolling radius, (rear motor speed / 60 / rear final reducer speed ratio)*2*Pi*3.6*rear wheel rolling radius];

[0193] (5) When the chassis speed signal is invalid

[0194] And (front motor speed signal is valid)

[0195] And (the rear motor speed signal is valid)

[0196] And [(front motor speed is less than 0 and rear motor speed is greater than 0) or (front motor speed is greater than 0 and rear motor speed is less than 0)],

[0197] The main vehicle speed is valid and equal to [(front motor speed / 60 / front final reducer speed ratio)*2*Pi*3.6*front wheel rolling radius + (rear motor speed / 60 / rear final reducer speed ratio)*2*Pi*3.6*rear wheel rolling radius]] / 2;

[0198] (6) When the chassis speed signal is invalid

[0199] And (front motor speed signal is invalid)

[0200] And (the rear motor speed signal is valid),

[0201] The main vehicle speed is valid and equal to (rear motor speed / 60 / rear main reducer speed ratio)*2*Pi*3.6*rear wheel rolling radius;

[0202] (7) When the chassis speed signal is invalid

[0203] And (front motor speed signal is valid)

[0204] And (the rear motor speed signal is invalid),

[0205] The main vehicle speed is valid and equal to (front motor speed / 60 / front final reducer speed ratio)*2*Pi*3.6*front wheel rolling radius;

[0206] (8) When the chassis speed signal is invalid

[0207] And (front motor speed signal is invalid)

[0208] And (the rear motor speed signal is invalid),

[0209] The main vehicle speed is invalid and maintains the value at the previous moment;

[0210] Step S303 calculates the redundant vehicle speed by the redundant vehicle speed calculation module 303:

[0211] The redundant vehicle speed calculation module 203 uses multiple input sources including chassis speed, longitudinal acceleration and input signal validity to perform redundant vehicle speed calculation. The calculation system is as follows:

[0212] (1) When the chassis speed signal is valid,

[0213] The redundant vehicle speed is valid and equal to the chassis speed;

[0214] (2) When the chassis speed signal is invalid

[0215] And (longitudinal acceleration signal is valid),

[0216] The redundant vehicle speed is valid and equal to (vehicle speed at the previous moment + longitudinal acceleration * software scheduling period), where the software scheduling period is the sampling period;

[0217] (3) When the chassis speed signal is invalid

[0218] And (longitudinal acceleration signal is invalid),

[0219] The redundant vehicle speed is invalid and maintains the value at the previous moment;

[0220] Step S304 synchronizes and arbitrates the vehicle speed calculation results, specifically through the vehicle speed synchronization and arbitration module 204:

[0221] When both the primary and redundant speeds are valid, issues such as software scheduling timing may cause the inputs of the primary and redundant speed calculation modules to become out of sync, leading to deviations in the speed calculation results and false triggering of safety monitoring mechanisms such as torque monitoring or gear monitoring. To improve robustness in this scenario and avoid false alarms from safety mechanisms, the speed calculation results are synchronized. The implementation system is as follows:

[0222] (1) When [(primary speed is valid) and (redundant speed is valid)]

[0223] And when |main vehicle speed - redundant vehicle speed|≤10Kph (calibratable),

[0224] The vehicle speed is valid and equal to the main vehicle speed;

[0225] (2) When [(primary speed is valid) and (redundant speed is valid)]

[0226] When |main vehicle speed - redundant vehicle speed|>10Kph (calibratable),

[0227] The vehicle speed is valid and equal to the redundant speed;

[0228] When the main speed calculation module and the redundant speed calculation module fail, the speed calculation results are arbitrated. The implementation system is as follows:

[0229] (1) When [(primary speed is valid) and (redundant speed is invalid)],

[0230] The vehicle speed is valid and equal to the main vehicle speed;

[0231] (2) When [(primary speed is invalid) and (redundant speed is valid)],

[0232] The vehicle speed is valid and equal to the redundant speed;

[0233] (3) When [(primary speed is invalid) and (redundant speed is invalid)],

[0234] The vehicle speed is invalid and remains at the previous value;

[0235] Step S305 performs output and post-processing:

[0236] The synchronized vehicle speed is further output by the output and post-processing module 205 to safety-related monitoring modules such as torque monitoring and gear monitoring. If the vehicle speed is invalid, the monitoring mechanism cannot correctly determine the speed and will control the vehicle to issue an alarm. If the vehicle speed is valid, the speed result and monitoring logic are used to correctly monitor the vehicle. If any abnormal result is found, the vehicle will be promptly controlled to enter a safe state.

[0237] One embodiment of the present invention provides a vehicle including the vehicle speed measurement system described above. It will be appreciated that the vehicle may also include a processor, a memory, and a computer program. The computer program is stored in the memory and configured to be executed by the processor to implement the vehicle speed measurement system provided by the embodiments of the present disclosure.

[0238] The processor, memory, input device and display device may be connected via a bus or other means.

[0239] The memory, as a non-volatile computer-readable storage medium, can be used to store computer programs and modules. These computer programs may include non-volatile software programs, non-volatile computer executable programs, and the like. The memory can store program instructions / modules corresponding to the vehicle speed measurement system in the embodiments of this application. The processor executes the non-volatile software programs, instructions, and modules stored in the memory to perform various functional applications and data processing, thereby implementing the vehicle speed measurement system in the embodiments described above.

[0240] The memory may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function; the data storage area may store data generated based on the use of the vehicle speed measurement system. Furthermore, the memory may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory may optionally include a memory remote from the processor, and such remote memory may be connected to the device executing the vehicle speed measurement system 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.

[0241] The input device can receive user clicks and generate signal inputs related to user settings and function controls of the vehicle speed measurement system. The display device can include a display device such as a display screen.

[0242] The one or more modules are stored in the memory and, when executed by the one or more processors, execute the vehicle speed measurement system in any of the above system embodiments.

[0243] In the context of the present disclosure, a storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. The storage medium may be a machine-readable signal medium or a machine-readable storage medium. Alternatively, the storage medium may be a non-transitory computer-readable storage medium, for example, a non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0244] The present invention uses a main speed calculation module to calculate the main speed and determine its validity. A redundant speed calculation module calculates and determines the validity of the redundant speed. An arbitration module arbitrates the main and redundant speeds based on their validity, selecting either the main speed or the redundant speed as the overall vehicle speed based on the arbitration result. In addition to the main speed calculation module, the present invention adds a redundant speed calculation module to calculate the redundant speed. This allows for arbitration between the validity of the main and redundant speeds, enabling the overall vehicle speed to be calculated using the redundant speed if the main speed fails, ensuring both accuracy, reliability, and robustness.

[0245] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims. Industrial Applicability

[0246] The present invention uses a main speed calculation module to calculate the main speed and determine its validity. A redundant speed calculation module calculates and determines the validity of the redundant speed. An arbitration module arbitrates the main and redundant speeds based on their validity, selecting either the main speed or the redundant speed as the overall vehicle speed based on the arbitration result. In addition to the main speed calculation module, the present invention adds a redundant speed calculation module to calculate the redundant speed. This allows for arbitration between the validity of the main and redundant speeds, enabling the overall vehicle speed to be calculated using the redundant speed if the main speed fails, ensuring both accuracy, reliability, and robustness.

Claims

1. A vehicle speed measurement system, comprising: A main vehicle speed calculation module, used to calculate the main vehicle speed and determine the validity of the main vehicle speed; a redundant vehicle speed calculation module, configured to calculate a redundant vehicle speed and determine the validity of the redundant vehicle speed, wherein the calculation of the redundant vehicle speed is independent of the main vehicle speed; The arbitration module is used to arbitrate the main vehicle speed and the redundant vehicle speed according to the validity of the main vehicle speed and the redundant vehicle speed, and select the main vehicle speed or the redundant vehicle speed as the vehicle speed according to the arbitration result.

2. The vehicle speed measurement system according to claim 1, wherein: The calculating the main vehicle speed and determining the validity of the main vehicle speed includes: Verifying at least one of the chassis speed, the front motor speed, and the rear motor speed to determine validity of at least one of the chassis speed, the front motor speed, and the rear motor speed; The main vehicle speed is calculated and the validity of the main vehicle speed is determined based on at least one of the chassis speed, the front motor speed, and the rear motor speed, and the validity of the main vehicle speed.

3. The vehicle speed measurement system according to claim 2, wherein: The calculating the main vehicle speed and determining the validity of the main vehicle speed based on at least one of the chassis speed, the front motor speed, and the rear motor speed and their validity includes: When the chassis speed is valid, the chassis speed is set as the main speed, and the main speed is determined to be valid, and the chassis speed is the speed calculated from the four wheel speeds of the vehicle; or When the chassis speed is invalid and the front motor speed and / or the rear motor speed are valid, the main vehicle speed is calculated based on the front motor speed and / or the rear motor speed and the validity of the main vehicle speed is determined; or When the chassis speed is invalid, and both the front motor speed and the rear motor speed are invalid, it is determined that the main vehicle speed is invalid, and the main vehicle speed is maintained unchanged.

4. The vehicle speed measurement system according to claim 3, wherein: Calculating the main vehicle speed based on the front motor speed and / or the rear motor speed and determining the validity of the main vehicle speed includes: When the front motor speed and the rear motor speed are both valid: When the front motor speed is equal to the target threshold or the rear motor speed is equal to the target threshold, the main vehicle speed is set to 0 and the main vehicle speed is determined to be valid; or, When both the front motor speed and the rear motor speed are greater than a target threshold, a minimum value of a first vehicle speed calculated based on the front motor speed and a second vehicle speed calculated based on the rear motor speed is selected as the main vehicle speed, and the main vehicle speed is determined to be valid; or When the front motor speed and the rear motor speed are both less than a target threshold, the maximum value of the first vehicle speed and the second vehicle speed is selected as the main vehicle speed, and the main vehicle speed is determined to be valid.

5. The vehicle speed measurement system according to claim 3, wherein: Calculating the main vehicle speed based on the front motor speed and / or the rear motor speed and determining the validity of the main vehicle speed includes: When the front motor speed and the rear motor speed are both valid: When the front motor speed is greater than a target threshold and the rear motor speed is less than a target threshold, an average of a first vehicle speed calculated based on the front motor speed and a second vehicle speed calculated based on the rear motor speed is calculated as the main vehicle speed, and the main vehicle speed is determined to be valid; or When the front motor speed is less than a target threshold and the rear motor speed is greater than a target threshold, an average of the first vehicle speed and the second vehicle speed is calculated as the main vehicle speed, and the main vehicle speed is determined to be valid.

6. The vehicle speed measurement system according to claim 3, wherein: Calculating the main vehicle speed based on the front motor speed and / or the rear motor speed and determining the validity of the main vehicle speed includes: When the front motor speed is valid and the rear motor speed is invalid, selecting a first vehicle speed calculated based on the front motor speed as the main vehicle speed, and determining that the main vehicle speed is valid; or When the front motor speed is invalid and the rear motor speed is valid, a second vehicle speed calculated based on the rear motor speed is selected as the main vehicle speed, and the main vehicle speed is determined to be valid.

7. The vehicle speed measurement system according to claim 1, wherein: The calculating of the redundant vehicle speed and determining the validity of the redundant vehicle speed includes: Verifying at least one of the chassis speed and the longitudinal acceleration to determine validity of at least one of the chassis speed and the longitudinal acceleration; The redundant vehicle speed is calculated and the validity of the redundant vehicle speed is determined based on at least one of the chassis vehicle speed and the longitudinal acceleration and the validity thereof.

8. The vehicle speed measurement system according to claim 7, wherein: The calculating the redundant vehicle speed and determining the validity of the redundant vehicle speed based on at least one of the chassis speed and the longitudinal acceleration and the validity thereof includes: When the chassis speed is valid, setting the chassis speed as a redundant speed and determining that the redundant speed is valid; or When the chassis speed is invalid and the longitudinal acceleration is valid, the redundant speed is calculated according to the longitudinal acceleration, and it is determined that the redundant speed is valid; or When the chassis speed is invalid and the longitudinal acceleration is invalid, the redundant speed is determined to be invalid and is maintained unchanged.

9. The vehicle speed measurement system according to claim 8, wherein: Calculating the redundant vehicle speed based on the longitudinal acceleration includes: calculating the redundant vehicle speed as the vehicle speed at the previous sampling moment plus the product of the longitudinal acceleration and a sampling period, where the sampling period is the time interval between two adjacent sampling moments.

10. The vehicle speed measurement system according to claim 1, wherein: The arbitrating the main vehicle speed and the redundant vehicle speed according to the validity of the main vehicle speed and the redundant vehicle speed, and selecting the main vehicle speed or the redundant vehicle speed as the vehicle speed according to the arbitration result, includes: According to the validity of the main vehicle speed and the redundant vehicle speed, and the difference between the main vehicle speed and the redundant vehicle speed, the main vehicle speed and the redundant vehicle speed are arbitrated, and the main vehicle speed or the redundant vehicle speed is selected as the vehicle speed according to the arbitration result.

11. The vehicle speed measurement system according to claim 10, wherein: The arbitrating the main vehicle speed and the redundant vehicle speed according to the validity of the main vehicle speed and the redundant vehicle speed and the difference between the main vehicle speed and the redundant vehicle speed, and selecting the main vehicle speed or the redundant vehicle speed as the vehicle speed according to the arbitration result, includes: When both the main vehicle speed and the redundant vehicle speed are valid, calculating an absolute value of a difference between the main vehicle speed and the redundant vehicle speed; If the absolute value of the difference is less than or equal to the difference threshold, the main speed is selected as the entire vehicle speed; otherwise, the redundant speed is selected as the entire vehicle speed, and the entire vehicle speed is set to be valid.

12. The vehicle speed measurement system according to claim 1, wherein: The arbitrating the main vehicle speed and the redundant vehicle speed according to the validity of the main vehicle speed and the redundant vehicle speed, and selecting the main vehicle speed or the redundant vehicle speed as the vehicle speed according to the arbitration result, includes: When the main vehicle speed is valid and the redundant vehicle speed is invalid, the main vehicle speed is selected as the vehicle speed and the vehicle speed is set to be valid; or When the main vehicle speed is invalid and the redundant vehicle speed is valid, the redundant vehicle speed is selected as the vehicle speed and the vehicle speed is set to be valid; or When the main vehicle speed is invalid and the redundant vehicle speed is invalid, the entire vehicle speed is set to be invalid and the entire vehicle speed is maintained unchanged.

13. A vehicle comprising the vehicle speed measurement system according to any one of claims 1 to 12.

14. A computer-readable storage medium storing a computer program; the computer program is configured to be executed by a processor to implement the vehicle speed measurement system according to any one of claims 1 to 12. 15 . A computer program configured to be executed by a processor to implement the vehicle speed measurement system according to claim 1 .

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