CN114872715A - Vehicle speed estimation method and device, vehicle control unit and medium - Google Patents
Vehicle speed estimation method and device, vehicle control unit and medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/12—Lateral speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The invention discloses a vehicle speed estimation method, a vehicle speed estimation device, a vehicle control unit and a medium. The method comprises the steps of determining a real-time simulation vehicle speed signal according to a motor driving torque provided by a motor controller in real time, a motor resistance torque provided by a vehicle stabilization system controller in real time and a whole vehicle power system simulation model, and determining simulation vehicle speed precision according to the simulation vehicle speed signal and an actual vehicle speed signal; determining a real-time conversion vehicle speed signal according to a power motor rotating speed signal acquired by a rotating speed sensor in real time, and determining conversion vehicle speed precision according to the rotating speed signal and an actual vehicle speed signal; acquiring a measured vehicle speed signal acquired by a vehicle speed sensor in real time, and determining the vehicle speed measurement precision according to the measured vehicle speed signal and an actual vehicle speed signal; and determining an optimal vehicle speed signal according to the simulated vehicle speed signal, the simulated vehicle speed precision, the converted vehicle speed signal, the converted vehicle speed precision, the measured vehicle speed signal and the measured vehicle speed precision. According to the scheme, the accuracy of vehicle speed measurement is improved through the fusion of three vehicle speed signals.
Description
Technical Field
The embodiment of the invention relates to a vehicle speed estimation technology, in particular to a vehicle speed estimation method, a vehicle speed estimation device, a vehicle control unit and a medium.
Background
In the field of whole vehicle control of new energy vehicles, the vehicle speed is a key factor for realizing whole vehicle control, and the method plays a vital role in realizing an active safety control technology, a control stability control technology and a vehicle drivability control technology of the vehicle. The vehicle speed is an important state variable in vehicle control and can be measured by installing a vehicle speed sensor, but the cost of the sensor directly influences the measurement accuracy of the vehicle speed, and the measurement accuracy of the vehicle speed directly influences the active safety control performance, the steering stability and the drivability of the vehicle. Therefore, obtaining high-precision vehicle speed on the basis of controlling vehicle cost is one of key technologies for realizing vehicle control performance.
The existing vehicle speed estimation algorithm comprises a maximum wheel speed method, a slope method and a comprehensive method, the algorithm process is simple, but the estimation accuracy is not high, and the method is only suitable for the traditional vehicle with low requirement on the control accuracy.
Disclosure of Invention
The invention provides a vehicle speed estimation method, a vehicle speed estimation device, a vehicle control unit and a medium, which improve the accuracy of vehicle speed measurement.
In a first aspect, an embodiment of the present invention provides a vehicle speed estimation method, including:
determining a real-time simulation vehicle speed signal according to a motor driving torque provided by a motor controller in real time, a motor resistance torque provided by a vehicle stabilization system controller in real time and a whole vehicle power system simulation model, and determining simulation vehicle speed accuracy according to the simulation vehicle speed signal and an actual vehicle speed signal;
determining a real-time conversion vehicle speed signal according to a power motor rotating speed signal acquired by a rotating speed sensor in real time, and determining conversion vehicle speed precision according to the rotating speed vehicle speed signal and the actual vehicle speed signal;
acquiring a measured vehicle speed signal acquired by a vehicle speed sensor in real time, and determining the vehicle speed measurement precision according to the measured vehicle speed signal and the actual vehicle speed signal;
and determining an optimal vehicle speed signal according to the simulation vehicle speed signal, the simulation vehicle speed precision, the converted vehicle speed signal, the converted vehicle speed precision, the measured vehicle speed signal and the measured vehicle speed precision.
Optionally, the determining the simulated vehicle speed signal according to the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stability system controller in real time, and the simulation model of the vehicle power system includes:
establishing a finished automobile power system simulation model, and acquiring finished automobile parameters;
and determining a real-time simulation vehicle speed signal according to the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stabilizing system controller in real time and the vehicle parameter.
Optionally, determining an optimal vehicle speed signal according to the simulated vehicle speed signal, the simulated vehicle speed accuracy, the converted vehicle speed signal, the converted vehicle speed accuracy, the measured vehicle speed signal, and the measured vehicle speed accuracy includes:
determining a corrected simulation vehicle speed signal according to the simulation vehicle speed signal and the simulation vehicle speed precision;
determining and correcting a converted vehicle speed signal according to the converted vehicle speed signal and the converted vehicle speed precision;
determining a corrected measured vehicle speed signal according to the measured vehicle speed signal and the measured vehicle speed precision;
and determining an optimal vehicle speed signal according to the corrected simulated vehicle speed signal, the corrected converted vehicle speed signal and the corrected measured vehicle speed signal.
Optionally, the method further includes: detecting whether the motor controller and the vehicle stability controller have communication faults or not;
when the motor controller and/or the vehicle stability controller generate communication faults, the simulation vehicle speed precision is reduced;
optionally, the method further includes: detecting whether the rotating speed sensor and the vehicle speed sensor have faults or not;
when the rotating speed sensor breaks down, the accuracy of the converted vehicle speed is reduced; and when the vehicle speed sensor has a fault, reducing the vehicle speed measurement precision.
Optionally, the motor resistance torque includes a braking resistance torque, a gradient resistance torque, a wheel rolling resistance torque, an air resistance torque, and a friction resistance torque.
In a second aspect, an embodiment of the present invention provides a vehicle speed estimation device, including:
a first vehicle speed determination module: the system comprises a motor controller, a vehicle stability system controller, a simulation model of a whole vehicle power system, a real-time simulation vehicle speed signal and a simulation vehicle speed precision, wherein the motor controller is used for providing motor driving torque in real time, the vehicle stability system controller is used for providing motor resistance torque in real time and the whole vehicle power system simulation model;
the second vehicle speed determination module: the system comprises a power motor, a rotation speed sensor, a real-time conversion speed signal and a conversion speed precision, wherein the power motor rotation speed signal is acquired by the rotation speed sensor in real time;
a third vehicle speed determination module: the system comprises a vehicle speed sensor, a vehicle speed measuring device and a vehicle speed measuring device, wherein the vehicle speed sensor is used for acquiring a measured vehicle speed signal acquired in real time by the vehicle speed sensor and determining the accuracy of the measured vehicle speed according to the measured vehicle speed signal and the actual vehicle speed signal;
an optimal vehicle speed signal determination module: for determining an optimal vehicle speed signal according to the simulated vehicle speed signal, the simulated vehicle speed accuracy, the converted vehicle speed signal, the converted vehicle speed accuracy, the measured vehicle speed signal and the measured vehicle speed accuracy
In a third aspect, an embodiment of the present invention provides a vehicle control unit, where the vehicle control unit includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle speed estimation method as described in the above first aspect.
In a fourth aspect, embodiments of the present invention provide a storage medium containing computer-executable instructions for performing the vehicle speed estimation method according to any one of the first aspect when executed by a computer processor.
According to the embodiment of the invention, a real-time simulation vehicle speed signal is determined according to a motor driving torque provided by a motor controller in real time, a motor resistance torque provided by a vehicle stabilization system controller in real time and a simulation model of a whole vehicle power system, and the simulation vehicle speed precision is determined according to the simulation vehicle speed signal and an actual vehicle speed signal; meanwhile, a real-time conversion vehicle speed signal is determined according to a power motor rotating speed signal acquired by a rotating speed sensor in real time, and the conversion vehicle speed precision is determined according to the rotating speed vehicle speed signal and an actual vehicle speed signal; acquiring a measured vehicle speed signal acquired by a vehicle speed sensor in real time, and determining the vehicle speed measurement precision according to the measured vehicle speed signal and an actual vehicle speed signal; and then determining an optimal vehicle speed signal according to the simulated vehicle speed signal, the simulated vehicle speed precision, the converted vehicle speed signal, the converted vehicle speed precision, the measured vehicle speed signal and the measured vehicle speed precision, so that the vehicle speed measurement precision is improved through the fusion of the three vehicle speed signals.
Drawings
FIG. 1 is a flow chart of a method for estimating vehicle speed according to an embodiment of the present invention;
FIG. 2 is a flow chart of another vehicle speed estimation method provided by an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle speed estimation device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle control unit according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a vehicle speed estimation method provided in an embodiment of the present invention, where the embodiment is applicable to a vehicle speed estimation situation of a whole vehicle, and the method may be executed by a vehicle speed estimation device, as shown in fig. 1, where the method specifically includes the following steps:
s110, determining a real-time simulation vehicle speed signal according to the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stability system controller in real time and the whole vehicle power system simulation model, and determining the simulation vehicle speed precision according to the simulation vehicle speed signal and the actual vehicle speed signal.
The whole vehicle comprises a whole vehicle controller, a motor controller and a vehicle stabilizing system controller; the vehicle speed estimation method is applied to a vehicle control unit, the vehicle control unit can be in communication connection with a motor controller and a vehicle stabilization system controller, the vehicle control unit can obtain motor driving torque provided by the motor controller and motor resistance torque provided by the vehicle stabilization system controller, and the motor driving torque is power torque for driving the vehicle to move; the motor resistance torque comprises braking resistance torque, gradient resistance torque, wheel rolling resistance torque, air resistance torque and friction resistance torque. A complete vehicle power system dynamics simulation model can be established according to a Newton's second law of mechanics, and a simulated vehicle speed signal is determined according to the difference between the motor driving torque and the motor resistance torque and complete vehicle parameters determined in the complete vehicle power system simulation model.
The simulation vehicle speed precision is the deviation degree of the simulation vehicle speed signal from the actual vehicle speed signal, wherein the actual vehicle speed signal is a theoretical vehicle speed value calculated according to a specific algorithm under a specific working condition of the whole vehicle; preferably, the simulation vehicle speed precision can be obtained by calculating the variance of the difference between a plurality of simulation vehicle speed signals and an actual vehicle speed signal, namely, the simulation vehicle speed precision can be represented in the form of variance.
And S120, determining a real-time conversion vehicle speed signal according to the power motor rotating speed signal acquired by the rotating speed sensor in real time, and determining the conversion vehicle speed precision according to the rotating speed vehicle speed signal and the actual vehicle speed signal.
The power motor is connected with the wheels through a fixed speed ratio, and the rotating speed signal of the motor can be converted into a vehicle speed signal through speed ratio conversion; the converted speed accuracy is the deviation degree of the converted speed signal from the actual speed signal, preferably, the converted speed accuracy can be obtained by calculating the variance of the difference between a plurality of converted speed signals and the actual speed signal, namely, the converted speed accuracy can be represented in the form of variance.
S130, obtaining a measured vehicle speed signal acquired by the vehicle speed sensor in real time, and determining the vehicle speed measurement precision according to the measured vehicle speed signal and the actual vehicle speed signal.
Preferably, the accuracy of the measured vehicle speed is obtained by calculating a variance of differences between a plurality of measured vehicle speed signals and actual vehicle speed signals, that is, the accuracy of the measured vehicle speed can be represented in a variance form.
And S140, determining an optimal vehicle speed signal according to the simulated vehicle speed signal, the simulated vehicle speed precision, the converted vehicle speed signal, the converted vehicle speed precision, the measured vehicle speed signal and the measured vehicle speed precision.
The vehicle control unit can obtain three vehicle speeds from different sources, namely a simulation vehicle speed signal, a conversion vehicle speed signal and a measurement vehicle speed signal. And the three speed signals are fused, so that more accurate speed can be obtained. Specifically, a corrected simulation vehicle speed signal is determined according to the simulation vehicle speed signal and the simulation vehicle speed precision; determining and correcting the converted vehicle speed signal according to the converted vehicle speed signal and the converted vehicle speed precision; determining and correcting a measured vehicle speed signal according to the measured vehicle speed signal and the measured vehicle speed precision; and determining an optimal vehicle speed signal according to the corrected simulated vehicle speed signal, the corrected converted vehicle speed signal and the corrected measured vehicle speed signal, so that the accuracy of vehicle speed measurement is improved.
Optionally, further optimized on the basis of the above embodiment, fig. 2 is a flowchart of another vehicle speed estimation method provided by the embodiment of the invention, as shown in fig. 2, the vehicle speed estimation method includes the following steps:
s210, establishing a complete vehicle power system simulation model and obtaining complete vehicle parameters.
The vehicle parameters can be obtained according to the vehicle power system simulation model, and the vehicle parameters can include vehicle mass.
And S220, determining a real-time simulation vehicle speed signal according to the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stabilization system controller in real time and the vehicle parameter, and determining the simulation vehicle speed precision according to the real-time simulation vehicle speed signal and the actual vehicle speed signal.
The method comprises the steps of determining driving torque of a power motor according to the difference between the driving torque of the power motor and power resistance torque, calculating acceleration of the whole vehicle according to the driving torque of the power motor and the mass of the whole vehicle, and calculating the simulation vehicle speed of the vehicle through integration.
And S230, determining a real-time conversion vehicle speed signal according to the power motor rotating speed signal acquired by the rotating speed sensor in real time, and determining the conversion vehicle speed precision according to the rotating speed vehicle speed signal and the actual vehicle speed signal.
S240, obtaining a measured vehicle speed signal acquired by the vehicle speed sensor in real time, and determining the vehicle speed measurement precision according to the measured vehicle speed signal and the actual vehicle speed signal.
And S250, determining an optimal vehicle speed signal according to the simulated vehicle speed signal, the simulated vehicle speed precision, the converted vehicle speed signal, the converted vehicle speed precision, the measured vehicle speed signal and the measured vehicle speed precision.
S260, detecting whether the motor controller and the vehicle stabilizing system controller have communication faults or not; detecting whether the rotating speed sensor and the vehicle speed sensor have faults or not; when the motor controller and/or the vehicle stabilizing system controller generate communication faults, the simulation vehicle speed precision is reduced; when the rotating speed sensor fails, the accuracy of converting the vehicle speed is reduced; when the vehicle speed sensor fails, the vehicle speed measurement accuracy is reduced.
When a communication fault of the motor controller is detected, the motor controller cannot provide real-time power motor driving torque, the vehicle controller cannot calculate real-time simulation vehicle speed, the simulation precision is reduced, and the simulation vehicle speed precision is adjusted to be 0 exemplarily; when the vehicle stabilization system controller has a communication fault, the vehicle stabilization system controller cannot provide real-time resistance torque, the vehicle control unit cannot calculate real-time simulation vehicle speed, and the simulation vehicle speed precision is reduced; when the rotating speed sensor fails, a real-time vehicle speed conversion signal cannot be provided, and the vehicle speed conversion precision is reduced; when the vehicle speed sensor fails, a real-time vehicle speed measuring signal cannot be provided, and vehicle speed measuring precision is reduced. Or when the vehicle is in extreme weather under some special working conditions, such as high temperature, low temperature and strong wind, the factors can influence the resistance torque of the vehicle, so that the simulation vehicle speed precision becomes low, the simulation vehicle speed is not credible, and the simulation vehicle speed precision is reduced at the moment. On the basis of the scheme, the speed precision is adjusted according to different working conditions, and the simulation speed signal is determined and corrected according to the simulation speed signal and the adjusted simulation speed precision; determining and correcting the converted vehicle speed signal according to the converted vehicle speed signal and the adjusted converted vehicle speed precision; determining a corrected measured vehicle speed signal according to the measured vehicle speed signal and the adjusted measured vehicle speed precision; the optimal vehicle speed signal is determined according to the corrected simulation vehicle speed signal, the corrected conversion vehicle speed signal and the corrected measurement vehicle speed signal, so that the vehicle speed measurement precision is improved, and the method is also suitable for providing reliable vehicle speed signals under different working conditions.
The embodiment of the invention also provides a vehicle speed estimation device, which can execute the vehicle speed estimation method provided by any embodiment of the invention and has corresponding functional modules and beneficial effects of the execution method. FIG. 3 is a schematic structural diagram of a vehicle speed estimation device according to an embodiment of the present invention, as shown in FIG. 3, the device including:
the first vehicle speed determination module 10: the system comprises a motor controller, a vehicle stability system controller, a simulation model of a whole vehicle power system, a real-time simulation vehicle speed signal and a simulation vehicle speed precision, wherein the motor controller is used for providing motor driving torque in real time, the vehicle stability system controller is used for providing motor resistance torque in real time and the whole vehicle power system simulation model;
the second vehicle speed determination module 20: the system comprises a power motor, a speed sensor, a real-time conversion speed signal, a conversion speed precision module and a conversion speed precision module, wherein the power motor is used for determining a real-time conversion speed signal according to a power motor speed signal acquired by the speed sensor in real time and determining the conversion speed precision according to the speed signal and an actual speed signal;
the third vehicle speed determination module 30: acquiring a measured vehicle speed signal acquired by a vehicle speed sensor in real time, and determining the vehicle speed measurement precision according to the measured vehicle speed signal and an actual vehicle speed signal;
the optimal vehicle speed signal determination module 40: and the method is used for determining the optimal vehicle speed signal according to the simulated vehicle speed signal, the simulated vehicle speed precision, the converted vehicle speed signal, the converted vehicle speed precision, the measured vehicle speed signal and the measured vehicle speed precision.
Optionally, the method further includes:
the first detection module is used for detecting whether the motor controller and the vehicle stability controller have communication faults or not;
the first adjusting module is used for reducing the simulation speed precision when the motor controller and/or the vehicle stability controller generate communication faults;
optionally, the method further includes:
the second detection module is used for detecting whether the rotating speed sensor and the vehicle speed sensor have faults or not;
the second adjusting module is used for reducing the accuracy of the converted vehicle speed when the rotating speed sensor fails; when the vehicle speed sensor fails, the vehicle speed measurement accuracy is reduced.
Optionally, the first vehicle speed determination module includes:
the whole vehicle parameter acquisition unit is used for establishing a whole vehicle power system simulation model and acquiring a whole vehicle parameter;
and the first vehicle speed determining unit is used for determining a real-time simulation vehicle speed signal according to the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stabilizing system controller in real time and the whole vehicle parameter.
Optionally, the optimal vehicle speed signal determining module includes:
the first correction unit is used for determining and correcting the simulation vehicle speed signal according to the simulation vehicle speed signal and the simulation vehicle speed precision;
the second correction unit is used for determining and correcting the converted vehicle speed signal according to the converted vehicle speed signal and the converted vehicle speed precision;
the third correction unit is used for determining and correcting the measured vehicle speed signal according to the measured vehicle speed signal and the measured vehicle speed precision;
and the optimal vehicle speed signal determining unit is used for determining an optimal vehicle speed signal according to the corrected simulation vehicle speed signal, the corrected converted vehicle speed signal and the corrected measured vehicle speed signal.
Fig. 4 is a schematic structural diagram of a vehicle control unit according to an embodiment of the present invention, as shown in fig. 4, the vehicle control unit includes a processor 70, a memory 71, an input device 72, and an output device 73; the number of the processors 70 in the vehicle control unit may be one or more, and one processor 70 is taken as an example in fig. 4; the processor 70, the memory 71, the input device 72 and the output device 73 in the vehicle control unit may be connected by a bus or other means, and fig. 4 illustrates the connection by the bus as an example.
The memory 71, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle speed estimation method in the embodiment of the present invention. The processor 70 executes various functional applications and data processing of the vehicle control unit by executing software programs, instructions and modules stored in the memory 71, so as to realize the vehicle speed estimation method.
The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 71 may further include memory located remotely from the processor 70, which may be connected to the hybrid vehicle controller via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 72 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the hybrid vehicle controller. The output device 73 may include a display device such as a display screen.
Embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method of vehicle speed estimation, the method comprising:
determining a real-time simulation vehicle speed signal according to a motor driving torque provided by a motor controller in real time, a motor resistance torque provided by a vehicle stabilization system controller in real time and a whole vehicle power system simulation model, and determining simulation vehicle speed accuracy according to the simulation vehicle speed signal and an actual vehicle speed signal;
determining a real-time conversion vehicle speed signal according to a power motor rotating speed signal acquired by a rotating speed sensor in real time, and determining conversion vehicle speed precision according to the rotating speed vehicle speed signal and the actual vehicle speed signal;
acquiring a measured vehicle speed signal acquired by a vehicle speed sensor in real time, and determining the vehicle speed measurement precision according to the measured vehicle speed signal and the actual vehicle speed signal;
and determining an optimal vehicle speed signal according to the simulation vehicle speed signal, the simulation vehicle speed precision, the converted vehicle speed signal, the converted vehicle speed precision, the measured vehicle speed signal and the measured vehicle speed precision.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the vehicle speed estimation method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A vehicle speed estimation method, characterized by comprising:
determining a real-time simulation vehicle speed signal according to a motor driving torque provided by a motor controller in real time, a motor resistance torque provided by a vehicle stabilization system controller in real time and a whole vehicle power system simulation model, and determining simulation vehicle speed accuracy according to the simulation vehicle speed signal and an actual vehicle speed signal;
determining a real-time conversion vehicle speed signal according to a power motor rotating speed signal acquired by a rotating speed sensor in real time, and determining conversion vehicle speed precision according to the rotating speed vehicle speed signal and the actual vehicle speed signal;
acquiring a measured vehicle speed signal acquired by a vehicle speed sensor in real time, and determining the vehicle speed measurement precision according to the measured vehicle speed signal and the actual vehicle speed signal;
and determining an optimal vehicle speed signal according to the simulation vehicle speed signal, the simulation vehicle speed precision, the conversion vehicle speed signal, the conversion vehicle speed precision, the measurement vehicle speed signal and the measurement vehicle speed precision.
2. The vehicle speed estimation method according to claim 1, wherein determining a simulated vehicle speed signal according to the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stability system controller in real time, and the vehicle power system simulation model comprises:
establishing a finished automobile power system simulation model, and acquiring finished automobile parameters;
and determining a real-time simulation vehicle speed signal according to the motor driving torque provided by the motor controller in real time, the motor resistance torque provided by the vehicle stabilizing system controller in real time and the vehicle parameter.
3. The vehicle speed estimation method of claim 1, wherein determining an optimal vehicle speed signal based on the simulated vehicle speed signal, the simulated vehicle speed accuracy, the converted vehicle speed signal, the converted vehicle speed accuracy, the measured vehicle speed signal, and the measured vehicle speed accuracy comprises:
determining a corrected simulation vehicle speed signal according to the simulation vehicle speed signal and the simulation vehicle speed precision;
determining and correcting a converted vehicle speed signal according to the converted vehicle speed signal and the converted vehicle speed precision;
determining a corrected measured vehicle speed signal according to the measured vehicle speed signal and the measured vehicle speed precision;
and determining an optimal vehicle speed signal according to the corrected simulated vehicle speed signal, the corrected converted vehicle speed signal and the corrected measured vehicle speed signal.
4. The vehicle speed estimation method according to claim 3, characterized by further comprising: detecting whether the motor controller and the vehicle stability controller have communication faults or not;
and when the motor controller and/or the vehicle stability controller generate communication faults, the simulation vehicle speed precision is reduced.
5. The vehicle speed estimation method according to claim 3, characterized by further comprising: detecting whether the rotating speed sensor and the vehicle speed sensor have faults or not;
when the rotating speed sensor breaks down, the accuracy of the converted vehicle speed is reduced; and when the vehicle speed sensor has a fault, reducing the vehicle speed measurement precision.
6. The vehicle speed estimation method according to claim 1, wherein the motor resistance torque includes a braking resistance torque, a gradient resistance torque, a wheel rolling resistance torque, an air resistance torque, and a friction resistance torque.
7. A vehicle speed estimation device characterized by comprising:
a first vehicle speed determination module: the system comprises a motor controller, a vehicle stability system controller, a simulation model of a whole vehicle power system, a real-time simulation vehicle speed signal and a simulation vehicle speed precision, wherein the motor controller is used for providing motor driving torque in real time, the vehicle stability system controller is used for providing motor resistance torque in real time and the whole vehicle power system simulation model;
a second vehicle speed determination module: the system comprises a power motor, a rotation speed sensor, a real-time conversion speed signal and a conversion speed precision, wherein the power motor rotation speed signal is acquired by the rotation speed sensor in real time;
a third vehicle speed determination module: the system comprises a vehicle speed sensor, a vehicle speed measuring device and a vehicle speed measuring device, wherein the vehicle speed sensor is used for acquiring a measured vehicle speed signal acquired in real time by the vehicle speed sensor and determining the accuracy of the measured vehicle speed according to the measured vehicle speed signal and the actual vehicle speed signal;
an optimal vehicle speed signal determination module: and the optimal vehicle speed signal is determined according to the simulation vehicle speed signal, the simulation vehicle speed precision, the conversion vehicle speed signal, the conversion vehicle speed precision, the measurement vehicle speed signal and the measurement vehicle speed precision.
8. A vehicle control unit, characterized in that, vehicle control unit includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the vehicle speed estimation method according to any one of claims 1-6.
9. A storage medium containing computer-executable instructions for performing the vehicle speed estimation method according to any one of claims 1 to 6 when executed by a computer processor.
Priority Applications (2)
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| CN202210614004.3A CN114872715A (en) | 2022-05-31 | 2022-05-31 | Vehicle speed estimation method and device, vehicle control unit and medium |
| PCT/CN2023/097062 WO2023232015A1 (en) | 2022-05-31 | 2023-05-30 | Vehicle speed estimation method and apparatus, and vehicle control unit and medium |
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| CN202210614004.3A CN114872715A (en) | 2022-05-31 | 2022-05-31 | Vehicle speed estimation method and device, vehicle control unit and medium |
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| WO2023232015A1 (en) * | 2022-05-31 | 2023-12-07 | 中国第一汽车股份有限公司 | Vehicle speed estimation method and apparatus, and vehicle control unit and medium |
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| WO2023232015A1 (en) | 2023-12-07 |
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