The invention relates to a vehicle speed calculation method and device, an acceleration calculation method and device, a vehicle and equipment. The vehicle speed calculation method comprises the steps that whether the number of effective bits of the wheel speed is larger than or equal to 1 or not is judged; if yes, the vehicle speed is calculated according to the wheel speed; otherwise, calculating the vehicle speed by adopting the motor speed. Whether the wheel speed is effective or not is judged, when the wheel speed is effective, the vehicle speed is calculated by adopting the wheel speed, and when the wheel speed fails, the vehicle speed is calculated by adopting the motor rotating speed, so that even if the motor rotating speed fails, the vehicle speed can be calculated by adopting the wheel speed, and different vehicle speed calculation modes are automatically switched in different scenes; the vehicle speed calculation robustness can be improved, more stable vehicle speed output is brought to the vehicle, and the technical problem that the use scene of a vehicle speed calculation mode in the related technology is only suitable for a motor speed effective mode and cannot cover a motor speed failure mode is solved.
本申请涉及一种车速计算方法、加速度计算方法、装置、车辆及设备,所述车速计算方法包括:判断车轮轮速的有效位个数是否大于或者等于1;若是,则采用车轮轮速计算车速;否则采用电机转速计算车速。本申请通过判断车轮轮速是否有效,当车轮轮速有效时,采用车轮轮速来计算车速,当车轮轮速失效时,采用电机转速计算车速,即使电机转速失效,也能够采用车轮轮速来计算车速,在不同的场景,自动切换为不同的车速计算方式,可以提升车速计算的鲁棒性,为车辆带来更稳定的车速输出,解决了相关技术中车速计算方式的使用场景仅能适用于电机转速有效的模式,无法覆盖电机转速失效模式的技术问题。
Vehicle speed calculation method and device, acceleration calculation method and device, vehicle and equipment
车速计算方法、加速度计算方法、装置、车辆及设备
2024-10-15
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes |
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