CN108639060A - Vehicle speed determination method and device and vehicle - Google Patents
Vehicle speed determination method and device and vehicle Download PDFInfo
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- CN108639060A CN108639060A CN201810679381.9A CN201810679381A CN108639060A CN 108639060 A CN108639060 A CN 108639060A CN 201810679381 A CN201810679381 A CN 201810679381A CN 108639060 A CN108639060 A CN 108639060A
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- 238000003860 storage Methods 0.000 claims description 11
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- 238000013507 mapping Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 abstract description 2
- 206010039203 Road traffic accident Diseases 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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Classifications
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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
-
- 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
-
- 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
- B60W2520/28—Wheel speed
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention provides a vehicle speed determination method, a vehicle speed determination device and an automobile, and relates to the technical field of vehicle control, wherein the method comprises the following steps: acquiring the rotating speed of a motor and the rotating speeds of a plurality of wheels of a vehicle in real time; if the currently acquired rotating speeds of the wheels are all within a first preset range, calculating a first theoretical vehicle speed according to the rotating speeds of the wheels; if the currently acquired motor rotating speed is within a second preset range, calculating a second theoretical vehicle speed according to the motor rotating speed; and determining the current output vehicle speed of the vehicle according to the first theoretical vehicle speed and the second theoretical vehicle speed. The scheme of the invention realizes the safety check of the calculated theoretical vehicle speed, reduces the possibility of accidents caused by vehicle speed calculation errors due to component abnormity, and improves the safety and the reliability of the automobile.
Description
Technical field
The invention belongs to full-vehicle control technical fields, and method, apparatus and automobile are determined more particularly, to a kind of speed.
Background technology
With the development of economic technology, automobile is more and more universal, and automobile becomes the essential trip tool of people, with
Automobile quantity increases, and the traffic accident on road is also more and more, wherein due to automobile the phenomenon that leading to accident out of control also when
There is generation, therefore, user requires the safety and reliability of automobile higher and higher.
In the prior art, the method for determination of speed is to acquire turning for each wheel according to the wheel speed sensors on four wheels
The radius of gyration of speed and wheel determines the travel speed of automobile, at present also without specific Security Checking and troubleshooting stream
Journey, to when wheel speed sensors break down, cause the speed calculated not to be inconsistent with actual vehicle speed so that automobile occurs out of control existing
As threatening safety of person vehicle.
Invention content
A kind of speed of being designed to provide of the embodiment of the present invention determines method, apparatus and automobile, to reduce existing skill
Since the phenomenon that wheel speed sensors cause speed meter to calculate mistake extremely, make automobile threat safety of person vehicle out of control occurs in art.
To achieve the goals above, the present invention provides a kind of speeds to determine method, including：
The motor speed of vehicle and multiple vehicle wheel rotational speeds are obtained in real time；
If the multiple vehicle wheel rotational speeds currently obtained in the first preset range, are calculated according to multiple vehicle wheel rotational speeds
First theoretical speed；If the motor speed currently obtained calculates second in the second preset range, according to the motor speed
Theoretical speed；
According to the described first theoretical speed and the second theoretical speed, the current output speed of the vehicle is determined.
Wherein, after the step of obtaining the motor speed of vehicle and multiple vehicle wheel rotational speeds in real time, the method further includes：
If at least one vehicle wheel rotational speed currently obtained is not in first preset range, and the motor currently obtained turns
Speed is not in second preset range, it is determined that the current output speed is pre-stored safe speed；
If at least one vehicle wheel rotational speed currently obtained is not in first preset range, and the motor currently obtained turns
Speed then calculates the second theoretical speed, and determine the current output in second preset range according to the motor speed
Speed is the described second theoretical speed；
If the multiple vehicle wheel rotational speeds currently obtained are in first preset range, and the motor speed currently obtained is not
In second preset range, then the first theoretical speed is calculated according to the motor speed, and determine the current output vehicle
Speed is the described first theoretical speed.
Wherein, according to the described first theoretical speed and the second theoretical speed, the current output vehicle of the vehicle is determined
Speed step include：
The first difference of the theoretical speed of first currently obtained and the theoretical speed of preceding first once obtained is calculated, and is worked as
Second difference of the theoretical speed of the second of preceding acquisition and the theoretical speed of preceding second once obtained；
If the absolute value of first difference is less than or equal to the first preset difference value, and the absolute value of second difference is small
In or be equal to the second preset difference value, then according to the third difference between first difference and second difference, determine described in
Current output speed.
Wherein, according to the third difference between first difference and second difference, the current output vehicle is determined
Speed step include：
If the absolute value of the third difference is more than third preset difference value, the current slip rate of the vehicle is obtained；
According to the mapping table of pre-stored speed and slip rate, determination and the first theoretical speed pair currently obtained
The nominal slip rate answered；
According to the current slip rate and the nominal slip rate, the current output speed is determined.
Wherein, the step of current slip rate for obtaining the vehicle includes：
The difference and average value of the vehicle wheel rotational speed of two driving wheels of the vehicle are obtained respectively；
According to the ratio of the difference of the vehicle wheel rotational speed of described two driving wheels and average value, it is advancing slip to obtain working as the vehicle
Shifting rate.
Wherein, according to the current slip rate and the nominal slip rate, the step of determining the current output speed, wraps
It includes：
If the current slip rate is less than the nominal slip rate, it is determined that the current output speed is preceding primary acquisition
Output speed and the third difference half and；
If the current slip rate is greater than or equal to the nominal slip rate, it is determined that the current output speed is current
The product of the second theoretical speed and the current slip rate that obtain and the first theoretical speed for currently obtaining and.
Wherein, according to the third difference between first difference and second difference, the current output vehicle is determined
Speed step include：
If the absolute value of the third difference is less than or equal to third preset difference value, and default poor more than or equal to the 4th
Value, it is determined that the current output speed be in the first theoretical speed currently obtained and the second theory speed currently obtained compared with
Small one；Wherein, the third preset difference value is more than the 4th preset difference value；
If the absolute value of the third difference is less than the 4th preset difference value, it is determined that before the current output speed is
The output speed that once obtains and the half of the third difference and.
Wherein, the first difference of the theoretical speed of first currently obtained and the theoretical speed of preceding first once obtained is calculated,
And the second theoretical speed currently obtained and the theoretical speed of preceding second once obtained the second difference the step of after, it is described
Method further includes：
If the absolute value of first difference is more than the first preset difference value, and the absolute value of second difference is more than second
Preset difference value；Then determine that the current output speed is pre-stored safe speed；
If the absolute value of first difference is more than first preset difference value, and the absolute value of second difference is less than
Or be equal to second preset difference value, then the second theoretical speed is calculated according to the motor speed, and determine the current output
Speed is the described second theoretical speed；
If the absolute value of first difference is less than or equal to first preset difference value, and second difference is absolute
Value is more than second preset difference value, then calculates the first theoretical speed according to the motor speed, and determine the current output
Speed is the described first theoretical speed.
The embodiment of the present invention also provides a kind of speed determining device, including：
Acquisition module, for obtaining the motor speed of vehicle and multiple vehicle wheel rotational speeds in real time；
Computing module, if multiple vehicle wheel rotational speeds for currently obtaining in the first preset range, according to multiple institutes
It states vehicle wheel rotational speed and calculates the first theoretical speed；If the motor speed currently obtained is in the second preset range, according to the electricity
Machine rotating speed calculates the second theoretical speed；
First determining module, for according to the described first theoretical speed and the second theoretical speed, determining the vehicle
Current output speed.
Wherein, described device further includes：
Second determining module, if at least one vehicle wheel rotational speed for currently obtaining not in first preset range,
And the motor speed currently obtained is not in second preset range, it is determined that the current output speed is pre-stored
Safe speed；
Third determining module, if at least one vehicle wheel rotational speed for currently obtaining not in first preset range,
And the motor speed currently obtained then calculates the second theoretical speed in second preset range according to the motor speed,
And determine that the current output speed is the described second theoretical speed；
4th determining module, if multiple vehicle wheel rotational speeds for currently obtaining in first preset range, and are worked as
The motor speed of preceding acquisition then calculates the first theoretical speed not in second preset range according to the motor speed, and
Determine that the current output speed is the described first theoretical speed.
Wherein, first determining module includes：
First computational submodule, for calculating the currently obtain first theoretical speed and the theoretical vehicle of preceding first once obtained
First difference of speed, and the second difference of the second theoretical speed and the theoretical speed of preceding second once obtained for currently obtaining；
First determination sub-module, if the absolute value for first difference is less than or equal to the first preset difference value, and institute
The absolute value for stating the second difference is less than or equal to the second preset difference value, then according between first difference and second difference
Third difference, determine the current output speed.
Wherein, first determination sub-module includes：
First acquisition unit obtains the vehicle if the absolute value for the third difference is more than third preset difference value
Current slip rate；
First determination unit is determined and is currently obtained for the mapping table according to pre-stored speed and slip rate
The corresponding nominal slip rate of the first theory speed taken；
Second determination unit, for according to the current slip rate and the nominal slip rate, determining the current output
Speed.
Wherein, the first acquisition unit includes：
First obtains subelement, the difference of the vehicle wheel rotational speed of two driving wheels for obtaining the vehicle respectively and average
Value；
Second obtains subelement, for according to the difference of the vehicle wheel rotational speeds of described two driving wheels and average value ratio
Value, obtains the current slip rate of the vehicle.
Wherein, second determination unit includes：
First determination subelement, if being less than the nominal slip rate for the current slip rate, it is determined that described current
Export the half that speed is the preceding output speed once obtained and the third difference and；
Second determination subelement, if being greater than or equal to the nominal slip rate for the current slip rate, it is determined that institute
State the product that current output speed is the second theoretical speed and the current slip rate that currently obtain and currently obtain first
The sum of theoretical speed.
Wherein, first determination sub-module includes：
Third determination subelement, if the absolute value for the third difference is less than or equal to third preset difference value, and it is big
In or equal to the 4th preset difference value, it is determined that the current output speed is the first theoretical speed currently obtained and current acquisition
The second theoretical speed in it is one smaller；Wherein, the third preset difference value is more than the 4th preset difference value；
4th determination subelement, if the absolute value for the third difference is less than the 4th preset difference value, it is determined that
The current output speed be the half of the preceding output speed once obtained and the third difference and.
Wherein, first determination sub-module further includes：
Third determination unit, if the absolute value for first difference is more than the first preset difference value, and it is described second poor
The absolute value of value is more than the second preset difference value；Then determine that the current output speed is pre-stored safe speed；
4th determination unit, if the absolute value for first difference is more than first preset difference value, and described the
The absolute value of two differences is less than or equal to second preset difference value, then calculates the second theoretical speed according to the motor speed,
And determine that the current output speed is the described second theoretical speed；
5th determination unit, if the absolute value for first difference is less than or equal to first preset difference value, and
The absolute value of second difference is more than second preset difference value, then calculates the first theoretical speed according to the motor speed,
And determine that the current output speed is the described first theoretical speed.
The embodiment of the present invention also provides a kind of automobile, including speed determining device as described above.
The embodiment of the present invention also provides a kind of automobile, including：It processor, memory and is stored on the memory and can
The computer program run on the processor is realized as described above when the computer program is executed by the processor
Speed determines the step of method.
The embodiment of the present invention also provides a kind of computer readable storage medium, which is characterized in that described computer-readable to deposit
Computer program is stored on storage media, the computer program realizes speed determination side as described above when being executed by processor
The step of method.
The above-mentioned technical proposal of the present invention at least has the advantages that：
The present invention is by the way that when determining that the multiple vehicle wheel rotational speeds obtained are effective, vehicle is calculated according to multiple vehicle wheel rotational speeds
The first theoretical speed determine the second of the vehicle according to the motor speed when determining that the motor speed obtained is effective
Theoretical speed；By the comparison to the first theoretical speed and the second theoretical speed, the current output speed of the automobile is determined, it is real
The Security Checking to the current output speed is showed, has avoided the multiple vehicle wheel rotational speeds obtained or motor speed abnormal, lead to institute
State current output speed mistake so that it is described to cause traffic accident to lose control of one's vehicle, improve the safety of the vehicle and reliable
Property, also improve the driving impression of user.
Description of the drawings
Fig. 1 is that the speed of the embodiment of the present invention determines the basic step schematic diagram of method；
Fig. 2 is the basic composition schematic diagram of the speed determining device of the embodiment of the present invention；
Fig. 3 is that the speed of the embodiment of the present invention determines the workflow schematic diagram of method.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
The embodiment of the present invention is in the prior art since parts exception or road conditions make speed result of calculation wrong extremely
Accidentally, the problem of causing traffic accident to occur, provides a kind of speed and determines method, apparatus and automobile, realizes by turning to motor
The speed that the speed and vehicle wheel rotational speed that speed calculates calculate carries out Security Checking, improves the safety and reliability of automobile, also carries
The high driving impression of user.
As shown in Figure 1, one embodiment of the invention, which provides a kind of speed, determines method, including：
Step 11, the motor speed of vehicle and multiple vehicle wheel rotational speeds are obtained in real time.
Step 12, if the multiple vehicle wheel rotational speeds currently obtained are in the first preset range, according to multiple wheels
Rotating speed calculates the first theoretical speed；If the motor speed currently obtained is in the second preset range, according to the motor speed
Calculate the second theoretical speed.
Step 13, according to the described first theoretical speed and the second theoretical speed, the current output of the vehicle is determined
Speed.
The embodiment of the present invention calculates the first theoretical speed by multiple vehicle wheel rotational speeds, and it is theoretical to calculate second by motor speed
Speed, and the final output speed of the vehicle is determined by the comparison of the first theoretical speed and the second theoretical speed, it avoids
Since wheel speed sensors exception or electromechanical transducer are abnormal, lead to the speed mistake calculated so that it is described to lose control of one's vehicle, cause
Traffic accident threatens safety of person vehicle.
In addition, in order to be passed in the motor speed of the wheel speed sensors or the acquisition motor speed that acquire the vehicle wheel rotational speed
When sensor exception, it is ensured that the vehicle is capable of the speed of output safety traveling, is obtaining the motor speed of vehicle and multiple in real time
After the step of vehicle wheel rotational speed, the method further includes：
If at least one vehicle wheel rotational speed currently obtained is not in first preset range, and the motor currently obtained turns
Speed is not in second preset range, it is determined that the current output speed is pre-stored safe speed.
It in this step, realizes at least one wheel speed sensors exception, causes the calculate described first theoretical speed wrong
Accidentally, meanwhile, motor speed sensor is abnormal, and when leading to the described second theoretical speed exception calculated, it is current to control the vehicle
Output speed is pre-stored safe speed.
It should be noted that the minimum speed and most that first preset range is the wheel speed sensors when working normally
Velocity of rotation between big rotating speed；Second preset range is the minimum speed and most when the electromechanical transducer works normally
Velocity of rotation between big rotating speed；Sensor abnormality in the present embodiment includes at least sensor exception itself or sensor and control
Communication abnormality between device processed.
If at least one vehicle wheel rotational speed currently obtained is not in first preset range, and the motor currently obtained turns
Speed then calculates the second theoretical speed, and determine the current output in second preset range according to the motor speed
Speed is the described second theoretical speed.
In this step, realize abnormal at least one wheel speed sensors and described motor speed sensor it is normal when, root
The current output speed of the vehicle is obtained according to the described second theoretical speed that the motor speed calculates.
If the multiple vehicle wheel rotational speeds currently obtained are in first preset range, and the motor speed currently obtained is not
In second preset range, then the first theoretical speed is calculated according to the motor speed, and determine the current output vehicle
Speed is the described first theoretical speed.
In this step, realize it is normal in multiple wheel speed sensors, and when motor speed sensor exception, according to multiple
The first theoretical speed that the vehicle wheel rotational speed calculates determines the current output speed of the vehicle.
It should be noted that calculating the specific formula of the described first theoretical speed according to multiple wheel speed sensors：The
One theory speed=(vehicle wheel rotational speed of the vehicle wheel rotational speed+off-front wheel of the near front wheel) × K1, wherein when the straight line travels
When, K1=0.5 × Π × wheel diameter/3.6 L；As the Ackermann steer angle, K1=M1× 0.5 × Π × L/3.6, wherein M1
For according to the proportionality coefficient of current steering wheel angle determination, L is the diameter of wheel.That is, calculating first reason
During by speed, if detecting, steering wheel has rotational angle, needs, according to current steering wheel angle, prestoring
Steering wheel angle and proportionality coefficient mapping table, determine M1, then further according to M1It is determined with the diameter L of wheel and calculates the
The COEFFICIENT K of one theoretical speed1, the described first theoretical speed finally is calculated further according to the formula of above-mentioned calculating the first theory speed,
Wherein, the mapping table of the steering wheel angle and proportionality coefficient is each direction determined according to lot of experimental data
The corresponding proportionality coefficient of disk corner.
The specific formula that the described second theoretical speed is calculated according to the motor speed is：Second theoretical speed=0.377
× vehicle wheel roll radius × motor speed/speed ratio；Wherein, the speed ratio is predetermined according to the vehicle structure.
In order to ensure the vehicle output the current output speed in the reasonable scope, avoid described in lose control of one's vehicle,
The embodiment of the present invention also needs to further respectively carry out the validity of the described first theoretical speed and the second theoretical speed
Judge, therefore, step 13 determines the current output of the vehicle according to the described first theoretical speed and the second theoretical speed
Speed specifically includes following sub-step：
The first difference of the theoretical speed of first currently obtained and the theoretical speed of preceding first once obtained is calculated, and is worked as
Second difference of the theoretical speed of the second of preceding acquisition and the theoretical speed of preceding second once obtained.
If the absolute value of first difference is less than or equal to the first preset difference value, and the absolute value of second difference is small
In or be equal to the second preset difference value, then according to the third difference between first difference and second difference, determine described in
Current output speed.
What needs to be explained here is that if the described first theoretical speed currently obtained and preceding first reason once obtained
It is less than or equal to first preset difference value by the difference of speed, it is determined that the described first theoretical speed currently obtained is effective；
If the difference of the described second theoretical speed currently obtained and the preceding theoretical speed of described second once obtained is less than or equal to institute
State the second preset difference value, it is determined that the described second theoretical speed currently obtained is effective；If described first currently obtained is theoretical
Speed and the second theoretical speed are effective, then according to the difference between first difference and second difference, determine
The current output speed.
Further, if the described first theoretical speed only currently obtained is invalid, step 13 is theoretical according to described first
Speed and the second theoretical speed, determine that the current output speed of the vehicle further includes that following sub-step includes：
If the absolute value of first difference is more than first preset difference value, and the absolute value of second difference is less than
Or be equal to second preset difference value, then the second theoretical speed is calculated according to the motor speed, and determine the current output
Speed is the described second theoretical speed.
If the described second theoretical speed only currently obtained is invalid, step 13 is according to the described first theoretical speed and described
Second theoretical speed, determines that the current output speed of the vehicle further includes that following sub-step includes：
If the absolute value of first difference is less than or equal to first preset difference value, and second difference is absolute
Value is more than second preset difference value, then calculates the first theoretical speed according to the motor speed, and determine the current output
Speed is the described first theoretical speed.
If the described first theoretical speed currently obtained and the described second theoretical speed currently obtained are invalid, step
13, according to the described first theoretical speed and the second theoretical speed, determine that the current output speed of the vehicle further includes as follows
Sub-step includes：
If the absolute value of first difference is more than the first preset difference value, and the absolute value of second difference is more than second
Preset difference value；Then determine that the current output speed is pre-stored safe speed.
That is, being obtained not in first preset range or currently described first theoretical in the vehicle wheel rotational speed
When speed is invalid, the motor speed is further judged whether in second preset range, or described currently obtained
Whether two theoretical speeds are invalid, if the described second theoretical vehicle that the motor speed does not obtain in the second preset range or currently
It is fast invalid, then the current output speed is determined according to pre-stored safe speed, otherwise, according to described the currently obtained
Two theoretical speeds determine the current output speed；Vice versa, can also first judge motor side as a result, judging wheel side again
As a result, details are not described herein.
In the described first theoretical speed currently obtained and effective the second theory speed currently obtained, in order to
It avoids the currently obtain described first theoretical speed different with the variation tendency of the described second theoretical speed, leads the current output
Speed becomes larger and motor speed becomes smaller, alternatively, motor speed becomes larger and the case where the current output speed becomes larger, according to described
Third difference between first difference and second difference, the step of determining the current output speed include specifically include as
Lower sub-step：
If the absolute value of the third difference is more than third preset difference value, the current slip rate of the vehicle is obtained；Root
According to the mapping table of pre-stored speed and slip rate, nominal cunning corresponding with the first theory speed currently obtained is determined
Shifting rate；According to the current slip rate and the nominal slip rate, the current output speed is determined.
It should be noted that the mapping table of the speed and slip rate is the difference determined according to many experimental results
Under speed, the minimum slip rate during the normal vehicle operation.
In the present embodiment, when the absolute value of the third difference is more than the third preset difference value, then explanation is current obtains
The described first theoretical speed and the second theoretical speed difference it is larger, this is likely to be residing vehicle and is currently at skidding shape
State, if still determining the current defeated of the vehicle according to the currently obtain described first theoretical speed or the second theoretical speed
Go out speed, it is likely that lead to the vehicle rollover or cause traffic accident with other vehicle collisions, therefore, it is necessary to according to institute
The the described first theoretical speed and the second theoretical speed that the current slip rate amendment of vehicle currently obtains are stated, and according to amendment
The described first theoretical speed and the second theoretical speed afterwards determines the current output speed of the vehicle, guarantor Che An
Entirely.
Specifically, in the present embodiment, the step of current slip rate for obtaining the vehicle, includes：
The difference and average value of the vehicle wheel rotational speed of two driving wheels of the vehicle are obtained respectively；According to described two drivings
The difference of the vehicle wheel rotational speed of wheel and the ratio of average value obtain the current slip rate of the vehicle.
It should be noted that if the vehicle is four-wheel drive cars, then the slip rate for obtaining front-wheel respectively and trailing wheel are needed
Slip rate, and determination is that front-wheel skids, rear wheels slip or four-wheel are all skidded, and according to the slippery conditions of the vehicle, determines
The current output speed, i.e.,：When front-wheel skids, the current output speed is determined according to the vehicle wheel rotational speed of trailing wheel；When after
When wheel skids, the current output speed is determined according to the vehicle wheel rotational speed of front-wheel；When four-wheel skids, it is determined that described current defeated
It is pre-stored safe speed to go out speed.
In the present embodiment, when the current slip rate is less than the nominal slip rate, confirm that the vehicle does not skid；
When the current slip rate is greater than or equal to the nominal slip rate, the vehicle slip is confirmed.According to above-mentioned different situation,
According to the current slip rate and the nominal slip rate, the step of determining the current output speed, specifically includes：
If the current slip rate is less than the nominal slip rate, it is determined that the current output speed is preceding primary acquisition
Output speed and the third difference half and；If the current slip rate is greater than or equal to the nominal sliding
Rate, it is determined that the current output speed be the second theoretical speed and the current slip rate that currently obtain product with currently
The sum of the first theoretical speed obtained.
In the present embodiment, when the vehicle is in slipping state, in order to which above water, the motor speed can improve,
This, which may result in, is easier to accident occur, and therefore, it is necessary to pass through the modified theoretical speed of described second currently obtained, it is preferred that
By the described second theoretical speed currently obtained is multiplied with the current slip rate and the first theory speed and determination institute
State current output speed.
Further, the third difference be less than the third preset difference value when, it is described according to first difference with
Third difference between second difference, the step of determining the current output speed further include：
If the absolute value of the third difference is less than or equal to third preset difference value, and default poor more than or equal to the 4th
Value, it is determined that the current output speed be in the first theoretical speed currently obtained and the second theory speed currently obtained compared with
Small one；Wherein, the third preset difference value is more than the 4th preset difference value；If the absolute value of the third difference is less than
4th preset difference value, it is determined that the current output speed is the preceding output speed once obtained and the third difference
The sum of half.
In the present embodiment, when the third difference is less than four preset difference value, it is determined that turned according to the wheel
First preset vehicle speed that speed calculates is close with according to second preset vehicle speed in motor speed calculating, the vehicle
Driving stability, can determine the current output speed according to the previous output speed of the vehicle.
The speed of the present embodiment determines method, and two of the vehicle theoretical speeds are obtained by two paths, and according to
Described two theory speeds determine the current output speed of the vehicle, ensure that the accuracy of current output speed, avoid
Since hardware fault or road lead to traffic accident extremely, the safety and reliability of the vehicle is improved.
As shown in figure 3, the speed of the present embodiment determines that the detailed process of method is：
S301 obtains the motor speed of vehicle and multiple vehicle wheel rotational speeds in real time.
S302a judges multiple vehicle wheel rotational speeds whether in the first preset range, if so, S303 is thened follow the steps,
If it is not, thening follow the steps S304, S305 or S306.
S302b judges the motor speed whether in the second preset range, if so, S310 is thened follow the steps, if it is not,
Then follow the steps S304, S305 or S306.
S303 obtains the described first theoretical speed according to multiple vehicle wheel rotational speeds.
S304 judges whether at least one vehicle wheel rotational speed not in first preset range, and the motor speed is not
In second preset range；If so, thening follow the steps S307.
Step S305 judges whether at least one vehicle wheel rotational speed not in first preset range, and the motor turns
Speed is in second preset range, if so, thening follow the steps S308.
Step S306 judges multiple vehicle wheel rotational speeds in first preset range, and the motor speed is not
In second preset range, if so, thening follow the steps S309.
Step S307 determines that the current output speed is pre-stored safe speed.
Step S308 determines the current output speed for according to the institute of the multiple vehicle wheel rotational speeds determinations currently obtained
State the first theoretical speed.
Step S309 determines that the current output speed is described the determined according to the motor speed that currently obtains
Two theoretical speeds.
Step S310 obtains the described second theoretical speed according to the motor speed.
Step S311, the of the described first theoretical speed currently obtained and the preceding theoretical speed of described first once obtained
Whether one difference is more than the first preset value, if so, thening follow the steps S313, step S314 or step S315；If it is not, then executing step
Rapid S316.
Step S312, the of the described second theoretical speed currently obtained and the preceding theoretical speed of described second once obtained
Whether two differences are more than the second preset value, if so, thening follow the steps S313, step S314 or step S315；If it is not, then executing step
Rapid S316.
Step S313, judges whether the absolute value of first difference is more than the exhausted of the first preset value and second difference
Whether second preset value is more than to value, if so, thening follow the steps S307.
Step S314, judges whether the absolute value of first difference is less than or equal to the first preset value, and described second
Whether the absolute value of difference is more than the second preset value, if so, thening follow the steps S308.
Step S315, judges whether the absolute value of first difference is more than the first preset value, and second difference
Whether absolute value is less than or equal to the second preset value, if so, thening follow the steps S309.
Step S316, judges whether the absolute value of the third difference between first difference and second difference is more than
Third preset difference value, if so, S317 is thened follow the steps, if it is not, thening follow the steps S318.
Step S317 obtains the current slip rate of the vehicle.
Step S318, judges whether the absolute value of the third difference is greater than or equal to the 4th preset difference value, if so,
S320 is thened follow the steps, if it is not, thening follow the steps S321.
Step S319, judges whether current slip rate is less than default slip rate, if so, S321 is thened follow the steps, if it is not, then
Execute step S322.
Step S320 determines that the current output speed is the described first theoretical speed currently obtained and currently obtains
Smaller one in described second theoretical speed.
Step S321 determines that the current output speed is the two of the preceding output speed once obtained and the third difference
/ mono- sum.
Step S322, determine the current output speed be the described second theoretical speed currently obtained and it is described work as it is advancing slip
The sum of shifting rate.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program (instruction),
The program (instruction) realizes following steps when being executed by processor：
The motor speed of vehicle and multiple vehicle wheel rotational speeds are obtained in real time；If the multiple vehicle wheel rotational speeds currently obtained are first
In preset range, then the first theoretical speed is calculated according to multiple vehicle wheel rotational speeds；If the motor speed currently obtained is second
In preset range, then the second theoretical speed is calculated according to the motor speed；According to the described first theoretical speed and described second
Theoretical speed determines the current output speed of the vehicle.
Optionally, following steps be can also be achieved when which is executed by processor：
If at least one vehicle wheel rotational speed currently obtained is not in first preset range, and the motor currently obtained turns
Speed is not in second preset range, it is determined that the current output speed is pre-stored safe speed；If currently obtaining
At least one vehicle wheel rotational speed taken is not in first preset range, and the motor speed currently obtained is default described second
In range, then the second theoretical speed is calculated according to the motor speed, and determines that the current output speed is second reason
By speed；If the multiple vehicle wheel rotational speeds currently obtained are in first preset range, and the motor speed currently obtained is not
In second preset range, then the first theoretical speed is calculated according to the motor speed, and determine the current output vehicle
Speed is the described first theoretical speed.
Optionally, following steps be can also be achieved when which is executed by processor：
The first difference of the theoretical speed of first currently obtained and the theoretical speed of preceding first once obtained is calculated, and is worked as
Second difference of the theoretical speed of the second of preceding acquisition and the theoretical speed of preceding second once obtained；If first difference is absolute
Value is less than or equal to the first preset difference value, and the absolute value of second difference is less than or equal to the second preset difference value, then basis
Third difference between first difference and second difference determines the current output speed.
Optionally, following steps be can also be achieved when which is executed by processor：
If the absolute value of the third difference is more than third preset difference value, the current slip rate of the vehicle is obtained；Root
According to the mapping table of pre-stored speed and slip rate, nominal cunning corresponding with the first theory speed currently obtained is determined
Shifting rate；According to the current slip rate and the nominal slip rate, the current output speed is determined.
Optionally, following steps be can also be achieved when which is executed by processor：
The difference and average value of the vehicle wheel rotational speed of two driving wheels of the vehicle are obtained respectively；According to described two drivings
The difference of the vehicle wheel rotational speed of wheel and the ratio of average value obtain the current slip rate of the vehicle.
Optionally, following steps be can also be achieved when which is executed by processor：
If the current slip rate is less than the nominal slip rate, it is determined that the current output speed is preceding primary acquisition
Output speed and the third difference half and；If the current slip rate is greater than or equal to the nominal sliding
Rate, it is determined that the current output speed be the second theoretical speed and the current slip rate that currently obtain product with currently
The sum of the first theoretical speed obtained.
Optionally, following steps be can also be achieved when which is executed by processor：
If the absolute value of the third difference is less than or equal to third preset difference value, and default poor more than or equal to the 4th
Value, it is determined that the current output speed be in the first theoretical speed currently obtained and the second theory speed currently obtained compared with
Small one；Wherein, the third preset difference value is more than the 4th preset difference value；If the absolute value of the third difference is less than
4th preset difference value, it is determined that the current output speed is the preceding output speed once obtained and the third difference
The sum of half.
Optionally, following steps be can also be achieved when which is executed by processor：
If the absolute value of first difference is more than the first preset difference value, and the absolute value of second difference is more than second
Preset difference value；Then determine that the current output speed is pre-stored safe speed；If the absolute value of first difference is big
In first preset difference value, and the absolute value of second difference is less than or equal to second preset difference value, then according to institute
It states motor speed and calculates the second theoretical speed, and determine that the current output speed is the described second theoretical speed；If described
The absolute value of one difference is less than or equal to first preset difference value, and the absolute value of second difference is more than described second in advance
If difference, then the first theoretical speed is calculated according to the motor speed, and determines that the current output speed is first reason
By speed.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology realizes information storage.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic tape cassette, tape magnetic disk storage or other magnetic storage apparatus
Or any other non-transmission medium, it can be used for storage and can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
As shown in Fig. 2, the embodiment of the present invention also provides a kind of speed determining device, including：
Acquisition module 21, for obtaining the motor speed of vehicle and multiple vehicle wheel rotational speeds in real time；
Computing module 22, if multiple vehicle wheel rotational speeds for currently obtaining in the first preset range, according to multiple
The vehicle wheel rotational speed calculates the first theoretical speed；If the motor speed currently obtained is in the second preset range, according to
Motor speed calculates the second theoretical speed；
First determining module 23, for according to the described first theoretical speed and the second theoretical speed, determining the vehicle
Current output speed.
The speed determining device of the embodiment of the present invention further includes：
Second determining module, if at least one vehicle wheel rotational speed for currently obtaining not in first preset range,
And the motor speed currently obtained is not in second preset range, it is determined that the current output speed is pre-stored
Safe speed.
Third determining module, if at least one vehicle wheel rotational speed for currently obtaining not in first preset range,
And the motor speed currently obtained then calculates the second theoretical speed in second preset range according to the motor speed,
And determine that the current output speed is the described second theoretical speed.
4th determining module, if multiple vehicle wheel rotational speeds for currently obtaining in first preset range, and are worked as
The motor speed of preceding acquisition then calculates the first theoretical speed not in second preset range according to the motor speed, and
Determine that the current output speed is the described first theoretical speed.
In the speed determining device of the embodiment of the present invention, first determining module 23 includes：
First computational submodule, for calculating the currently obtain first theoretical speed and the theoretical vehicle of preceding first once obtained
First difference of speed, and the second difference of the second theoretical speed and the theoretical speed of preceding second once obtained for currently obtaining.
First determination sub-module, if the absolute value for first difference is less than or equal to the first preset difference value, and institute
The absolute value for stating the second difference is less than or equal to the second preset difference value, then according between first difference and second difference
Third difference, determine the current output speed.
Specifically, first determination sub-module includes：
First acquisition unit obtains the vehicle if the absolute value for the third difference is more than third preset difference value
Current slip rate.
First determination unit is determined and is currently obtained for the mapping table according to pre-stored speed and slip rate
The corresponding nominal slip rate of the first theory speed taken.
Second determination unit, for according to the current slip rate and the nominal slip rate, determining the current output
Speed.
More specifically, the first acquisition unit includes：
First obtains subelement, the difference of the vehicle wheel rotational speed of two driving wheels for obtaining the vehicle respectively and average
Value.
Second obtains subelement, for according to the difference of the vehicle wheel rotational speeds of described two driving wheels and average value ratio
Value, obtains the current slip rate of the vehicle.
Specifically, second determination unit includes：
First determination subelement, if being less than the nominal slip rate for the current slip rate, it is determined that described current
Export the half that speed is the preceding output speed once obtained and the third difference and.
Second determination subelement, if being greater than or equal to the nominal slip rate for the current slip rate, it is determined that institute
State the product that current output speed is the second theoretical speed and the current slip rate that currently obtain and currently obtain first
The sum of theoretical speed.
In the speed determining device of the embodiment of the present invention, first determination sub-module further includes：
Third determination subelement, if the absolute value for the third difference is less than or equal to third preset difference value, and it is big
In or equal to the 4th preset difference value, it is determined that the current output speed is the first theoretical speed currently obtained and current acquisition
The second theoretical speed in it is one smaller；Wherein, the third preset difference value is more than the 4th preset difference value.
4th determination subelement, if the absolute value for the third difference is less than the 4th preset difference value, it is determined that
The current output speed be the half of the preceding output speed once obtained and the third difference and.
In the speed determining device of the embodiment of the present invention, first determination sub-module includes：
Third determination unit, if the absolute value for first difference is more than the first preset difference value, and it is described second poor
The absolute value of value is more than the second preset difference value；Then determine that the current output speed is pre-stored safe speed；
4th determination unit, if the absolute value for first difference is more than first preset difference value, and described the
The absolute value of two differences is less than or equal to second preset difference value, then calculates the second theoretical speed according to the motor speed,
And determine that the current output speed is the described second theoretical speed；
5th determination unit, if the absolute value for first difference is less than or equal to first preset difference value, and
The absolute value of second difference is more than second preset difference value, then calculates the first theoretical speed according to the motor speed,
And determine that the current output speed is the described first theoretical speed.
The speed determining device of the embodiment of the present invention is turned by obtaining multiple vehicle wheel rotational speeds and the motor
Speed realizes while obtaining two theoretical speeds, and the current output speed of the vehicle is determined according to two theoretical speeds, has
Effect ensure that the accuracy of the current output speed, improve the safety and reliability of the vehicle and driving for user
Multiply impression.
The embodiment of the present invention also provides a kind of automobile, including speed determining device as described above.
The embodiment of the present invention also provides a kind of automobile, including：It processor, memory and is stored on the memory and can
The computer program run on the processor is realized as described above when the computer program is executed by the processor
Speed determines each process of embodiment of the method, and can reach identical technique effect, and to avoid repeating, which is not described herein again.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (19)
1. a kind of speed determines method, which is characterized in that including：
The motor speed of vehicle and multiple vehicle wheel rotational speeds are obtained in real time；
If the multiple vehicle wheel rotational speeds currently obtained calculate first in the first preset range, according to multiple vehicle wheel rotational speeds
Theoretical speed；If it is theoretical that the motor speed currently obtained calculates second in the second preset range, according to the motor speed
Speed；
According to the described first theoretical speed and the second theoretical speed, the current output speed of the vehicle is determined.
2. speed according to claim 1 determines method, which is characterized in that obtain the motor speed of vehicle and multiple in real time
After the step of vehicle wheel rotational speed, the method further includes：
If at least one vehicle wheel rotational speed currently obtained is not in first preset range, and the motor speed currently obtained is not
In second preset range, it is determined that the current output speed is pre-stored safe speed；
If at least one vehicle wheel rotational speed currently obtained is not in first preset range, and the motor speed currently obtained exists
In second preset range, then the second theoretical speed is calculated according to the motor speed, and determine the current output speed
For the described second theoretical speed；
If the multiple vehicle wheel rotational speeds currently obtained are in first preset range, and the motor speed currently obtained is not in institute
It states in the second preset range, then the first theoretical speed is calculated according to the motor speed, and determine that the current output speed is
Described first theoretical speed.
3. speed according to claim 1 determines method, which is characterized in that according to the described first theoretical speed and described the
The step of two theoretical speeds, the current output speed for determining the vehicle includes：
The first difference of the theoretical speed of first currently obtained and the theoretical speed of preceding first once obtained is calculated, and is currently obtained
Second difference of the second theoretical speed and the theoretical speed of preceding second once obtained that take；
If the absolute value of first difference be less than or equal to the first preset difference value, and the absolute value of second difference be less than or
Equal to the second preset difference value, then according to the third difference between first difference and second difference, determine described current
Export speed.
4. speed according to claim 3 determines method, which is characterized in that according to first difference and described second poor
Third difference between value, the step of determining the current output speed include：
If the absolute value of the third difference is more than third preset difference value, the current slip rate of the vehicle is obtained；
According to the mapping table of pre-stored speed and slip rate, determine corresponding with the first theoretical speed currently obtained
Nominal slip rate；
According to the current slip rate and the nominal slip rate, the current output speed is determined.
5. speed according to claim 4 determines method, which is characterized in that obtain the step of the current slip rate of the vehicle
Suddenly include：
The difference and average value of the vehicle wheel rotational speed of two driving wheels of the vehicle are obtained respectively；
According to the ratio of the difference of the vehicle wheel rotational speed of described two driving wheels and average value, the current sliding of the vehicle is obtained
Rate.
6. speed according to claim 4 determines method, which is characterized in that according to the current slip rate and described nominal
Slip rate, the step of determining the current output speed include：
If the current slip rate be less than the nominal slip rate, it is determined that the current output speed for it is preceding once obtain it is defeated
Go out the half of speed and the third difference and；
If the current slip rate is greater than or equal to the nominal slip rate, it is determined that the current output speed is current obtains
The second theoretical speed and the current slip rate product and the first theoretical speed for currently obtaining and.
7. speed according to claim 3 determines method, which is characterized in that poor according to first difference and described second
Third difference between value, the step of determining the current output speed include：
If the absolute value of the third difference is less than or equal to third preset difference value, and is greater than or equal to the 4th preset difference value, then
Determine that the current output speed is smaller in the first theoretical speed currently obtained and the second theoretical speed currently obtained
One；Wherein, the third preset difference value is more than the 4th preset difference value；
If the absolute value of the third difference is less than the 4th preset difference value, it is determined that the current output speed is preceding primary
The half of the output speed of acquisition and the third difference and.
8. speed according to claim 3 determines method, which is characterized in that calculate the theoretical speed of first currently obtained with
First difference of the preceding theoretical speed of first once obtained, and the second theoretical speed for currently obtaining and preceding the once obtained
After the step of second difference of two theoretical speeds, the method further includes：
If the absolute value of first difference is more than the first preset difference value, and the absolute value of second difference is more than second and presets
Difference；Then determine that the current output speed is pre-stored safe speed；
If the absolute value of first difference is more than first preset difference value, and the absolute value of second difference is less than or waits
In second preset difference value, then the second theoretical speed is calculated according to the motor speed, and determine the current output speed
For the described second theoretical speed；
If the absolute value of first difference is less than or equal to first preset difference value, and the absolute value of second difference is big
In second preset difference value, then the first theoretical speed is calculated according to the motor speed, and determine the current output speed
For the described first theoretical speed.
9. a kind of speed determining device, which is characterized in that including：
Acquisition module, for obtaining the motor speed of vehicle and multiple vehicle wheel rotational speeds in real time；
Computing module, if multiple vehicle wheel rotational speeds for currently obtaining in the first preset range, according to multiple vehicles
Wheel speed calculates the first theoretical speed；If the motor speed currently obtained in the second preset range, turns according to the motor
Speed calculates the second theoretical speed；
First determining module, for according to the described first theoretical speed and the second theoretical speed, determining working as the vehicle
Preceding output speed.
10. speed determining device according to claim 9, which is characterized in that described device further includes：
Second determining module, if at least one vehicle wheel rotational speed for currently obtaining not in first preset range, and is worked as
The motor speed of preceding acquisition is not in second preset range, it is determined that the current output speed is pre-stored safety
Speed；
Third determining module, if at least one vehicle wheel rotational speed for currently obtaining not in first preset range, and is worked as
The motor speed of preceding acquisition then calculates the second theoretical speed, and really in second preset range according to the motor speed
The fixed current output speed is the described second theoretical speed；
4th determining module, if multiple vehicle wheel rotational speeds for currently obtaining in first preset range, and currently obtain
The motor speed taken then calculates the first theoretical speed, and determine not in second preset range according to the motor speed
The current output speed is the described first theoretical speed.
11. speed determining device according to claim 9, which is characterized in that first determining module includes：
First computational submodule, for calculating the currently obtain first theoretical speed and the theoretical speed of preceding first once obtained
First difference, and the second difference of the second theoretical speed and the theoretical speed of preceding second once obtained for currently obtaining；
First determination sub-module, if the absolute value for first difference is less than or equal to the first preset difference value, and described the
The absolute value of two differences is less than or equal to the second preset difference value, then according to the between first difference and second difference
Three differences determine the current output speed.
12. speed determining device according to claim 11, which is characterized in that first determination sub-module includes：
First acquisition unit obtains the vehicle if the absolute value for the third difference is more than third preset difference value
Current slip rate；
First determination unit, for according to the mapping table of pre-stored speed and slip rate, determining and currently obtaining
The corresponding nominal slip rate of first theory speed；
Second determination unit, for according to the current slip rate and the nominal slip rate, determining the current output speed.
13. speed determining device according to claim 12, which is characterized in that the first acquisition unit includes：
First obtains subelement, the difference and average value of the vehicle wheel rotational speed of two driving wheels for obtaining the vehicle respectively；
Second obtains subelement, for according to the difference of the vehicle wheel rotational speeds of described two driving wheels and average value ratio, obtain
Take the current slip rate of the vehicle.
14. speed determining device according to claim 12, which is characterized in that second determination unit includes：
First determination subelement, if being less than the nominal slip rate for the current slip rate, it is determined that the current output
Speed be the half of the preceding output speed once obtained and the third difference and；
Second determination subelement, if being greater than or equal to the nominal slip rate for the current slip rate, it is determined that described to work as
It is preceding to export the product and the first theory currently obtained that speed is the second theoretical speed and the current slip rate that currently obtain
The sum of speed.
15. speed determining device according to claim 11, which is characterized in that first determination sub-module includes：
Third determination subelement, if for the third difference absolute value be less than or equal to third preset difference value, and be more than or
Equal to the 4th preset difference value, it is determined that the current output speed be the first theory speed currently obtained and currently obtain the
Smaller one in two theoretical speeds；Wherein, the third preset difference value is more than the 4th preset difference value；
4th determination subelement, if the absolute value for the third difference is less than the 4th preset difference value, it is determined that described
Current output speed be the half of the preceding output speed once obtained and the third difference and.
16. speed determining device according to claim 11, which is characterized in that first determination sub-module further includes：
Third determination unit, if the absolute value for first difference is more than the first preset difference value, and second difference
Absolute value is more than the second preset difference value；Then determine that the current output speed is pre-stored safe speed；
4th determination unit, if the absolute value for first difference is more than first preset difference value, and it is described second poor
The absolute value of value is less than or equal to second preset difference value, then calculates the second theoretical speed according to the motor speed, and really
The fixed current output speed is the described second theoretical speed；
5th determination unit, if the absolute value for first difference is less than or equal to first preset difference value, and it is described
The absolute value of second difference is more than second preset difference value, then calculates the first theoretical speed according to the motor speed, and really
The fixed current output speed is the described first theoretical speed.
17. a kind of automobile, which is characterized in that including such as claim 9-16 any one of them speed determining device.
18. a kind of automobile, which is characterized in that including：It processor, memory and is stored on the memory and can be at the place
The computer program run on reason device is realized when the computer program is executed by the processor as appointed in claim 1 to 8
The step of speed described in one determines method.
19. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program is realized when the computer program is executed by processor as speed described in any item of the claim 1 to 8 determines method
The step of.
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| CN201810679381.9A CN108639060B (en) | 2018-06-27 | 2018-06-27 | Vehicle speed determination method and device and vehicle |
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| CN112757906A (en) * | 2020-12-30 | 2021-05-07 | 浙江合众新能源汽车有限公司 | Electric vehicle driving mode control method and device |
| CN113147406A (en) * | 2021-05-31 | 2021-07-23 | 东风汽车集团股份有限公司 | Method and system for processing speed fault of electric vehicle and computer storage medium |
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| CN108639060B (en) | 2020-03-06 |
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