Vehicle speed estimation method, electronic device, and computer-readable storage medium

Abstract

Embodiments of the present application provide a vehicle speed estimation method, an electronic device, and a computer-readable storage medium. In the vehicle speed estimation method, during traveling of a vehicle, when an electronic device determines that the vehicle is in a low-adhesion steady-state acceleration state, the electronic device transfers first axle required torque to second axle required torque; and when detecting that the vehicle exits the low-adhesion steady-state acceleration state, the electronic device determines an actual vehicle speed of the vehicle on the basis of a wheel speed of wheels corresponding to the first axle required torque. Thus, when determining that a vehicle is in a low-adhesion steady-state acceleration state, the vehicle can be enabled to exit the low-adhesion steady-state acceleration state, and then the actual vehicle speed of the vehicle can be estimated, thereby improving the accuracy of actual vehicle speed estimation of vehicles.

Description

Vehicle speed estimation methods, electronic devices and computer-readable storage media Technical Field

[0001] This application relates to the field of smart terminal technology, and in particular to a vehicle speed estimation method, an electronic device, and a computer-readable storage medium. Background Technology

[0002] Accurate estimation of a vehicle's true speed is both fundamental and challenging in vehicle kinematic control. When a vehicle is not slipping, the wheel speed method can generally be used to accurately estimate its true speed; when a vehicle is slipping, the acceleration method can generally be used to accurately estimate its true speed; however, if it is not possible to accurately identify whether the vehicle is slipping, it is difficult to accurately estimate its true speed.

[0003] There's a special scenario: on a uniform ice surface, the vehicle is in four-wheel drive mode, and the driver accelerates with a constant throttle. In this situation, the traction control system (TCS) intervenes, triggering torque reduction in the front and rear motors. If the torque reduction from the front and rear motors results in almost identical wheel speeds and accelerations for all four wheels, while the wheel acceleration is slightly greater than the actual vehicle speed, this state is called low-adhesion steady-state acceleration. In this state, the vehicle speed estimation module will have difficulty recognizing that the vehicle is slipping. If the wheel speed method is still used to estimate the actual vehicle speed, the actual vehicle speed will follow the wheel speed, leading to delayed torque reduction by the TCS and causing unexpected and aggravated wheel slippage. Summary of the Invention

[0004] This application provides a vehicle speed estimation method, an electronic device, and a computer-readable storage medium to enable the vehicle to exit the low-attached steady-state acceleration state after determining that the vehicle is in a low-attached steady-state acceleration state, thereby estimating the vehicle's true speed and improving the accuracy of the vehicle's true speed estimation.

[0005] In a first aspect, embodiments of this application provide a vehicle speed estimation method, including: during vehicle operation, determining that the vehicle is in a low-adhesion steady-state acceleration state; transferring the required torque of the first axle to the required torque of the second axle; and after detecting that the vehicle has exited the low-adhesion steady-state acceleration state, determining the vehicle's actual speed based on the wheel speed of the wheel corresponding to the required torque of the first axle.

[0006] In one possible implementation, determining that the vehicle is in a low-adhesion steady-state acceleration state can be achieved by: acquiring the states of the vehicle's front and rear axle motors, the wheel speeds of the vehicle's four wheels, the longitudinal acceleration, and the wheel accelerations of the vehicle's four wheels; and determining that the vehicle is in a low-adhesion steady-state acceleration state based on the states of the vehicle's front and rear axle motors, the wheel speeds of the vehicle's four wheels, the longitudinal acceleration, and the wheel accelerations of the vehicle's four wheels. The states of the vehicle's front and rear axle motors can include: whether the TCS function of the vehicle's front and rear axle motors is activated, and the torque of the vehicle's front and rear axle motors.

[0007] In one possible implementation, determining that the vehicle is in a low-adhesion steady-state acceleration state based on the states of the vehicle's front axle motor and rear axle motor, the wheel speeds of the vehicle's four wheels, longitudinal acceleration, and wheel accelerations of the vehicle's four wheels can be done as follows: The vehicle is determined to be in a low-adhesion steady-state acceleration state when all of the following conditions are met:

[0008] The anti-slip control system for both the front and rear axle motors of the vehicle is activated.

[0009] The torque difference between the front axle motor and the rear axle motor of the vehicle is less than the first threshold.

[0010] The longitudinal acceleration of the vehicle's inertial measurement unit is less than the second threshold.

[0011] The difference in wheel speeds among the four wheels of the vehicle is less than the third threshold.

[0012] The maximum difference in wheel acceleration after four-wheel filtering is less than the fourth threshold.

[0013] The difference between the wheel acceleration of the vehicle after four-wheel filtering and the longitudinal acceleration of the inertial measurement unit is greater than the fifth threshold.

[0014] The duration of a vehicle meeting the above conditions is greater than or equal to the sixth threshold.

[0015] In one possible implementation, the transfer of the required torque of the first shaft to the required torque of the second shaft can be achieved by transferring the required torque of the first shaft to the required torque of the second shaft within a predetermined time period.

[0016] In one possible implementation, the amount of torque transfer from the first shaft's required torque to the second shaft's required torque is the first torque transfer amount.

[0017] In one possible implementation, when the current torque value of the first shaft demand torque is less than or equal to the seventh threshold, or the remaining capacity value of the second shaft demand torque is less than or equal to the seventh threshold, the first torque transfer amount is the smaller of the current torque value of the first shaft demand torque and the remaining capacity value of the second shaft demand torque.

[0018] In one possible implementation, when the current torque value of the first shaft demand torque is greater than the seventh threshold, and the remaining capacity value of the second shaft demand torque is greater than the seventh threshold, the first torque transfer amount is equal to the seventh threshold.

[0019] In one possible implementation, after transferring the required torque of the first axle to the required torque of the second axle, the electronic device can also use the anti-slip control system function of the front axle motor and the rear axle motor of the vehicle to determine the slippage of the front wheel and the rear wheel of the vehicle respectively; after determining that the front wheel and / or the rear wheel of the vehicle has slipped, the motor corresponding to the slipping wheel is controlled to perform a torque reduction operation.

[0020] In one possible implementation, the torque required for the first axle is the torque required for the front axle, and the torque required for the second axle is the torque required for the rear axle.

[0021] In one possible implementation, determining the actual vehicle speed based on the wheel speed corresponding to the required torque of the first axle can be done by determining the actual vehicle speed based on the wheel speed of the front wheels of the vehicle.

[0022] In one possible implementation, the torque required for the first axle is the torque required for the rear axle, and the torque required for the second axle is the torque required for the front axle.

[0023] In one possible implementation, determining the actual vehicle speed based on the wheel speed corresponding to the first axle's required torque can be achieved by determining the actual vehicle speed based on the wheel speed of the vehicle's rear wheels.

[0024] Secondly, embodiments of this application provide an electronic device, including: one or more processors; a memory; multiple application programs; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions that, when executed by the electronic device, cause the electronic device to perform the method provided in the first aspect.

[0025] It should be understood that the second aspect of the embodiments of this application is consistent with the technical solution of the first aspect of the embodiments of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be described again.

[0026] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the method provided in the first aspect.

[0027] Fourthly, embodiments of this application provide a computer program that, when executed by a computer, performs the method provided in the first aspect.

[0028] In one possible design, the program in the fourth aspect can be stored wholly or partially on a storage medium packaged with the processor, or it can be stored wholly or partially on a memory not packaged with the processor. Attached Figure Description

[0029] Figure 1 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0030] Figure 2 is a flowchart of a vehicle speed estimation method provided in an embodiment of this application;

[0031] Figure 3 is a schematic diagram of the structure of an electronic device provided in another embodiment of this application. Detailed Implementation

[0032] The terminology used in the implementation section of this application is for the purpose of explaining specific embodiments of this application only, and is not intended to limit this application.

[0033] For vehicle speed estimation, existing technologies offer a longitudinal speed estimation method for four-wheel drive vehicles, belonging to the field of vehicle safety control technology. This method aims to accurately estimate the longitudinal speed of a four-wheel drive vehicle under any driving state by effectively switching between adaptive Kalman filtering and the integral method. For cases where all four wheels are not fully slipping, this scheme designs an adaptive Kalman filtering method that updates measurement noise and process noise in real time. For cases where all four wheels are slipping, the last accurate longitudinal speed estimate from the adaptive Kalman filter under these conditions is used as the initial value to integrate the vehicle's longitudinal acceleration. The proposed estimation method does not rely on the road adhesion coefficient, the measurement input signal is easily obtained, and it has stronger practicality. It also does not involve complex vehicle dynamics and tire models, resulting in lower computational burden and better real-time performance. However, when all four wheels of the vehicle are simultaneously accelerating and slipping, this scheme is prone to misjudging as incomplete slippage.

[0034] Another vehicle speed estimation scheme provided by existing related technologies is a distributed independent drive vehicle longitudinal speed estimation method, which includes the following steps: 1) collecting vehicle state parameters using sensors; 2) establishing a wheel stability judgment mode based on the vehicle state parameters and judging the stability of each wheel; 3) establishing a longitudinal speed estimation mode based on the wheel stability; 4) selecting the appropriate longitudinal speed estimation mode to obtain the vehicle's longitudinal speed based on the judgment result of wheel stability. This scheme is suitable for estimating the longitudinal speed of four-wheel independent drive vehicles. By judging wheel stability, it establishes a speed estimation mode applicable to different wheel stability conditions, achieving accurate estimation of longitudinal speed. This scheme can be applied to special states such as vehicle tire slippage or lock-up, considering the influence of vehicle lateral and yaw motion on longitudinal speed. However, when all four wheels are in stable acceleration, and the wheel acceleration is slightly greater than the longitudinal acceleration, this scheme cannot estimate the vehicle's true speed.

[0035] Another vehicle speed estimation scheme provided by existing related technologies is a longitudinal vehicle speed estimation method, which includes the following steps: calculating the equivalent wheel rotational angular acceleration of each wheel; calculating the actual wheel rotational angular acceleration of the corresponding wheel; using the deviation between the equivalent wheel rotational angular acceleration and the actual wheel rotational angular acceleration, and the wheel slip / slip ratio as the basis for judging wheel instability, to determine the number and combination of unstable wheels in the vehicle in real time; calculating the longitudinal vehicle speed based on the number and combination of unstable wheels in real time; calculating the road slope angle; and correcting the calculated longitudinal vehicle speed based on the road slope angle. This scheme can improve the adaptability of vehicle parameter estimation under working conditions, does not require the addition of additional sensors, and has a simple prediction method. However, if TCS triggers anti-skid control, and all four wheels are in stable acceleration, and the wheel acceleration is slightly greater than the longitudinal acceleration, this scheme cannot determine that the wheels are in an unstable state.

[0036] For the special scenario of low-adhesion steady-state acceleration, chassis brake manufacturers break the vehicle's four-wheel steady state by clamping diagonal calipers to decelerate diagonal wheels. However, the corresponding disadvantages are vehicle jerking and hydraulic noise caused by braking.

[0037] Based on the above problems, this application provides a vehicle speed estimation method that can, after determining that the vehicle is in a low-attached steady-state acceleration state, cause the vehicle to exit the low-attached steady-state acceleration state, thereby estimating the vehicle's true speed and improving the accuracy of the vehicle's true speed estimation.

[0038] The vehicle speed estimation method provided in this application embodiment can be applied to electronic devices, wherein the electronic devices can be controllers in vehicles, such as vehicle controllers. This application embodiment does not impose any restrictions on the specific type of electronic devices.

[0039] For example, FIG1 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. As shown in FIG1, the electronic device 100 may include a memory 101, a processor 102, a communication interface 103, and a bus 104. The memory 101, the processor 102, and the communication interface 103 are interconnected through the bus 104.

[0040] The memory 101 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).

[0041] The memory 101 can store a program. When the program stored in the memory 101 is executed by the processor 102, the processor 102 and the communication interface 103 are used to execute the various steps of the vehicle speed estimation method of the present application embodiment.

[0042] Processor 102 is a circuit with signal processing capabilities. In one implementation, processor 102 can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, processor 102 can implement certain functions through the logical relationships of hardware circuits. These logical relationships of hardware circuits are fixed or reconfigurable. For example, processor 102 can be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of processor 102 loading a configuration document and configuring the hardware circuit can be understood as processor 102 loading instructions to implement some or all of the functions of the above modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), and / or deep learning processing unit (DPU). The processor 102 is used to execute relevant programs to implement the functions required by the electronic device 100 of this application embodiment, or to execute the vehicle speed estimation method of the method embodiment of this application.

[0043] As can be seen, each module in the above electronic device 100 can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0044] Furthermore, the modules in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these modules are integrated together as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or for implementing the functions of the modules of the device. The at least one processor can be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0045] The communication interface 103 uses transceiver devices, such as, but not limited to, transceivers, to enable communication between the electronic device 100 and other devices or communication networks. For example, data can be acquired through the communication interface 103.

[0046] Bus 104 may include a pathway for transmitting information between various components of electronic device 100 (e.g., memory 101, processor 102, and communication interface 103).

[0047] It should be noted that although the electronic device 100 shown in FIG1 only illustrates the memory 101, processor 102, and communication interface 103, those skilled in the art should understand that in specific implementations, the electronic device 100 may also include other devices necessary for normal operation. Furthermore, depending on specific needs, those skilled in the art should understand that the electronic device 100 may also include hardware devices for implementing other additional functions. Moreover, those skilled in the art should understand that the electronic device 100 may only include the devices necessary for implementing the embodiments of this application, and not necessarily all the devices shown in FIG1.

[0048] For ease of understanding, the following embodiments of this application will take an electronic device with the structure shown in FIG1 as an example, and in conjunction with the accompanying drawings and application scenarios, will specifically illustrate the vehicle speed estimation method provided by the embodiments of this application.

[0049] Figure 2 is a flowchart of a vehicle speed estimation method provided in an embodiment of this application. This vehicle speed estimation method can be applied to electronic device 100. As shown in Figure 2, the above-mentioned vehicle speed estimation method may include:

[0050] Step 201: During vehicle operation, determine that the vehicle is in a low-adhesion steady-state acceleration state.

[0051] Specifically, determining that a vehicle is in a low-adhesion steady-state acceleration state can be achieved by: acquiring the states of the vehicle's front axle motor and rear axle motor, the wheel speeds of the vehicle's four wheels, the longitudinal acceleration, and the wheel accelerations of the vehicle's four wheels; and then determining that the vehicle is in a low-adhesion steady-state acceleration state based on the states of the vehicle's front axle motor and rear axle motor, the wheel speeds of the vehicle's four wheels, the longitudinal acceleration, and the wheel accelerations of the vehicle's four wheels.

[0052] The status of the vehicle's front axle motor and rear axle motor may include: whether the TCS function of the vehicle's front axle motor and rear axle motor is activated, and the torque of the vehicle's front axle motor and rear axle motor.

[0053] In some examples, based on the states of the vehicle's front and rear axle motors, the wheel speeds of the vehicle's four wheels, longitudinal acceleration, and wheel acceleration of the vehicle's four wheels, it can be determined that the vehicle is in a low-adhesion steady-state acceleration state as follows:

[0054] Determine if the TCS function of the vehicle's front and rear axle motors is active. When the TCS function of the vehicle's front and rear axle motors is active, determine if the following conditions are met. If all of the following conditions are met, determine that the vehicle is in a low-adhesion steady-state acceleration state:

[0055] 1) The torque difference between the front axle motor and the rear axle motor of the above-mentioned vehicle is less than the first threshold.

[0056] 2) The longitudinal acceleration of the inertial measurement unit (IMU) of the above-mentioned vehicle is less than the second threshold;

[0057] 3) The difference in wheel speed among the four wheels of the above-mentioned vehicles is less than the third threshold;

[0058] 4) The maximum difference in wheel acceleration after filtering of the four wheels of the above vehicle is less than the fourth threshold;

[0059] 5) The difference between the wheel acceleration after four-wheel filtering of the above-mentioned vehicle and the longitudinal acceleration of the IMU is greater than the fifth threshold.

[0060] 6) The duration of the above-mentioned vehicle meeting the above conditions is greater than or equal to the sixth threshold.

[0061] Among the above conditions, (1) to (2) can ensure that when the vehicle is driving on a high-adhesion road surface, the above judgment logic for determining that the vehicle is in a low-adhesion steady-state acceleration state will not be triggered by mistake, and the existing functions will not be affected when the vehicle is driving on a high-adhesion road surface; (3) to (5) are the conditions for determining that the vehicle is in a steady-state acceleration state.

[0062] In other examples, based on the states of the vehicle's front and rear axle motors, the wheel speeds of the vehicle's four wheels, longitudinal acceleration, and wheel acceleration of the vehicle's four wheels, it can be determined that the vehicle is in a low-adhesion steady-state acceleration state as follows:

[0063] The vehicle is considered to be in a low-adhesion steady-state acceleration state when all of the following conditions are met:

[0064] 1) The TCS function of the front axle motor and the rear axle motor of the above vehicles is activated.

[0065] 2) The torque difference between the front axle motor and the rear axle motor of the above-mentioned vehicle is less than the first threshold.

[0066] 3) The longitudinal acceleration of the inertial measurement unit (IMU) of the above-mentioned vehicle is less than the second threshold;

[0067] 4) The difference in wheel speed among the four wheels of the above-mentioned vehicles is less than the third threshold;

[0068] 5) The maximum difference in wheel acceleration after filtering of the four wheels of the above vehicle is less than the fourth threshold;

[0069] 6) The difference between the wheel acceleration after four-wheel filtering of the above-mentioned vehicle and the longitudinal acceleration of the IMU is greater than the fifth threshold.

[0070] 7) The duration of the above-mentioned vehicle meeting the above conditions is greater than or equal to the sixth threshold.

[0071] The first, second, third, fourth, fifth, and sixth thresholds can be set by the user during implementation. This embodiment does not limit the magnitude of these thresholds. For example, the first threshold could be 30 Nm, and the second threshold could be 1 m / s. 2 The third threshold can be 3 kph, and the fourth threshold can be 2 m / s. 2 The fifth threshold can be 0.5 m / s 2 The sixth threshold can be 2s.

[0072] In addition, among the above conditions, (1) to (3) can ensure that when the vehicle is driving on a high-adhesion road surface, the above judgment logic for determining that the vehicle is in a low-adhesion steady-state acceleration state will not be triggered by mistake, and ensure that the existing functions are not affected when the vehicle is driving on a high-adhesion road surface; (4) to (6) are conditions for determining that the vehicle is in a steady-state acceleration state.

[0073] Step 202: Transfer the required torque of the first shaft to the required torque of the second shaft.

[0074] The amount of torque transfer from the first shaft's required torque to the second shaft's required torque is called the first torque transfer amount.

[0075] Specifically, transferring the required torque from the first axis to the required torque from the second axis can be achieved by transferring the required torque from the first axis to the required torque from the second axis within a predetermined time period. This predetermined time period can be set by the system based on performance and / or implementation requirements during the actual implementation. This embodiment does not limit the length of the predetermined time period; for example, the predetermined time period could be 500ms.

[0076] In some examples, when the current torque value of the first shaft's required torque is less than or equal to the seventh threshold, or when the remaining capacity value of the second shaft's required torque is less than or equal to the seventh threshold, the first torque transfer amount is the smaller of the current torque value of the first shaft's required torque and the remaining capacity value of the second shaft's required torque. The magnitude of the seventh threshold can be set according to system performance and / or implementation requirements during specific implementation. This embodiment does not limit the magnitude of the seventh threshold; for example, the seventh threshold can be 15 Nm.

[0077] In other examples, the first torque transfer amount is equal to the seventh threshold when the current torque value of the first shaft demand torque is greater than the seventh threshold and the remaining capacity value of the second shaft demand torque is greater than the seventh threshold.

[0078] In addition, after transferring the required torque of the first axle to the required torque of the second axle, the electronic device 100 can also use the TCS function of the front axle motor and the rear axle motor of the vehicle to determine the slippage of the front wheel and the rear wheel of the vehicle respectively; after determining that the front wheel and / or the rear wheel of the vehicle has slipped, it controls the motor corresponding to the slipping wheel to perform a torque reduction operation.

[0079] Step 203: After detecting that the vehicle has exited the above-mentioned low-adhesion steady-state acceleration state, the actual vehicle speed is determined according to the wheel speed of the wheel corresponding to the first axle demand torque.

[0080] Specifically, after the electronic device 100 transfers the required torque from the first axle to the required torque from the second axle, the wheel acceleration and wheel speed of the front and rear wheels of the vehicle will definitely become different. This will cause the vehicle to exit the low-adjustment steady-state acceleration state. Afterwards, the electronic device 100 can determine the vehicle's actual speed based on the wheel speed corresponding to the required torque of the first axle.

[0081] In one implementation of this embodiment, the required torque for the first axle can be the required torque for the front axle, and the required torque for the second axle can be the required torque for the rear axle. Thus, determining the actual vehicle speed based on the wheel speed corresponding to the required torque for the first axle can be achieved by determining the actual vehicle speed based on the wheel speed of the front wheels. Specifically, the electronic device 100 can calculate the actual vehicle speed using the front wheel speed method; alternatively, the electronic device 100 can give a higher weight to the front wheel speed when estimating the actual vehicle speed.

[0082] In another implementation of this embodiment, the required torque for the first axle can be the required torque for the rear axle, and the required torque for the second axle can be the required torque for the front axle. Thus, determining the actual vehicle speed based on the wheel speed corresponding to the required torque for the first axle can be done by determining the actual vehicle speed based on the wheel speed of the rear wheels. Specifically, the electronic device 100 can calculate the actual vehicle speed using the rear wheel speed method; alternatively, the electronic device 100 can give a higher weight to the rear wheel speed when estimating the actual vehicle speed.

[0083] In the aforementioned vehicle speed estimation method, during vehicle operation, after the electronic device 100 determines that the vehicle is in a low-adhesion steady-state acceleration state, it transfers the required torque from the first axle to the required torque from the second axle. After detecting that the vehicle has exited the low-adhesion steady-state acceleration state, the electronic device 100 determines the vehicle's true speed based on the wheel speed corresponding to the required torque of the first axle. This allows the vehicle to exit the low-adhesion steady-state acceleration state after it has been determined, thereby improving the accuracy of the vehicle's true speed estimation. Furthermore, this method does not require additional sensors, thus eliminating additional vehicle costs. Moreover, the method is only triggered when the vehicle is traveling on low-adhesion roads, preventing hydraulic intervention noise and minimizing overall vehicle acceleration fluctuations.

[0084] It is understood that some or all of the steps or operations in the above embodiments are merely examples, and other operations or variations thereof can be performed in the embodiments of this application. Furthermore, the steps may be performed in different orders as presented in the above embodiments, and it is not necessary to perform all the operations in the above embodiments.

[0085] It is understood that, in order to achieve the above-mentioned functions, electronic devices include hardware and / or software modules that perform the respective functions. Based on the algorithm steps of the examples described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application in conjunction with the embodiments, but such implementation should not be considered beyond the scope of this application.

[0086] This embodiment can divide the electronic device into functional modules according to the above method embodiment. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0087] Figure 3 is a schematic diagram of the structure of an electronic device provided in another embodiment of this application. When each functional module is divided according to its corresponding functions, Figure 3 shows a possible composition of the electronic device 300 involved in the above embodiment. As shown in Figure 3, the electronic device 300 may include: a receiving unit 301, a processing unit 302 and a transmitting unit 303.

[0088] The processing unit 302 can be used to support the electronic device 300 in executing steps 201 to 203 and / or other processes used in the technical solutions described in the embodiments of this application.

[0089] It should be noted that all relevant content of each step involved in the method embodiments of this application can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0090] The electronic device 300 provided in this embodiment is used to perform the above-described vehicle speed estimation method, and thus can achieve the same effect as the above method.

[0091] It should be understood that electronic device 300 can correspond to electronic device 100 shown in FIG1. ​​The functions of receiving unit 301 and transmitting unit 303 can be implemented by processor 102 and communication interface 103 in electronic device 100 shown in FIG1; the functions of processing unit 302 can be implemented by processor 102 in electronic device 100 shown in FIG1.

[0092] When using integrated units, the electronic device 300 may include a processing module, a storage module, and a communication module.

[0093] The processing module can be used to control and manage the actions of the electronic device 300. For example, it can support the electronic device 300 in executing the steps performed by the receiving unit 301, processing unit 302, and sending unit 303. The storage module can support the electronic device 300 in storing program code and data. The communication module can support communication between the electronic device 300 and other devices.

[0094] The processing module can be a processor or controller, which can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory. The communication module can specifically be a device that interacts with other electronic devices, such as radio frequency circuitry, a Bluetooth chip, and / or a Wi-Fi chip.

[0095] In one embodiment, when the processing module is a processor and the storage module is a memory, the electronic device 300 involved in this embodiment can be a device having the structure shown in FIG1.

[0096] This application also provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to execute the method provided in the embodiment shown in FIG2 of this application.

[0097] This application also provides a computer program product, which includes a computer program that, when run on a computer, causes the computer to execute the method provided in the embodiment shown in FIG2 of this application.

[0098] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, A and B simultaneously, or B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0099] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0100] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0101] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0102] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for estimating vehicle speed, characterized in that, include: During vehicle operation, it is determined that the vehicle is in a low-attach steady-state acceleration state; Transfer the torque demand of the first shaft to the torque demand of the second shaft; After detecting that the vehicle has exited the low-adhesion steady-state acceleration state, the actual vehicle speed is determined based on the wheel speed of the wheel corresponding to the first axle required torque.

2. The method according to claim 1, characterized in that, Determining that the vehicle is in a low-adhesion steady-state acceleration state includes: The status of the front axle motor and rear axle motor of the vehicle, the wheel speed of the four wheels of the vehicle, the longitudinal acceleration, and the wheel acceleration of the four wheels of the vehicle are obtained. Based on the status of the front axle motor and the rear axle motor of the vehicle, the wheel speed of the four wheels of the vehicle, the longitudinal acceleration, and the wheel acceleration of the four wheels of the vehicle, it is determined that the vehicle is in a low-adhesion steady-state acceleration state.

3. The method according to claim 2, characterized in that, The step of determining that the vehicle is in a low-adhesion steady-state acceleration state based on the status of the front axle motor and the rear axle motor, the wheel speed of the four wheels of the vehicle, the longitudinal acceleration, and the wheel acceleration of the four wheels of the vehicle includes: The vehicle is determined to be in a low-adhesion steady-state acceleration state when all of the following conditions are met: The anti-slip control system functions of the front axle motor and the rear axle motor of the vehicle are both activated. The torque difference between the front axle motor and the rear axle motor of the vehicle is less than a first threshold. The longitudinal acceleration of the vehicle's inertial measurement unit is less than the second threshold. The difference in wheel speeds of the four wheels of the vehicle is less than the third threshold. The maximum difference in wheel acceleration after filtering of the four wheels of the vehicle is less than the fourth threshold. The difference between the wheel acceleration of the vehicle after four-wheel filtering and the longitudinal acceleration of the inertial measurement unit is greater than the fifth threshold. The duration of the continuous state in which the vehicle meets the above conditions is greater than or equal to the sixth threshold.

4. The method according to claim 1, characterized in that, The transfer of the required torque from the first shaft to the required torque from the second shaft includes: The torque required by the first shaft is transferred to the torque required by the second shaft within a predetermined time.

5. The method according to claim 1, characterized in that, The amount of torque transfer from the first shaft's required torque to the second shaft's required torque is the first torque transfer amount.

6. The method according to claim 5, characterized in that, When the current torque value of the first shaft demand torque is less than or equal to the seventh threshold, or the remaining capacity value of the second shaft demand torque is less than or equal to the seventh threshold, the first torque transfer amount is the smaller of the current torque value of the first shaft demand torque and the remaining capacity value of the second shaft demand torque.

7. The method according to claim 5, characterized in that, When the current torque value of the first shaft's required torque is greater than the seventh threshold, and the remaining capacity value of the second shaft's required torque is greater than the seventh threshold, the first torque transfer amount is equal to the seventh threshold.

8. The method according to any one of claims 1-7, characterized in that, After transferring the torque demanded by the first shaft to the torque demanded by the second shaft, the method further includes: The anti-slip control system of the front axle motor and the rear axle motor of the vehicle is used to determine the slippage of the front wheels and the rear wheels of the vehicle, respectively. After determining that the front and / or rear wheels of the vehicle have slipped, the motor corresponding to the slipping wheel is controlled to perform a torque reduction operation.

9. The method according to any one of claims 1-7, characterized in that, The first axle torque requirement is the front axle torque requirement, and the second axle torque requirement is the rear axle torque requirement.

10. The method according to claim 9, characterized in that, Determining the vehicle's actual speed based on the wheel speed corresponding to the first axle's required torque includes: The actual speed of the vehicle is determined based on the wheel speed of its front wheels.

11. The method according to any one of claims 1-7, characterized in that, The first axle torque requirement is the rear axle torque requirement, and the second axle torque requirement is the front axle torque requirement.

12. The method according to claim 11, characterized in that, Determining the vehicle's actual speed based on the wheel speed corresponding to the first axle's required torque includes: The actual speed of the vehicle is determined based on the wheel speed of its rear wheels.

13. An electronic device, characterized in that, include: One or more processors; Memory; Multiple applications; And one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs including instructions that, when executed by the electronic device, cause the electronic device to perform the method as described in any one of claims 1-12.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1-12.

Images