Vehicle speed regulation method and apparatus

Abstract

The present invention belongs to the technical field of vehicle speed regulation, and relates to a vehicle speed regulation method and apparatus. The method comprises: acquiring vehicle travel data of a vehicle within a preset time, such that a vehicle speed fitting curve and an actual vehicle speed can be obtained on the basis of the vehicle travel data; next, on the basis of the actual vehicle speed and the vehicle travel data, calculating the rolling radii of tires; then, on the basis of the vehicle speed fitting curve, predicting the vehicle speed of the vehicle at the next moment, so as to obtain a predicted vehicle speed at the next moment; and then, on the basis of the rolling radii of the tires and the predicted vehicle speed, calculating the rotation speed of an electric motor, and performing regulation on the electric motor on the basis of the rotation speed, such that the rotation speed of the electric motor can be regulated and changed in advance, thereby maintaining a steady vehicle speed.

Description

A method and device for adjusting vehicle speed Technical Field

[0001] This invention relates to the field of vehicle speed regulation technology, and in particular to a vehicle speed regulation method and device. Background Technology

[0002] Predictive cruise control is a function that uses road condition information about the vehicle's direction of travel to adjust the vehicle's speed accordingly, such as accelerating or decelerating in advance. When cruise control or maximum speed limit mode is activated, the vehicle will maintain a constant speed unless the driver changes gears.

[0003] In existing technologies, when vehicle speed is unstable, it can be determined whether the cause of the instability is a deviation in the filter time parameter, and if such a deviation exists, the filter time parameter can be adjusted to improve vehicle speed stability. However, after a factor causing vehicle speed instability occurs, correcting the vehicle speed filter time parameter always carries the risk of distortion or exceeding tolerance. Under conditions of large vehicle speed fluctuations, control accuracy can be significantly affected, leading to deviations in vehicle speed regulation.

[0004] Therefore, there is an urgent need to propose a vehicle speed adjustment method and device to solve the technical problem in the existing technology that when the vehicle speed is unstable, the correction of the vehicle speed filtering time parameter will lead to deviation in the vehicle speed adjustment. Summary of the Invention

[0005] In view of this, it is necessary to provide a vehicle speed adjustment method and device to solve the technical problem in the prior art that when the vehicle speed filtering time parameter is corrected after unstable factors occur in the vehicle speed, the vehicle speed adjustment will be deviated.

[0006] To address the above problems, the present invention provides a vehicle speed adjustment method, comprising:

[0007] Obtain vehicle driving data within a preset time period, and based on the vehicle driving data, obtain the vehicle speed fitting curve and the actual vehicle speed.

[0008] The tire rolling radius is obtained based on the actual vehicle speed and the vehicle driving data;

[0009] The vehicle speed is predicted based on the vehicle speed fitting curve to obtain the predicted vehicle speed.

[0010] The vehicle's rotational speed is adjusted based on the tire rolling radius and the predicted vehicle speed.

[0011] In one possible implementation, the vehicle driving data includes at least one initial vehicle speed and at least one motor speed, and the step of obtaining the vehicle speed fitting curve and the actual vehicle speed based on the vehicle driving data includes:

[0012] Based on the at least one initial vehicle speed, a vehicle speed curve is obtained;

[0013] Based on the speed of the at least one motor, a speed curve is obtained;

[0014] The vehicle speed curve and the rotational speed curve are fitted to obtain the vehicle speed fitting curve and the actual vehicle speed.

[0015] In one possible implementation, fitting the vehicle speed curve and the rotational speed curve to obtain a fitted vehicle speed curve and the actual vehicle speed includes:

[0016] The rotational speed of the at least one motor is converted to obtain the converted vehicle speed corresponding to each motor rotational speed;

[0017] The rotational speed curve is translated based on a preset number of translation units to obtain the translational rotational speed curve corresponding to each translation unit.

[0018] Based on all converted vehicle speeds, all translational speed curves, and the vehicle speed curve, the vehicle speed fitting curve and the actual vehicle speed are obtained.

[0019] In one possible implementation, obtaining the vehicle speed fitting curve and the true vehicle speed based on all converted vehicle speeds, all translation speed curves, and the vehicle speed curve includes:

[0020] Based on all the converted vehicle speeds, each translation speed curve and the vehicle speed curve, determine the square root corresponding to each translation speed curve;

[0021] Compare all the square roots of the preset number of translation units, and determine the translation speed curve corresponding to the smallest square root as the target speed curve;

[0022] The actual vehicle speed is obtained based on the target rotational speed curve.

[0023] The vehicle speed curve is fitted to the target rotational speed curve to obtain the vehicle speed fitting curve.

[0024] In one possible implementation, determining the square root of each translation speed curve based on all the converted vehicle speeds, each translation speed curve, and the vehicle speed curve includes:

[0025] Based on each translation speed curve and the vehicle speed curve, determine a preset number of target converted vehicle speeds among all converted vehicle speeds at the same time point and a preset number of target initial vehicle speeds among at least one initial vehicle speed.

[0026] Based on the converted vehicle speeds of the multiple targets and the initial vehicle speeds of the multiple targets, the square root corresponding to each translation unit is obtained.

[0027] In one possible implementation, the step of calculating the vehicle speed based on the plurality of targets and the initial vehicle speed of the plurality of targets, and obtaining the square root corresponding to each translation unit, includes:

[0028] The root mean square error is obtained by calculating the target converted speed and the target initial speed at the same time point.

[0029] The root mean square error is squared to obtain the squared value corresponding to each root mean square error.

[0030] Sum all the squared values ​​to get the sum;

[0031] The number of the accumulated value and the preset number at the same time point are calculated to obtain the square root corresponding to each translation unit.

[0032] In one possible implementation, the vehicle driving data includes the transmission ratio and the rear axle ratio, and the step of obtaining the tire rolling radius based on the actual vehicle speed and the vehicle driving data includes:

[0033] Based on the target speed curve and the actual vehicle speed, determine the target motor speed at the same moment;

[0034] The tire rolling radius is obtained based on the target motor speed, the actual vehicle speed, the gearbox ratio, and the rear axle ratio.

[0035] In one possible implementation, predicting the vehicle speed based on the vehicle speed fitting curve to obtain the predicted vehicle speed includes:

[0036] Based on the vehicle speed fitting curve, the vehicle speed change function is obtained;

[0037] The vehicle speed at the next time step is predicted based on the vehicle speed change function, thus obtaining the predicted vehicle speed.

[0038] In one possible implementation, adjusting the vehicle's rotational speed based on the tire rolling radius and the predicted vehicle speed includes:

[0039] The speed difference is obtained by calculating the preset target speed and the predicted speed.

[0040] The target adjustment speed is obtained by calculating the vehicle speed difference and the tire rolling radius;

[0041] The vehicle's rotational speed is adjusted according to the target rotational speed.

[0042] On the other hand, the present invention also provides a vehicle speed regulating device, comprising:

[0043] The data acquisition module is used to acquire vehicle driving data within a preset time period, and to obtain the vehicle speed fitting curve and the actual vehicle speed based on the vehicle driving data.

[0044] The radius determination module is used to obtain the tire rolling radius based on the actual vehicle speed and the vehicle driving data;

[0045] The vehicle speed prediction module is used to predict the vehicle speed based on the vehicle speed fitting curve to obtain the predicted vehicle speed.

[0046] The speed adjustment module is used to adjust the vehicle speed according to the tire rolling radius and the predicted vehicle speed.

[0047] The beneficial effects of this invention are that it acquires vehicle driving data within a preset time period, thereby obtaining a vehicle speed fitting curve and the actual vehicle speed based on the vehicle driving data; then, it calculates the tire rolling radius based on the actual vehicle speed and vehicle driving data; furthermore, it predicts the vehicle speed for the next time period based on the vehicle speed fitting curve, obtaining the predicted vehicle speed for the next time period; and then, it calculates the vehicle motor speed based on the tire rolling radius and the predicted vehicle speed, and adjusts the vehicle motor according to this speed, thereby allowing the motor speed to be adjusted and changed in advance, thus maintaining a stable vehicle speed. Attached Figure Description

[0048] Figure 1 is a schematic flowchart of an embodiment of the vehicle speed adjustment method provided by the present invention;

[0049] Figure 2 is a schematic flowchart of an embodiment of step S101 in Figure 1 of the present invention;

[0050] Figure 3 is a schematic flowchart of an embodiment of step S203 in Figure 2 of the present invention;

[0051] Figure 4 is a schematic flowchart of an embodiment of step S303 in Figure 3 of the present invention;

[0052] Figure 5 is a schematic flowchart of an embodiment of the calculation of the square root for each translation unit provided by the present invention;

[0053] Figure 6 is a schematic flowchart of an embodiment of step S104 in Figure 1 of the present invention;

[0054] Figure 7 is a schematic diagram of an embodiment of the vehicle speed adjustment device provided by the present invention;

[0055] Figure 8 is a schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0056] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0057] As shown in Figure 1, a specific embodiment of the present invention discloses a vehicle speed adjustment method, including:

[0058] S101. Obtain vehicle driving data within a preset time period, and obtain the vehicle speed fitting curve and the actual vehicle speed based on the vehicle driving data.

[0059] S102. Obtain the tire rolling radius based on the actual vehicle speed and vehicle driving data;

[0060] S103. Predict the vehicle speed based on the vehicle speed fitting curve to obtain the predicted vehicle speed.

[0061] S104. Adjust the vehicle's rotational speed based on the tire rolling radius and predicted vehicle speed.

[0062] It should be understood that this method can be applied to any vehicle. The method for obtaining vehicle driving data within a preset time in step S101 can be either obtaining vehicle driving data from the vehicle controller or retrieving historically stored vehicle driving data from the storage medium. The specific preset time can be set according to actual conditions, such as 24 hours, one week, one month, etc., and this embodiment of the invention does not limit this.

[0063] In a specific embodiment of the present invention, the actual vehicle speed signal of the PID controller can be adjusted before the motor / engine speed is adjusted by the PID controller, so that it is infinitely close to the real vehicle speed at the current moment. The specific process is as follows: vehicle driving data within a preset time period is obtained; then, based on the vehicle driving data, a vehicle speed fitting curve and the real vehicle speed are obtained; then, based on the real vehicle speed and the vehicle driving data, the tire rolling radius during the vehicle driving process is obtained; then, based on the vehicle speed fitting curve, the vehicle speed is predicted to obtain the predicted vehicle speed, thereby making the PID control adjust the vehicle speed more proactive; and based on the tire rolling radius and the predicted vehicle speed, the vehicle speed is adjusted, so that the motor speed is adjusted and changed in advance, thereby maintaining a stable vehicle speed.

[0064] Compared with the prior art, this embodiment provides the ability to acquire vehicle driving data within a preset time period, thereby obtaining a vehicle speed fitting curve and the actual vehicle speed based on the vehicle driving data; then, the tire rolling radius can be calculated based on the actual vehicle speed and vehicle driving data; furthermore, the vehicle speed at the next time period can be predicted based on the vehicle speed fitting curve, resulting in a predicted vehicle speed for the next time period; then, the vehicle motor speed can be calculated based on the tire rolling radius and the predicted vehicle speed, and the vehicle motor can be adjusted based on this speed, thereby allowing the motor speed to be adjusted and changed in advance, thus maintaining a stable vehicle speed.

[0065] In some embodiments of the present invention, the vehicle driving data includes at least one initial vehicle speed and at least one motor speed, as shown in FIG2. Step S101 includes:

[0066] S201. Obtain the vehicle speed curve based on at least one initial vehicle speed;

[0067] S202. Obtain the speed curve based on the speed of at least one motor;

[0068] S203. Fit the vehicle speed curve and the rotational speed curve to obtain the vehicle speed fitting curve and the actual vehicle speed.

[0069] In a specific embodiment of the present invention, vehicle driving data may include at least one initial vehicle speed and at least one motor speed. For example, when the preset time is 24 hours, the initial vehicle speed and motor speed within 24 hours can be obtained. Because the vehicle speed changes during driving, at least one initial vehicle speed and at least one motor speed for the following time can be obtained. Then, the at least one initial vehicle speed can be processed to obtain a speed curve, and the at least one motor speed can be processed to obtain a speed curve. Furthermore, curve fitting can be performed on the speed curve and the speed curve to obtain a vehicle speed fitting curve. During the curve fitting process, the actual vehicle speed can be obtained.

[0070] In some embodiments of the present invention, as shown in FIG3, step S203 includes:

[0071] S301. Calculate the speed of at least one motor to obtain the converted vehicle speed corresponding to each motor speed;

[0072] S302. The rotation speed curve is translated based on a preset number of translation units to obtain the translation speed curve corresponding to each translation unit;

[0073] S303. Based on all converted vehicle speeds, all translational speed curves, and vehicle speed curves, obtain the vehicle speed fitting curve and the actual vehicle speed.

[0074] In a specific embodiment of the present invention, a tire radius can be set to convert the speed of at least one motor. Based on the vehicle speed and motor speed calculation formula, motor speed = vehicle speed * [(gearbox ratio * rear axle ratio) / (0.377 * tire radius)], the converted vehicle speed corresponding to each motor speed within a preset time period is calculated using this formula. For curve fitting, since a single translation cannot achieve perfect alignment without knowing the translation unit, several points are searched for fitting attempts. A preset number of translation units needs to be set, and calculations are performed one by one, for example, a translation units, b translation units, c translation units, etc. Specifically, the process can be as follows: according to the approximate alignment of peaks and troughs within a preset time period, the motor speed time axis is translated to the left of the time axis (horizontal axis) by a translation units, b translation units, c translation units, etc. This yields the translation speed curve corresponding to each translation unit. Furthermore, based on all converted vehicle speeds, all translation speed curves, and the vehicle speed curve, the vehicle speed fitting curve and the actual vehicle speed can be obtained.

[0075] In some embodiments of the present invention, as shown in FIG4, step S303 includes:

[0076] S401. Based on all converted vehicle speeds, each translation speed curve and vehicle speed curve, determine the square root corresponding to each translation speed curve;

[0077] S402. Compare all the square roots of the preset number of translation units, and determine the translation speed curve corresponding to the smallest square root as the target speed curve;

[0078] S403. Obtain the actual vehicle speed based on the target speed curve;

[0079] S404. Fit the vehicle speed curve with the target speed curve to obtain the vehicle speed fitting curve.

[0080] In some embodiments of the present invention, step S401 includes:

[0081] Based on each translation speed curve and vehicle speed curve, determine multiple target converted vehicle speeds from all converted vehicle speeds at the same time point and multiple target initial vehicle speeds from at least one initial vehicle speed;

[0082] Based on the converted vehicle speeds of multiple targets and the initial vehicle speeds of multiple targets, the square root corresponding to each translation unit is obtained.

[0083] In a specific embodiment of the present invention, taking a translation unit as an example, after shifting the motor speed time axis to the left of the time axis (horizontal axis) by a translation units, the translation speed curve corresponding to a translation unit can be obtained. Then, a preset number of the same time points can be taken to determine multiple target converted vehicle speeds among all converted vehicle speeds at the preset number of the same time points, and multiple target initial vehicle speeds at the corresponding time points among at least one initial vehicle speed. Thus, multiple target converted vehicle speeds and multiple target initial vehicle speeds can be obtained for a translation units. Then, based on the multiple target converted vehicle speeds and multiple target initial vehicle speeds, the square root corresponding to a translation unit can be obtained.

[0084] In some embodiments of the present invention, as shown in FIG5, the square root corresponding to each translation unit is obtained based on the converted vehicle speed of multiple targets and the initial vehicle speed of multiple targets, including:

[0085] S501. Calculate the target converted vehicle speed and the target initial vehicle speed at the same time point to obtain the corresponding root mean square error;

[0086] S502. Squaring the root mean square error to obtain the squared value corresponding to each root mean square error;

[0087] S503. Sum all the squared values ​​to obtain the summation value;

[0088] S504. Calculate the number of the accumulated value and the preset number at the same time point to obtain the square root corresponding to each translation unit.

[0089] In a specific embodiment of the present invention, taking *a* translation units as an example, the specific process of calculating the square root can be as follows: Calculate the target converted vehicle speed and target initial vehicle speed at the same time point among multiple target converted vehicle speeds and multiple target initial vehicle speeds to obtain the root mean square error corresponding to the same time point. Then, square the root mean square error to obtain the square corresponding to each root mean square error. Then, accumulate all the square values ​​at the same time point for a preset number to obtain the accumulated value; then divide the accumulated value by the preset number of the number of the same time point, and then take the square root of the result to obtain the square root ΔVa corresponding to *a* translation units. The same logic applies to other translation units, and the square root ΔVb for *b* translation units and the square root ΔVc for *c* translation units can be obtained.

[0090] Furthermore, the square roots of all translation units can be compared, and the minimum value can be taken. For example, comparing the magnitudes of ΔVa, ΔVb, ΔVc, etc., with ΔVa being the minimum, the translational speed curve after shifting the motor speed-time axis to the left of the time axis (horizontal axis) by 'a' units can be determined as the target speed curve. The actual vehicle speed can also be determined based on the target speed curve, meaning the input speed of the PID controller can be made to approximate the actual vehicle speed at the input moment, which is the optimal fitting point. Then, the vehicle speed curve can be fitted to the target speed curve to obtain the vehicle speed fitting curve.

[0091] In some embodiments of the present invention, vehicle driving data includes transmission ratio and rear axle ratio, and step S102 includes:

[0092] Determine the target motor speed at the same moment based on the target speed curve and the actual vehicle speed;

[0093] The tire rolling radius is obtained based on the target motor speed, actual vehicle speed, gearbox ratio, and rear axle ratio.

[0094] In a specific embodiment of the present invention, vehicle driving data may include transmission ratio and rear axle ratio. By obtaining the actual vehicle speed, the target motor speed, transmission ratio, and rear axle ratio at the same moment can be obtained according to the target speed curve. Then, according to the vehicle speed and speed calculation formula, the target motor speed = actual vehicle speed * [(transmission ratio * rear axle ratio) / (0.377 * tire radius)], the rolling radius of the tire during movement can be calculated in reverse.

[0095] In some embodiments of the present invention, step S103 includes:

[0096] Based on the vehicle speed fitting curve, the vehicle speed change function is obtained;

[0097] The predicted vehicle speed is obtained by predicting the vehicle speed at the next time step based on the vehicle speed change function.

[0098] In a specific embodiment of the present invention, the vehicle speed fitting curve can be obtained, and a number of points can be taken to obtain the vehicle speed change function over time, i.e., the vehicle speed change function. Then, the vehicle speed at the next time point can be predicted by the vehicle speed change function, thereby obtaining the predicted vehicle speed at the next time point.

[0099] In some embodiments of the present invention, as shown in FIG6, step S104 includes:

[0100] S601. Calculate the speed difference between the preset target speed and the predicted speed.

[0101] S602. Calculate the vehicle speed difference and tire rolling radius to obtain the target adjustment speed;

[0102] S603. Adjust the vehicle speed according to the target speed.

[0103] In a specific embodiment of the present invention, a preset target vehicle speed can be set. This preset target speed can be either cruise control or a speed limit, which the user will set; specific embodiments of the present invention are not limited here. The preset target vehicle speed and the predicted vehicle speed can then be calculated to obtain the speed difference. The speed difference and the tire rolling radius can then be calculated to obtain the target adjustment speed, which can then be used to adjust the vehicle's speed in advance.

[0104] To better implement the vehicle speed adjustment method in this embodiment of the invention, based on the vehicle speed adjustment method, this embodiment of the invention also provides a vehicle speed adjustment device, as shown in FIG7. The vehicle speed adjustment device 700 includes:

[0105] The data acquisition module 701 is used to acquire vehicle driving data within a preset time period, and obtain the vehicle speed fitting curve and the actual vehicle speed based on the vehicle driving data.

[0106] The radius determination module 702 is used to obtain the tire rolling radius based on the actual vehicle speed and vehicle driving data;

[0107] The vehicle speed prediction module 703 is used to predict the vehicle speed based on the vehicle speed fitting curve to obtain the predicted vehicle speed.

[0108] The speed adjustment module 704 is used to adjust the vehicle speed according to the tire rolling radius and the predicted vehicle speed.

[0109] The vehicle speed adjustment device 700 provided in the above embodiments can realize the technical solutions described in the above vehicle speed adjustment method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above vehicle speed adjustment method embodiments, and will not be repeated here.

[0110] As shown in Figure 8, the present invention also provides an electronic device 800. The electronic device 800 includes a processor 801, a memory 802, and a display 803. Figure 8 only shows some components of the electronic device 800; however, it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented alternatively.

[0111] In some embodiments, memory 802 may be an internal storage unit of electronic device 800, such as a hard disk or memory of electronic device 800. In other embodiments, memory 802 may also be an external storage device of electronic device 800, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 800.

[0112] Furthermore, the memory 802 may include both internal storage units of the electronic device 800 and external storage devices. The memory 802 is used to store application software and various types of data installed on the electronic device 800.

[0113] In some embodiments, processor 801 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in memory 802 or process data, such as the vehicle speed adjustment method of the present invention.

[0114] In some embodiments, display 803 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 803 is used to display information from electronic device 800 and to display a visual user interface. Components 801-803 of electronic device 800 communicate with each other via a system bus.

[0115] In some embodiments of the present invention, when the processor 801 executes the vehicle speed adjustment program in the memory 802, the following steps can be implemented:

[0116] Obtain vehicle driving data within a preset time period, and based on the vehicle driving data, obtain the vehicle speed fitting curve and the actual vehicle speed.

[0117] The tire rolling radius is obtained based on the actual vehicle speed and vehicle driving data;

[0118] The vehicle speed is predicted based on the vehicle speed fitting curve.

[0119] The vehicle's rotation speed is adjusted based on the tire rolling radius and the predicted vehicle speed.

[0120] It should be understood that when the processor 801 executes the vehicle speed adjustment program in the memory 802, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0121] Furthermore, this embodiment of the invention does not specifically limit the type of electronic device 800 mentioned. Electronic device 800 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the invention, electronic device 800 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0122] Accordingly, this application also provides a computer-readable storage medium for storing a computer-readable program or instruction. When the program or instruction is executed by a processor, it can implement the speed adjustment method steps or functions provided in the above-described method embodiments.

[0123] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0124] The speed adjustment method and device provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A vehicle speed regulation method characterized by, The method comprises the following steps: acquiring vehicle driving data of a vehicle within a preset time, and obtaining a vehicle speed fitting curve and a real vehicle speed according to the vehicle driving data; obtaining a tire rolling radius according to the real vehicle speed and the vehicle driving data; predicting the vehicle speed of the vehicle according to the vehicle speed fitting curve, and obtaining a predicted vehicle speed; adjusting the rotation speed of the vehicle according to the tire rolling radius and the predicted vehicle speed.

2. The vehicle speed regulation method according to claim 1, characterized by, The vehicle driving data comprises at least one initial vehicle speed and at least one motor rotation speed, and the obtaining of the vehicle speed fitting curve and the real vehicle speed according to the vehicle driving data comprises the following steps: obtaining a vehicle speed curve according to the at least one initial vehicle speed; obtaining a rotation speed curve according to the at least one motor rotation speed; fitting the vehicle speed curve and the rotation speed curve to obtain the vehicle speed fitting curve and the real vehicle speed.

3. The vehicle speed regulation method according to claim 2, characterized by, The fitting of the vehicle speed curve and the rotation speed curve to obtain the vehicle speed fitting curve and the real vehicle speed comprises the following steps: converting the at least one motor rotation speed to obtain a converted vehicle speed corresponding to each motor rotation speed; shifting the rotation speed curve based on a preset number of shifting units to obtain a shifted rotation speed curve corresponding to each shifting unit; obtaining the vehicle speed fitting curve and the real vehicle speed according to all the converted vehicle speeds, all the shifted rotation speed curves and the vehicle speed curve.

4. The vehicle speed regulation method according to claim 3, characterized by, The obtaining of the vehicle speed fitting curve and the real vehicle speed according to all the converted vehicle speeds, all the shifted rotation speed curves and the vehicle speed curve comprises the following steps: determining a square root corresponding to each shifted rotation speed curve according to all the converted vehicle speeds, each shifted rotation speed curve and the vehicle speed curve; comparing all the square roots of the preset number of shifting units to determine that a shifted rotation speed curve corresponding to a minimum square root is a target rotation speed curve; obtaining the real vehicle speed according to the target rotation speed curve; fitting the vehicle speed curve and the target rotation speed curve to obtain the vehicle speed fitting curve.

5. The vehicle speed regulation method according to claim 4, characterized by, The determination of the square root corresponding to each shifted rotation speed curve according to all the converted vehicle speeds, each shifted rotation speed curve and the vehicle speed curve comprises the following steps: determining a plurality of target converted vehicle speeds in all the converted vehicle speeds and a plurality of target initial vehicle speeds in the at least one initial vehicle speed at a preset number of same time points according to each shifted rotation speed curve and the vehicle speed curve; obtaining the square root corresponding to each shifting unit according to the plurality of target converted vehicle speeds and the plurality of target initial vehicle speeds.

6. The vehicle speed regulation method according to claim 5, characterized by The obtaining of the square root corresponding to each shifting unit according to the plurality of target converted vehicle speeds and the plurality of target initial vehicle speeds comprises the following steps: calculating a target converted vehicle speed and a target initial vehicle speed at a same time point to obtain a corresponding root mean square error; squaring the root mean square error to obtain a square value corresponding to each root mean square error; accumulating all the square values to obtain an accumulated value; calculating the accumulated value and a number of the preset number of same time points to obtain the square root corresponding to each shifting unit.

7. The vehicle speed regulation method according to claim 4, characterized by, The vehicle driving data comprises a gearbox speed ratio and a rear axle speed ratio, and the obtaining of the tire rolling radius according to the real vehicle speed and the vehicle driving data comprises the following steps: According to the target speed curve and the real vehicle speed, a target motor speed at the same time is determined; According to the target motor speed, the real vehicle speed, the gearbox speed ratio and the rear axle speed ratio, a tire rolling radius is obtained.

8. The vehicle speed regulation method according to claim 1, characterized by, The vehicle speed is predicted according to the vehicle speed fitting curve, and a predicted vehicle speed is obtained, comprising: According to the vehicle speed fitting curve, a vehicle speed change function is obtained; According to the vehicle speed change function, a vehicle speed at the next time is predicted, and a predicted vehicle speed is obtained.

9. The vehicle speed regulation method according to claim 1, characterized by, The vehicle speed is predicted according to the tire rolling radius and the predicted vehicle speed, comprising: A preset target vehicle speed is calculated with the predicted vehicle speed, and a vehicle speed difference is obtained; The vehicle speed difference and the tire rolling radius are calculated, and a target adjustment speed is obtained; The vehicle speed is adjusted according to the target adjustment speed.

10. A vehicle speed regulation device characterized by comprising: Comprising: A data acquisition module is configured to acquire vehicle driving data of a vehicle within a preset time, and obtain a vehicle speed fitting curve and a real vehicle speed according to the vehicle driving data; A radius determination module is configured to obtain a tire rolling radius according to the real vehicle speed and the vehicle driving data; A vehicle speed prediction module is configured to predict the vehicle speed according to the vehicle speed fitting curve, and obtain a predicted vehicle speed; A speed adjustment module is configured to adjust the vehicle speed according to the tire rolling radius and the predicted vehicle speed.

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